阅读说明：本技术 一种高响应伺服电动缸的控制方法和系统 (Control method and system of high-response servo electric cylinder ) 是由 曲蔚然 胡建学 李娟� 于 2021-09-13 设计创作，主要内容包括：本申请提供了一种高响应伺服电动缸的控制方法和系统,涉及设备智能控制技术领域。该方法首先获取用户对高响应伺服电动缸上的启动按键的长按时间和长按用力数值,根据长按时间和长按用力数值计算当前时刻待发送的脉冲频率；根据向高响应伺服电动缸发送相应的脉冲频率计算当前时刻高响应伺服电动缸产生的推力大小；随后根据高响应伺服电动缸自身发出的脉冲的脉冲频率计算出推力大小的误差值；接收用户基于推力大小和推力大小的误差值对启动按键的长按松开操作,确定并保持当前发送脉冲的频率,进而完成高响应伺服电动缸的启动。可以看到,本申请实施例能够基于用户的操作需求来精准地控制伺服电动缸,并实现伺服系统的可靠性、安全性和稳定性。(The application provides a control method and a control system for a high-response servo electric cylinder, and relates to the technical field of intelligent control of equipment. The method comprises the steps of firstly, obtaining a long pressing time and a long pressing force value of a user on a starting key on a high-response servo electric cylinder, and calculating the pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force value; calculating the magnitude of thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder; then, calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder; and receiving the long-press loosening operation of a starting key by a user based on the thrust magnitude and the error value of the thrust magnitude, determining and keeping the current pulse sending frequency, and further finishing the starting of the high-response servo electric cylinder. It can be seen that the servo electric cylinder can be accurately controlled based on the operation requirement of a user, and the reliability, the safety and the stability of a servo system are realized.)

1. A control method of a high-response servo electric cylinder is characterized by comprising the following steps:

acquiring a long pressing time and a long pressing force value of a user on a starting key on a high-response servo electric cylinder, and further calculating a pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force value;

controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment, and further calculating the magnitude of thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder;

calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder;

and receiving the long-press releasing operation of a user on the basis of the thrust and the error value of the thrust, determining and maintaining the current pulse sending frequency, and further completing the starting of the high-response servo electric cylinder.

2. The control method of the high-response servo electric cylinder according to claim 1, wherein after completion of the activation of the high-response servo electric cylinder, the method further comprises:

and receiving the control operation of a user on a stop button on the high-response servo electric cylinder, and stopping sending pulses to further complete the closing of the high-response servo electric cylinder.

3. The control method of the high-response servo electric cylinder according to claim 1, wherein before receiving a long-press release operation of a start key by a user based on the magnitude of the thrust and the error value of the magnitude of the thrust, the method further comprises:

and displaying the thrust magnitude and the error value of the thrust magnitude on a control screen of the high-response servo electric cylinder.

4. The control method of the high-response servo electric cylinder according to claim 1, wherein the pulse frequency to be transmitted at the present time is calculated from the long pressing time and the long pressing force value by using the following formula:

where f (t) denotes the pulse frequency to be transmitted at time t, f₀The minimum pulse frequency of the start key which is pressed by the user is shown, F (t) shows the long pressing force value which is collected by a pressure sensor below the start key at the moment t, k shows the elastic coefficient of the start key, x shows the displacement of the start key which is pressed, t₀The long press time representing that the user presses the start key, T representing the current time, and T representing a unit time.

5. The control method of the high-response servo electric cylinder according to claim 4, wherein the magnitude of the thrust generated by the high-response servo electric cylinder at the present moment is calculated by sending the corresponding pulse frequency to the high-response servo electric cylinder by using the following formula:

wherein F_d(t) represents the magnitude of thrust generated by the high-response servo electric cylinder at the time t, a represents the transmission ratio of the motor in the high-response servo electric cylinder, r represents the radius of a transmission gear connected with the motor in the high-response servo electric cylinder, s represents the fraction value of the motor in the high-response servo electric cylinder, U represents the voltage applied to both ends of the high-response servo electric cylinder, and I represents the value of current flowing through the high-response servo electric cylinder.

6. The control method of the high-response servo electric cylinder according to claim 5, wherein the error value of the magnitude of the thrust force is calculated from the pulse frequency of the pulse sent by the high-response servo electric cylinder itself by using the following formula:

where λ (t) represents the error value of the magnitude of the thrust at time t, f_h(t) represents the pulse frequency of the pulse generated by the high-response servo electric cylinder itself at time t.

7. A control system for a high-response servo electric cylinder, comprising:

the acquisition module is used for acquiring the long pressing time and the long pressing force value of a user on a starting key on the high-response servo electric cylinder;

the first calculation module is used for calculating the pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force value;

the first control module is used for controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment;

the second calculation module is used for calculating the thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder;

the third calculation module is used for calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder;

and the second control module is used for receiving the long-press releasing operation of a starting key by a user based on the thrust and the error value of the thrust, determining and keeping the frequency of the current sent pulse, and further finishing the starting of the high-response servo electric cylinder.

8. The control system of the high response servo electric cylinder of claim 7, wherein the second control module is further configured to:

after the high-response servo electric cylinder is started, receiving control operation of a user on a stop button on the high-response servo electric cylinder, and stopping sending pulses to further complete closing of the high-response servo electric cylinder.

9. The control system of the high-response servo electric cylinder according to claim 7, further comprising a display module for displaying the error values of the magnitude of the thrust and the magnitude of the thrust on a control screen of the high-response servo electric cylinder before the second control module receives a long-press release operation of a start button by a user based on the error values of the magnitude of the thrust and the magnitude of the thrust.

Technical Field

The application relates to the technical field of intelligent control of equipment, in particular to a control method and a control system of a high-response servo electric cylinder.

Background

The servo electric cylinder is a modularized product which is integrally designed with a servo motor and a lead screw, the rotary motion of the servo motor is converted into linear motion, and meanwhile, the accurate rotating speed control, the accurate revolution control and the accurate torque control of the servo motor are converted into the accurate speed control, the accurate position control and the accurate thrust control, so that a brand-new revolutionary product of a high-precision linear motion series is realized.

The servo system is an automatic control system which enables output controlled variables such as the position, the orientation, the state and the like of an object to follow any change of an input target or a given value. The servo is mainly positioned by pulses, for example, when the servo motor receives 1 pulse, the servo motor rotates by an angle corresponding to the 1 pulse, thereby realizing displacement. Because the servo motor has the function of sending pulses, the servo motor can send a corresponding number of pulses every time the servo motor rotates by an angle, and thus, the pulses received by the servo motor form a calling or called closed loop, so that a servo system can know how many pulses are sent to the servo motor and how many pulses are received at the same time, and thus, the rotation of the motor can be accurately controlled, and the accurate positioning is realized.

However, how to accurately control the servo electric cylinder based on the user's requirement becomes a technical problem which needs to be solved urgently.

Disclosure of Invention

In view of the above problems, the present application has been made to provide a control method and system of a high-response servo electric cylinder that overcomes or at least partially solves the above problems, is capable of precisely controlling the servo electric cylinder based on the operation demand of the user, and achieves reliability, safety, and stability of the servo system. The technical scheme is as follows:

in a first aspect, a control method for a high-response servo electric cylinder is provided, which comprises the following steps:

acquiring a long pressing time and a long pressing force value of a user on a starting key on a high-response servo electric cylinder, and further calculating a pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force value;

controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment, and further calculating the magnitude of thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder;

calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder;

and receiving the long-press releasing operation of a user on the basis of the thrust and the error value of the thrust, determining and maintaining the current pulse sending frequency, and further completing the starting of the high-response servo electric cylinder.

In one possible implementation, after the completion of the activation of the high-response servo electric cylinder, the method further includes:

and receiving the control operation of a user on a stop button on the high-response servo electric cylinder, and stopping sending pulses to further complete the closing of the high-response servo electric cylinder.

In one possible implementation manner, before receiving a long-press release operation of a user for starting a key based on the magnitude of the pushing force and the error value of the magnitude of the pushing force, the method further includes:

and displaying the thrust magnitude and the error value of the thrust magnitude on a control screen of the high-response servo electric cylinder.

In one possible implementation manner, the pulse frequency to be sent at the current moment is calculated according to the long pressing time and the long pressing force value by using the following formula:

where f (t) denotes the pulse frequency to be transmitted at time t, f₀The minimum pulse frequency of the start key which is pressed by the user is shown, F (t) shows the long pressing force value which is collected by a pressure sensor below the start key at the moment t, k shows the elastic coefficient of the start key, x shows the displacement of the start key which is pressed, t₀The long press time representing that the user presses the start key, T representing the current time, and T representing a unit time.

In one possible implementation manner, the magnitude of the thrust generated by the high-response servo electric cylinder at the current moment is calculated according to the corresponding pulse frequency sent to the high-response servo electric cylinder by using the following formula:

wherein F_d(t) represents the magnitude of thrust generated by the high-response servo electric cylinder at the time t, a represents the transmission ratio of the motor in the high-response servo electric cylinder, r represents the radius of a transmission gear connected with the motor in the high-response servo electric cylinder, s represents the fraction value of the motor in the high-response servo electric cylinder, U represents the voltage applied to both ends of the high-response servo electric cylinder, and I represents the value of current flowing through the high-response servo electric cylinder.

In one possible implementation, the error value of the thrust magnitude is calculated according to the pulse frequency of the pulse sent by the high-response servo electric cylinder by itself by using the following formula:

where λ (t) represents the error value of the magnitude of the thrust at time t, f_h(t) represents the pulse frequency of the pulse generated by the high-response servo electric cylinder itself at time t.

In a second aspect, there is provided a control system of a high-response servo electric cylinder, comprising:

the acquisition module is used for acquiring the long pressing time and the long pressing force value of a user on a starting key on the high-response servo electric cylinder;

the first calculation module is used for calculating the pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force value;

the first control module is used for controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment;

the second calculation module is used for calculating the thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder;

the third calculation module is used for calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder;

and the second control module is used for receiving the long-press releasing operation of a starting key by a user based on the thrust and the error value of the thrust, determining and keeping the frequency of the current sent pulse, and further finishing the starting of the high-response servo electric cylinder.

In one possible implementation manner, the second control module is further configured to:

after the high-response servo electric cylinder is started, receiving control operation of a user on a stop button on the high-response servo electric cylinder, and stopping sending pulses to further complete closing of the high-response servo electric cylinder.

In a possible implementation manner, the device further comprises a display module, which is used for displaying the thrust magnitude and the error value of the thrust magnitude on a control screen of the high-response servo electric cylinder before the second control module receives the long-press releasing operation of the starting key based on the error value of the thrust magnitude and the error value of the thrust magnitude by a user.

By means of the technical scheme, the control method of the high-response servo electric cylinder provided by the embodiment of the application comprises the steps of firstly obtaining a long pressing time and a long pressing force value of a user on a starting key on the high-response servo electric cylinder, and further calculating the pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force value; then, controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment, and further calculating the magnitude of thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder; then calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder; and receiving the long-press releasing operation of a user on the basis of the thrust and the error value of the thrust, determining and maintaining the current pulse sending frequency, and further completing the starting of the high-response servo electric cylinder. It can be seen that the servo electric cylinder can be accurately controlled based on the operation requirement of a user, and the reliability, the safety and the stability of a servo system are realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.

Fig. 1 shows a flowchart of a control method of a high-response servo electric cylinder according to an embodiment of the present application;

fig. 2 is a structural view showing a control system of a high-response servo electric cylinder according to an embodiment of the present application;

fig. 3 is a structural view showing a control system of a high-response servo electric cylinder according to another embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such uses are 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 term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to".

The embodiment of the present application provides a control method of a high-response servo electric cylinder, as shown in fig. 1, the control method of the high-response servo electric cylinder may include the following steps S101 to S104:

step S101, acquiring long pressing time and long pressing force values of a user on a starting key on a high-response servo electric cylinder, and further calculating the pulse frequency to be sent at the current moment according to the long pressing time and the long pressing force values;

step S102, controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment, and further calculating the thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder;

step S103, calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder;

and step S104, receiving the long-press releasing operation of the starting key by the user based on the thrust magnitude and the error value of the thrust magnitude, determining and keeping the current pulse sending frequency, and further completing the starting of the high-response servo electric cylinder.

According to the control method of the high-response servo electric cylinder, firstly, long pressing time and long pressing force values of a user on a starting key on the high-response servo electric cylinder are obtained, and then the pulse frequency to be sent at the current moment is calculated according to the long pressing time and the long pressing force values; then, controlling to send corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment, and further calculating the magnitude of thrust generated by the high-response servo electric cylinder at the current moment according to the corresponding pulse frequency sent to the high-response servo electric cylinder; then, calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder; and receiving the long-press loosening operation of a starting key by a user based on the thrust magnitude and the error value of the thrust magnitude, determining and keeping the current pulse sending frequency, and further finishing the starting of the high-response servo electric cylinder. It can be seen that the servo electric cylinder can be accurately controlled based on the operation requirement of a user, and the reliability, the safety and the stability of a servo system are realized.

In this embodiment of the present application, a possible implementation manner is provided, and after the starting of the high-response servo electric cylinder is completed in step S104, the control operation of the user on the stop button on the high-response servo electric cylinder may also be received, and the sending of the pulse is stopped, so that the closing of the high-response servo electric cylinder is completed. It can be seen that the embodiment of the application can accurately control the starting or closing of the servo electric cylinder based on the operation requirement of a user, and realize the reliability, safety and stability of a servo system.

In the embodiment of the present application, a possible implementation manner is provided, and before receiving a long-press releasing operation of the user on the start button based on the error value of the magnitude of the thrust and the error value of the magnitude of the thrust in step S104, the error values of the magnitude of the thrust and the magnitude of the thrust may be displayed on the control screen of the high-response servo electric cylinder. Therefore, the error values of the thrust and the thrust can be visually displayed, and information can be conveniently, accurately and timely output.

In the foregoing step S101, the following formula may be used to calculate the pulse frequency to be sent at the current time according to the long press time and the long press force value:

where f (t) denotes the pulse frequency to be transmitted at time t, f₀The minimum pulse frequency of the start key which is pressed by a user to be sent is shown, F (t) shows a long pressing force value which is collected by a pressure sensor below the start key at the moment t, k shows an elastic coefficient of the start key, x shows a displacement which presses the start key, t₀The time when the user presses the start key is long, T represents the current time, and T represents the unit time.

In the above formula, after the user presses the start key, the start key generates the deformation amount of x, and further generates an upward spring force of kx, and the pressure sensor also gives upward a reaction force of f (t) as the pressing force of the user is larger, so that the pressing force of the user can be calculated as f (t) + kx. If the start button has just been pressed, the user presses kx, which is the minimum force. Since the frequency increases as the force pressed by the user increases, it needs to be multiplied bySimilarly, the pressing time is t-t₀The frequency also needs to increase with the increase of the pressing time, and the unit problem needs to be solvedIt is sufficient to eliminate a unit by one unit time T.

It can be seen that, in the embodiment, the pulse frequency to be sent at the current moment can be accurately calculated based on the above formula, so that the subsequent high-response servo electric cylinder can be accurately controlled.

In the embodiment of the present application, a possible implementation manner is provided, and in step S102, the following formula may be used to calculate the magnitude of the thrust generated by the high-response servo electric cylinder at the current time according to the corresponding pulse frequency sent to the high-response servo electric cylinder:

wherein F_d(t) represents the magnitude of thrust generated by the high-response servo electric cylinder at the time t, a represents the transmission ratio of the motor in the high-response servo electric cylinder, r represents the radius of a transmission gear connected with the motor in the high-response servo electric cylinder, s represents the fraction value of the motor in the high-response servo electric cylinder, U represents the voltage applied to both ends of the high-response servo electric cylinder, and I represents the value of current flowing through the high-response servo electric cylinder.

In the above formula, it can be derived as follows:

here, g (t) represents the torque of the highly responsive servo electric cylinder at time t. It can be seen that, the embodiment can accurately calculate the magnitude of the thrust generated by the high-response servo electric cylinder at the current moment, and then can control to send the corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current moment, so as to realize the control of the servo electric cylinder.

In the step S103, an error value of the thrust magnitude may be calculated according to the pulse frequency of the pulse sent by the high-response servo electric cylinder by using the following formula:

where λ (t) represents the error value of the magnitude of the thrust at time t, f_h(t) represents the pulse frequency of the pulse generated by the high-response servo electric cylinder itself at time t.

It can be seen that the embodiment can accurately calculate the error value of the thrust force according to the pulse frequency of the pulse sent by the high-response servo electric cylinder, and further judge whether the current high-response servo electric cylinder has a fault or works abnormally according to the error value, for example, if the error value is greater than a preset threshold, the current high-response servo electric cylinder has a fault or works abnormally; if the error value is smaller than the preset threshold value, the current high-response servo electric cylinder is judged to have no fault or abnormal work, and therefore reliability, safety and stability of the servo system are achieved.

It should be noted that, in practical applications, all the possible embodiments described above may be combined in a combined manner at will to form possible embodiments of the present application, and details are not described here again.

Based on the control method of the high-response servo electric cylinder provided by each embodiment, the embodiment of the application also provides a control system of the high-response servo electric cylinder based on the same inventive concept.

Fig. 2 shows a configuration diagram of a control system of a high-response servo electric cylinder according to an embodiment of the present application. As shown in fig. 2, the control system of the high-response servo electric cylinder may include an acquisition module 210, a first calculation module 220, a first control module 230, a second calculation module 240, a third calculation module 250, and a second control module 260.

The obtaining module 210 is configured to obtain a long pressing time and a long pressing force value of a user on a start key on a high-response servo electric cylinder;

the first calculating module 220 is configured to calculate a pulse frequency to be sent at the current time according to the long press time and the long press force value;

the first control module 230 is configured to control to send a corresponding pulse frequency to the high-response servo electric cylinder according to the pulse frequency to be sent at the current time;

the second calculation module 240 is configured to calculate the magnitude of thrust generated by the high-response servo electric cylinder at the current time according to the corresponding pulse frequency sent to the high-response servo electric cylinder;

the third calculating module 250 is used for calculating an error value of the thrust according to the pulse frequency of the pulse sent by the high-response servo electric cylinder;

and the second control module 260 is used for receiving the long-press releasing operation of the starting key by the user based on the thrust magnitude and the error value of the thrust magnitude, determining and maintaining the current frequency of the sent pulses, and further completing the starting of the high-response servo electric cylinder.

In the embodiment of the present application, a possible implementation manner is provided, and the second control module 260 shown in fig. 2 is further configured to:

after the high-response servo electric cylinder is started, receiving control operation of a user on a stop button on the high-response servo electric cylinder, and stopping sending pulses to further complete closing of the high-response servo electric cylinder.

In an embodiment of the present application, a possible implementation manner is provided, as shown in fig. 3, the control system of the high-response servo electric cylinder shown in fig. 2 may further include a display module 310, configured to display error values of the magnitude of the thrust and the magnitude of the thrust on a control screen of the high-response servo electric cylinder before the second control module 260 receives a long-press release operation of the start button based on the error values of the magnitude of the thrust and the magnitude of the thrust.

In this embodiment, a possible implementation manner is provided, and the first calculating module 220 shown in fig. 2 is further configured to calculate the pulse frequency to be sent at the current time according to the long press time and the long press force value by using the following formula:

where f (t) denotes the pulse frequency to be transmitted at time t, f₀The minimum pulse frequency of the start key which is pressed by a user to be sent is shown, F (t) shows a long pressing force value which is collected by a pressure sensor below the start key at the moment t, k shows an elastic coefficient of the start key, x shows a displacement which presses the start key, t₀The time when the user presses the start key is long, T represents the current time, and T represents the unit time.

In the embodiment of the present application, a possible implementation manner is provided, and the second calculating module 240 shown in fig. 2 is further configured to calculate the magnitude of the thrust generated by the high-response servo electric cylinder at the current time according to the following formula by sending the corresponding pulse frequency to the high-response servo electric cylinder:

wherein F_d(t) represents the magnitude of thrust generated by the high-response servo electric cylinder at the time t, a represents the transmission ratio of the motor in the high-response servo electric cylinder, r represents the radius of a transmission gear connected with the motor in the high-response servo electric cylinder, s represents the fraction value of the motor in the high-response servo electric cylinder, U represents the voltage applied to both ends of the high-response servo electric cylinder, and I represents the value of current flowing through the high-response servo electric cylinder.

In the embodiment of the present application, a possible implementation manner is provided, and the third calculating module 250 shown in fig. 2 is further configured to calculate an error value of the thrust magnitude according to the pulse frequency of the pulse sent by the high-response servo electric cylinder by using the following formula:

where λ (t) represents the error value of the magnitude of the thrust at time t, f_h(t) represents the pulse frequency of the pulse generated by the high-response servo electric cylinder itself at time t.

It can be clearly understood by those skilled in the art that the specific working processes of the system, the apparatus, and the module described above may refer to the corresponding processes in the foregoing method embodiments, and for the sake of brevity, the detailed description is omitted here.

Those of ordinary skill in the art will understand that: the technical solution of the present application may be essentially or wholly or partially embodied in the form of a software product, where the computer software product is stored in a storage medium and includes program instructions for enabling an electronic device (e.g., a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application when the program instructions are executed. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Alternatively, all or part of the steps of implementing the foregoing method embodiments may be implemented by hardware (an electronic device such as a personal computer, a server, or a network device) associated with program instructions, which may be stored in a computer-readable storage medium, and when the program instructions are executed by a processor of the electronic device, the electronic device executes all or part of the steps of the method described in the embodiments of the present application.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting 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 can be modified or some or all of the technical features can be equivalently replaced within the spirit and principle of the present application; such modifications or substitutions do not depart from the scope of the present application.