阅读说明：本技术 一种取料机、取料机取料流量控制方法、装置及存储介质 (Reclaimer, reclaiming flow control method and device of reclaimer and storage medium ) 是由 陶明 周铁梁 叶阜 高鹏森 陈翔宇 梅迎春 张溧栗 陈凤香 于 2020-12-30 设计创作，主要内容包括：本发明公开了一种取料机、取料机取料流量控制方法、装置及存储介质,其中取料机取料流量控制方法包括：获取取料机的运行条件,确定与所述运行条件相对应的目标流量与斗轮目标电流的对应关系；根据获取的目标流量利用所述目标流量与斗轮目标电流的对应关系,确定斗轮目标电流；基于所述斗轮目标电流和获取的斗轮实际电流控制悬臂回转速度。从而解决由于各种因素的不同导致的闭环控制的效果差异化的问题,可以在不同因素下均能实现参数优良的流量恒定。(The invention discloses a material taking machine, a material taking flow control method and device of the material taking machine and a storage medium, wherein the material taking flow control method of the material taking machine comprises the following steps: obtaining the operating conditions of a reclaimer, and determining the corresponding relation between the target flow corresponding to the operating conditions and the target current of a bucket wheel; determining a bucket wheel target current according to the obtained target flow by utilizing the corresponding relation between the target flow and the bucket wheel target current; and controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel. Therefore, the problem of effect differentiation of closed-loop control caused by different factors is solved, and the flow with excellent parameters can be constant under different factors.)

1. The utility model provides a reclaimer gets material flow control method which characterized in that includes:

obtaining the operating conditions of a reclaimer, and determining the corresponding relation between the target flow corresponding to the operating conditions and the target current of a bucket wheel;

determining a bucket wheel target current according to the obtained target flow by utilizing the corresponding relation between the target flow and the bucket wheel target current;

and controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel.

2. The method of claim 1, further comprising, after controlling a boom slew speed based on the bucket wheel target current and the obtained bucket wheel actual current:

when the reclaimer runs stably, matching the obtained belt scale detection flow with the bucket wheel detection current;

and updating the corresponding relation between the target flow and the bucket wheel target current by using the successfully matched belt scale detection flow and bucket wheel detection current.

3. The method of claim 2, wherein prior to pairing the acquired belt scale sensed flow and bucket wheel sensed current, further comprising:

acquiring the detection flow of a plurality of belt scales within a preset time period;

calculating the standard deviation of the detected flow of the plurality of belt scales;

determining the fluctuation amount of a preset fluctuation identifier according to the standard deviation;

and when the fluctuation identifier reaches a preset stability threshold value, judging that the reclaimer runs stably.

4. The method of claim 3, wherein the determining the fluctuation amount of the preset fluctuation identifier according to the standard deviation comprises:

when the standard deviation is larger than or equal to a preset first threshold value, the fluctuation amount of the fluctuation identifier is 1; when the standard deviation is smaller than a preset first threshold value, the fluctuation amount of the fluctuation identifier is-1.

5. The method of claim 1, wherein the target flow rate corresponds to a bucket wheel target current as follows:

F＝F0+P/K

wherein, F represents the bucket wheel target current or the bucket wheel detection current; f0 represents the idle current of the bucket wheel; p represents a target flow or a belt scale detection flow; k represents a proportionality coefficient.

6. The method of claim 2, wherein the updating the correspondence between the target flow rate and the bucket wheel target current with the successfully paired belt scale detection flow rate and bucket wheel detection current comprises:

inputting the detected flow of the belt weigher and the detected current of the bucket wheel which belong to a pair into the corresponding relation between the target flow and the target current of the bucket wheel to obtain the latest proportionality coefficient;

adding the latest proportionality coefficient into a proportionality coefficient array, and deleting the oldest proportionality coefficient from the proportionality coefficient array to obtain an updated proportionality coefficient array;

and obtaining the latest proportionality coefficient in the corresponding relation between the target flow and the target current of the bucket wheel by using each proportionality coefficient in the updated proportionality coefficient array.

7. The method of claim 6, further comprising, prior to adding the most recent scaling factor to the array of scaling factors:

judging whether the latest proportionality coefficient belongs to a preset value range;

and when the latest proportionality coefficient does not belong to the value range, rejecting the latest proportionality coefficient.

8. The utility model provides a reclaimer gets material flow control device which characterized in that includes:

the matching module is used for acquiring the operating conditions of the reclaimer and determining the corresponding relation between the target flow corresponding to the operating conditions and the bucket wheel target current;

the processing module is used for determining the bucket wheel target current according to the obtained target flow by utilizing the corresponding relation between the target flow and the bucket wheel target current;

and the control module is used for controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel.

9. A reclaimer, characterized by comprising:

the control method comprises a parameter acquisition device, a memory and a processor, wherein the parameter acquisition device, the memory and the processor are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the material taking flow control method of the material taking machine according to any one of claims 1 to 7.

10. A computer-readable storage medium storing computer instructions for causing a computer to perform the reclaimer material flow control method of any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of engineering control, in particular to a reclaimer, a reclaiming flow control method and a reclaiming flow control device of the reclaimer and a storage medium.

Background

The reclaimer is getting when the material operation, need get material flow control, and controlgear gets the material according to the flow of setting for steadily to improve equipment's operating efficiency guarantees not to take the time to take and does not take place to overload, extension equipment life, reduces the maintenance cost of overhaul.

Currently, the control of the reclaiming flow mainly comprises two PID control methods. The first one is: the cantilever belt weigher instantaneous flow and the cantilever rotation speed are controlled in a closed-loop PID mode, but the installation position of the belt weigher determines that the measured value and the current bucket wheel material taking actual value have about 8-10 seconds of delay, so that the cantilever belt weigher instantaneous flow and the cantilever rotation speed are controlled in the closed-loop PID mode, and a good closed-loop effect cannot be achieved. The second method is as follows: the current of the bucket wheel and the rotation speed of the cantilever are controlled by closed-loop PID, but the control effect is not ideal.

Disclosure of Invention

In view of this, embodiments of the present invention provide a reclaimer, a method and an apparatus for controlling reclaiming flow of the reclaimer, and a storage medium, so as to solve the problem that a PID closed-loop control effect using a bucket-wheel current and a cantilever rotation speed is not ideal.

According to a first aspect, an embodiment of the present invention provides a material taking flow control method for a material taking machine, including:

obtaining the operating conditions of a reclaimer, and determining the corresponding relation between the target flow corresponding to the operating conditions and the target current of a bucket wheel;

determining a bucket wheel target current according to the obtained target flow by utilizing the corresponding relation between the target flow and the bucket wheel target current;

and controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel.

According to the method for controlling the material taking flow of the reclaimer, provided by the embodiment of the invention, the corresponding relation between the target flow corresponding to the operation condition and the bucket wheel target current can be determined by obtaining the operation condition of the reclaimer, so that the closed-loop control of the bucket wheel current and the cantilever rotation speed is completed based on the determined corresponding relation between the target flow and the bucket wheel target current, the problem of difference of the closed-loop control effect caused by different factors is solved, and the flow with excellent parameters can be constant under different factors.

With reference to the first aspect, in the first embodiment of the first aspect, after controlling the boom slewing speed based on the target current of the bucket wheel and the obtained actual current of the bucket wheel, the method further includes:

when the reclaimer runs stably, matching the obtained belt scale detection flow with the bucket wheel detection current;

and updating the corresponding relation between the target flow and the bucket wheel target current by using the successfully matched belt scale detection flow and bucket wheel detection current.

With reference to the first embodiment of the first aspect, in the second embodiment of the first aspect, before pairing the acquired belt scale detection flow and the bucket wheel detection current, the method further includes:

acquiring the detection flow of a plurality of belt scales within a preset time period;

calculating the standard deviation of the detected flow of the plurality of belt scales;

determining the fluctuation amount of a preset fluctuation identifier according to the standard deviation;

and when the fluctuation identifier reaches a preset stability threshold value, judging that the reclaimer runs stably.

With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the determining the fluctuation amount of the preset fluctuation identifier according to the standard deviation includes:

when the standard deviation is larger than or equal to a preset first threshold value, the fluctuation amount of the fluctuation identifier is 1; when the standard deviation is smaller than a preset first threshold value, the fluctuation amount of the fluctuation identifier is-1.

With reference to the first aspect, in a fourth embodiment of the first aspect, the corresponding relationship between the target flow rate and the target current of the bucket wheel is as follows:

F＝F0+P/K

wherein, F represents the bucket wheel target current or the bucket wheel detection current; f0 represents the idle current of the bucket wheel; p represents a target flow or a belt scale detection flow; k represents a proportionality coefficient.

With reference to the first aspect or the first embodiment, in a fifth embodiment of the first aspect, the updating the correspondence between the target flow rate and the bucket wheel target current using the successfully paired belt weigher detected flow rate and bucket wheel detected current includes:

inputting the detected flow of the belt weigher and the detected current of the bucket wheel which belong to a pair into the corresponding relation between the target flow and the target current of the bucket wheel to obtain the latest proportionality coefficient;

adding the latest proportionality coefficient into a proportionality coefficient array, and deleting the oldest proportionality coefficient from the proportionality coefficient array to obtain an updated proportionality coefficient array;

and obtaining the latest proportionality coefficient in the corresponding relation between the target flow and the target current of the bucket wheel by using each proportionality coefficient in the updated proportionality coefficient array.

With reference to the fifth implementation manner of the first aspect, in the sixth implementation manner of the first aspect, before adding the latest scaling factor into the scaling factor array, the method further includes:

judging whether the latest proportionality coefficient belongs to a preset value range;

and when the latest proportionality coefficient does not belong to the value range, rejecting the latest proportionality coefficient.

According to a second aspect, an embodiment of the present invention provides a material taking flow control device for a material taking machine, including:

the matching module is used for acquiring the operating conditions of the reclaimer and determining the corresponding relation between the target flow corresponding to the operating conditions and the bucket wheel target current;

the processing module is used for determining the bucket wheel target current according to the obtained target flow by utilizing the corresponding relation between the target flow and the bucket wheel target current;

and the control module is used for controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel.

According to a third aspect, an embodiment of the present invention provides a reclaimer, which includes a parameter obtaining device, a memory, and a processor, where the parameter obtaining device, the memory, and the processor are communicatively connected to each other, a computer instruction is stored in the memory, and the processor executes the computer instruction, so as to execute the reclaimer reclaiming flow control method described in the first aspect or any one of the embodiments of the first aspect.

According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer instruction is stored, and the computer instruction is configured to enable the computer to execute the method for controlling a material taking flow of a material taking machine in the first aspect or any implementation manner of the first aspect.

Drawings

The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:

fig. 1 is a schematic flow chart of a material taking flow control method of a material taking machine in embodiment 1 of the present invention;

fig. 2 is a schematic flow chart illustrating an example of a method for controlling a reclaiming flow of a reclaimer according to an embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a material taking flow control device of a material taking machine in embodiment 2 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.

In order to solve the problem that the PID closed-loop control effect is not ideal by using the current of the bucket wheel and the rotation speed of the cantilever, research finds that: the bucket wheel current corresponding to the coal flow is different when the coal types are different; the coal types are the same, and the bucket wheel currents corresponding to different dryness and humidity are different; the coal types are the same, the dryness and the humidity are the same, and the bucket wheel currents corresponding to different coal layers are different; the coal types are the same, the dry humidity is the same, the coal layers are the same, and the bucket wheel currents corresponding to the left rotation and the right rotation of the cantilever are different.

Example 1

The embodiment 1 of the invention provides a method for controlling a material taking flow of a material taking machine, and fig. 1 is a schematic flow chart of the method for controlling the material taking flow of the material taking machine in the embodiment 1 of the invention. As shown in fig. 1, a method for controlling a material taking flow of a material taking machine in embodiment 1 of the present invention includes the following steps:

s101: the method comprises the steps of obtaining the operating conditions of the reclaimer, and determining the corresponding relation between the target flow corresponding to the operating conditions and the target current of the bucket wheel.

As a specific embodiment, the operating conditions of the reclaimer machine include one or more of the following: the type of coal, the flow rate of the coal, the dryness and humidity of the coal, the coal bed and the rotation direction of the cantilever. Wherein the direction of rotation of the boom comprises a left turn of the boom and a right turn of the boom.

S102: and determining the target current of the bucket wheel according to the obtained target flow by utilizing the corresponding relation between the target flow and the target current of the bucket wheel.

As a specific embodiment, the corresponding relationship between the target flow rate and the bucket wheel target current is as follows: f0+ P/K, where F denotes the bucket wheel target current (unknown); f0 represents bucket wheel idle current (known quantity); p represents a target flow rate (known quantity); k represents a proportionality coefficient (known quantity).

The idle running of the bucket wheel means that the bucket wheel leaves the material taking surface and rotates in the air without obstacles. For example, the no-load current of the bucket wheel refers to that, under the condition that the bucket wheel is idling, after a bucket wheel motor is started and stabilized, the median filtering is performed on the current of the bucket wheel within 1 second (one data is acquired within 0.1 second, and 10 data are acquired within 1 second) to obtain the current of the bucket wheel within 1 second, then the root mean square of fluctuation is calculated on the current of the bucket wheel within 10 continuous 1 seconds, and when the root mean square value of fluctuation is smaller than 0.5A, the average value corresponding to the current of the bucket wheel within 101 second is the no-load current of the bucket wheel.

S103: and controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel.

In embodiment 1 of the present invention, any method in the related art may be adopted to control the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel. For example, the calculated target current of the bucket wheel is used as negative feedback and the obtained actual current of the bucket wheel is used for PID control, and the PID control object is an arm frame rotation driving frequency converter; the rotating speed of the arm frame is adjusted by adjusting the given speed of the arm frame rotating drive frequency converter, so that the control of the material taking flow is realized.

According to the method for controlling the material taking flow of the reclaimer, provided by the embodiment 1 of the invention, by obtaining the operation condition of the reclaimer, the corresponding relation between the target flow corresponding to the operation condition and the bucket wheel target current can be determined, so that the closed-loop control of the bucket wheel current and the cantilever rotation speed is completed based on the determined corresponding relation between the target flow and the bucket wheel target current, the problem of difference of the closed-loop control effect caused by different factors is solved, and the flow with excellent parameters can be constant under different factors.

Meanwhile, in the practical process, the corresponding relation between the solidification target flow and the bucket wheel target current can cause the deviation between the actual material taking flow and the target flow to be large. As a further embodiment, after controlling the boom slewing speed based on the target current of the bucket wheel and the obtained actual current of the bucket wheel, the method further includes: (1) when the reclaimer runs stably, matching the obtained belt scale detection flow with the bucket wheel detection current; (2) and updating the corresponding relation between the target flow and the bucket wheel target current by using the successfully matched belt scale detection flow and bucket wheel detection current. That is to say, when the reclaimer runs stably, the corresponding relation between the target flow and the target current of the bucket wheel is updated, and the next cantilever rotation speed is controlled by using the updated corresponding relation between the target flow and the target current of the bucket wheel, so that the convergence of the algorithm can be increased, the influence of noise interference is reduced, and the stability and the control precision of the system are enhanced.

As a further embodiment, before the step (1), the method further comprises: acquiring the detection flow of a plurality of belt scales within a preset time period; calculating the standard deviation of the detected flow of the plurality of belt scales; determining the fluctuation amount of a preset fluctuation identifier according to the standard deviation; and when the fluctuation identifier reaches a preset stability threshold value, judging that the reclaimer runs stably.

Specifically, the determining the fluctuation amount of the preset fluctuation identifier according to the standard deviation includes: when the standard deviation is larger than or equal to a preset first threshold value, the fluctuation amount of the fluctuation identifier is 1; when the standard deviation is smaller than a preset first threshold value, the fluctuation amount of the fluctuation identifier is-1. For example: if the standard deviation is less than 50, subtracting 1 from the fluctuation identifier; the standard deviation is greater than or equal to 50; then the fluctuation identifier is incremented by 1; the fluctuation identifier initial value is 6, which indicates that the current is not stable; when the fluctuation identifier is 0, the detected flow of the belt scale is stable, namely the reclaimer runs stably.

In embodiment 1 of the present invention, after the reclaimer operates stably, the acquired belt scale detection flow and bucket wheel detection current are paired, so that the convergence of the algorithm can be increased.

As a specific embodiment, the following technical scheme can be adopted in the step (2): (20) inputting the detected flow of the belt weigher and the detected current of the bucket wheel which belong to a pair into the corresponding relation between the target flow and the target current of the bucket wheel to obtain the latest proportionality coefficient; (21) adding the latest proportionality coefficient into a proportionality coefficient array, and deleting the oldest proportionality coefficient from the proportionality coefficient array to obtain an updated proportionality coefficient array; (22) and obtaining the latest proportionality coefficient in the corresponding relation between the target flow and the target current of the bucket wheel by using each proportionality coefficient in the updated proportionality coefficient array. Specifically, the corresponding relationship between the target flow and the bucket wheel target current is as follows: f-0 + P/K, where F denotes the bucket wheel detection current; f0 represents the idle current of the bucket wheel; p represents the detection flow of the belt weigher; k represents a proportionality coefficient. Illustratively, 3 proportionality coefficients are stored in the proportionality coefficient array according to a time sequence, an oldest proportionality coefficient in the proportionality coefficient array is replaced by a latest proportionality coefficient in a recursion mode, and finally, an average value of the 3 proportionality coefficients in the updated proportionality coefficient array is calculated to obtain the proportionality coefficient in the corresponding relation between the latest target flow and the bucket wheel target current.

As a further embodiment, before adding the latest scale factor to the scale factor array, the method further includes: judging whether the latest proportionality coefficient belongs to a preset value range; and when the latest proportionality coefficient does not belong to the value range, rejecting the latest proportionality coefficient. Therefore, invalid values can be removed by limiting the value range of the proportionality coefficient, and the phenomenon that the algorithm is not converged due to abnormal updating is prevented.

In order to describe the reclaiming flow control method of the reclaimer in embodiment 1 of the present invention in detail, a specific example is given. Fig. 2 is a schematic flow chart of an example of a method for controlling a material taking flow of a material taking machine in embodiment 1 of the present invention, and as shown in fig. 2, the method for controlling the material taking machine flow of the example includes the following steps:

1. considering the motor output characteristic, under the condition of constant voltage (non-variable frequency), the motor output and the motor current have a positive linear relation, and the linear coefficient is assumed to be k (the parameter is continuously optimized in a self-learning manner), so that the target material taking flow of the bucket wheel machine can be easily converted into the target bucket wheel current (namely the target current in fig. 2) under the condition that the no-load current of the bucket wheel is known.

2. After normalization processing is carried out on the bucket wheel target current (namely the target current in fig. 2) and the actual bucket wheel current for taking materials (namely the material taking current in fig. 2), PID control is easily carried out on the rotation speed of the cantilever.

3. Through the algorithm matching mode, the detected flow of the material taking belt scale is matched with the detected current of the bucket wheel (namely, the flow current in the figure 2 is matched), so that the influence caused by time delay is eliminated for subsequent self-learning.

4. The fluctuation of the material taking flow is quantified by adopting a fluctuation root-mean-square calculation method, and meanwhile, accurate and timely fluctuation identifiers are provided for subsequent calculation through a scientific and reasonable fluctuation identifier judgment algorithm.

5. When the fluctuation is small, the k value is updated.

The self-learning of the model is completed by repeating the process, the actual measurement shows that the maximum overshoot of the constant flow is 10%, the rapid stabilization time is 3 seconds, the stabilization error is almost zero along with the self-learning, and the flow fluctuation is controlled to be about +/-50 t/h on the premise that the belt is not damaged.

By way of example, when the target flow is 1000t/h, the method for controlling the material taking flow is used, and the target flow is measured according to statistical data of a detection mechanism, the actual flow is stabilized at about 1000t/h, the overshoot does not exceed 10%, the fluctuation is less than +/-48 t/h, and the effects of small overshoot, stable flow and small error can be achieved.

Example 2

Corresponding to embodiment 1 of the invention, embodiment 2 of the invention provides a material taking flow control device of a material taking machine. Fig. 3 is a schematic structural diagram of a material taking flow control device of a material taking machine in embodiment 2 of the present invention, and as shown in fig. 3, the material taking flow control device of the material taking machine in embodiment 2 of the present invention includes a matching module 20, a processing module 22, and a control module 24.

Specifically, the matching module 20 is configured to obtain an operating condition of the reclaimer, and determine a corresponding relationship between a target flow corresponding to the operating condition and a target current of the bucket wheel.

And the processing module 22 is configured to determine the bucket wheel target current according to the obtained target flow by using the corresponding relationship between the target flow and the bucket wheel target current.

And the control module 24 is used for controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel.

As a further embodiment, the reclaimer reclaiming flow control device further includes an update module 26. After controlling the rotation speed of the cantilever based on the target current of the bucket wheel and the obtained actual current of the bucket wheel, the updating module 26 is configured to pair the obtained detected flow of the belt scale and the detected current of the bucket wheel when the reclaimer runs stably; and updating the corresponding relation between the target flow and the bucket wheel target current by using the successfully matched belt scale detection flow and bucket wheel detection current.

The details of the material taking flow control device of the material taking machine can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 2, and are not described herein again.

Example 3

The embodiment of the invention also provides a material taking machine, which can comprise a parameter acquiring device, a processor and a memory, wherein the processor and the memory can be connected through a bus or in other manners.

The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.

The memory, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the matching module 20, the processing module 22, and the control module 24 shown in fig. 3) corresponding to the reclaimer material flow control method in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transitory software program, instructions and modules stored in the memory, that is, the method for controlling the material taking flow of the material taking machine in the above method embodiment is implemented.

The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory and, when executed by the processor, perform the reclaimer material reclaiming flow control method of the embodiment shown in fig. 1-3.

The details of the material taking machine may be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.