CN110992343A - Flying filament flying impurity visual inspection method based on robot, storage medium and electronic equipment - Google Patents
Flying filament flying impurity visual inspection method based on robot, storage medium and electronic equipment Download PDFInfo
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention provides a flying filament flying impurity visual inspection method based on a robot, a storage medium and electronic equipment, wherein the method comprises the following steps: s1, controlling the robot to reach a position to be patrolled of a certain machine; s2, controlling the robot to aim the camera at a to-be-shot area of a certain machine, and shooting the to-be-shot area to obtain a shot image; s3, uploading the shot image and machine information of a certain machine to a server, and carrying out fiber floating detection on the shot image of the certain machine to obtain a detection result; s4, judging whether the flying filament warning information or the flying impurity warning information needs to be sent according to the detection result; and S5, controlling the robot to reach the position to be patrolled of the next machine, and repeating the steps S2-S4. According to the method provided by the embodiment of the invention, the automation degree of the flying shred impurity detection can be effectively improved, the inspection is more accurate and on time, the inspection can be continued after the problem is found, the normal operation of the subsequent inspection work is not influenced, and the working efficiency is improved.
Description
Technical Field
The invention relates to the field of intelligent monitoring of a workshop production line, in particular to a flying shred impurity visual inspection method based on a robot, a computer storage medium and electronic equipment.
Background
In a silk weaving workshop of a chemical fiber factory, a plurality of chemical fiber yarns thinner than hair yarns are required to be woven into a thicker rope, and a circular blowing weaving technology is utilized, in the process, the filament drawing speed is very high and is about 50 meters per second, so that the problem of filament breakage, namely fluttering filament, is caused, and once the fluttering filament occurs, the filament is dragged into a ball in a few seconds, namely fluttering impurity. At present, once the phenomenon of floating silk or impurities occurs, the silk can be reconnected only by manpower. Hundreds or more machines in a workshop run automatically, generally by manual inspection, and when flying filaments and flying impurities are found, manual treatment is carried out. Because the silk is very thin, and a machine has hundreds of, and light is weak again, need carefully see with the flashlight, the inspection is wasted time and energy.
Therefore, the conventional manual inspection method has a plurality of uncertainties, the working efficiency depends on the quality of workers, wiring is required to be performed when the flying filaments are flying, the time consumption is long, inspection can be suspended at the moment, the normal operation of other inspection work is influenced, and the working efficiency is reduced. In order to solve the above problems, patent No. 201910470630.8 discloses an intelligent inspection method for a chemical fiber spinning process yarn path in 2019, 10 months and 8 days. The disclosed technical means adopts the following measures: bright spots are generated after the strip-shaped laser beams irradiate the silk thread units through the image acquisition device, the processor identifies and calculates the number of the bright spots on the back plate, and the number of the bright spots is transmitted to the output device; the processor also compares the calculated bright spot number value with a preset silk thread number value and transmits a comparison result to the output device. The workman can be through output device direct-viewing understanding the behavior on silk way to replace artifical visual inspection, efficiency is about artificial more than 20 times, can in time discover high silk way unusually.
The above-mentioned means can replace artifical the detection, but this kind of technical means can only detect the synthetic silk thread of 72 tows, if 144 silk threads are at the in-process of synthetic silk thread, because the quantity of tows is very many, produce the bright spot and can appear piling up the coincidence and shelter from after shining the tow unit through bar laser beam, and then can lead to the bright spot quantity after gathering and preset silk thread quantity not unified, lead to the result of detecting inaccurate, the wrong report condition that this prior art produced is high in the actual process.
Disclosure of Invention
In view of the above, the invention provides a flying filament flying impurity inspection method based on a robot, a computer storage medium and an electronic device, which have high automation degree and are more accurate and accurate in inspection.
In order to solve the technical problem, in one aspect, the invention provides a flying filament impurity visual inspection method based on a robot, which comprises the following steps: s1, controlling the robot to reach a position to be patrolled of a certain machine; s2, controlling the robot to align the camera with the area to be shot of the certain machine, and shooting the area to be shot to obtain a shot image; s3, uploading the shot image and the machine information of a certain machine to a server, and carrying out flying wire and flying impurity detection on the shot image of the certain machine to obtain a detection result; s4, judging whether the flying filament warning information or the flying impurity warning information needs to be sent according to the detection result; and S5, controlling the robot to reach the position to be patrolled of the next machine, and repeating the steps S2-S4.
According to the flying lead impurity inspection method based on the robot, the robot automatically inspects and shoots the machine table, whether the working condition of the machine table is normal is judged according to the shooting result, whether alarm information is sent or not is determined according to the judgment result, and workers are reminded to process the machine table with flying lead impurities.
According to some embodiments of the invention, step S1 includes: s11, setting a patrol task of the robot; and S12, controlling the robot to reach the position to be patrolled of the certain machine station according to the patrolling task.
According to some embodiments of the invention, the robot goes to the location to be patrolled of the certain board by automatic navigation.
According to some embodiments of the invention, step S2 includes: controlling a light supplement lamp on the robot to irradiate the convergence position of the filament bundle to be formed on the working machine table, wherein a light reflecting area is generated on the filament bundle irradiated by the irradiation lamp; and S22, the robot shoots the light reflection region by aiming the camera to obtain the shot image.
According to some embodiments of the invention, in step S3, the method of detecting fly ash in the captured image includes photo detection, and the visual inspection method includes: the robot automatically collects one or more shooting images and uploads the shooting images to the server, and the server detects flying fibers and flying impurities through a visual algorithm.
According to some embodiments of the invention, in step S3, the method for detecting flying leads in the shot image comprises video stream detection, the shot image is a video stream, and the visual inspection method comprises: the robot shoots the video stream and uploads the video stream to the server, and the server decodes the video stream and detects the flying filaments and the impurities frame by frame or frame by adopting a visual algorithm.
According to some embodiments of the invention, the visual algorithm is: the server analyzes whether the bright light outside the globoid bright light exists or not outside the globoid bright light in the video or the photo through comparison,
if the free bright light is the floating silk or the floating impurities, the server outputs an instruction for sending out the floating silk warning information or the floating impurities warning information.
If no bright light is emitted outside, the device is considered to be working normally.
According to some embodiments of the present invention, the flying lead warning message or the flying impurity warning message is a sound warning message or a monitor program interface display image message.
In a second aspect, embodiments of the present invention provide a computer storage medium comprising one or more computer instructions that, when executed, implement a method as in the above embodiments.
An electronic device according to an embodiment of the third aspect of the invention comprises a memory for storing one or more computer instructions and a processor; the processor is configured to invoke and execute the one or more computer instructions to implement the method according to any of the embodiments described above.
Drawings
Fig. 1 is a flowchart of a robot-based flying filament clutter visual inspection method according to an embodiment of the present invention.
Fig. 2 is a network structure diagram of data transmission in the robot-based flying filament impurity inspection method according to the embodiment of the invention.
Fig. 3 is a comparison graph of false alarm rates of a flying filament impurity visual inspection method based on a robot and a prior art detection method according to an embodiment of the invention.
Fig. 4 is a schematic diagram of an electronic device according to an embodiment of the invention.
Reference numerals:
an electronic device 300;
a memory 310; an operating system 311; an application 312;
a processor 320; a network interface 330; an input device 340; a hard disk 350; a display device 360.
Detailed Description
The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The following first describes a flying filament impurity inspection method based on a robot according to an embodiment of the invention with reference to the accompanying drawings.
As shown in fig. 1, the flying filament impurity visual inspection method based on the robot according to the embodiment of the invention comprises the following steps:
and S1, controlling the robot to arrive at the position to be patrolled of a certain machine.
And S2, controlling the robot to align the camera with the area to be shot of the certain machine, and shooting the area to be shot to obtain a shot image.
S3, uploading the shot image and the machine information of a certain machine to a server, and carrying out the flying-filament flying-impurity detection on the shot image of the certain machine to obtain a detection result.
And S4, judging whether the flying filament warning information or the flying impurity warning information needs to be sent according to the detection result.
And S5, controlling the robot to reach the position to be patrolled of the next machine, and repeating the steps S2-S4.
In other words, when the flying lead visual inspection method based on the robot according to the embodiment of the invention is used for inspecting a machine station, the robot is firstly controlled to reach the position to be inspected of the machine station to be inspected, then the camera of the robot is controlled to be aligned with the area to be photographed of the machine station and photographed to obtain a photographed image, the photographed image can be a photo or a video, then the photographed image and the information of the corresponding machine station, such as the number of the machine station, are uploaded to the server to facilitate the position positioning of the machine station, the server performs flying lead detection on the photographed image, judges whether the flying lead of the machine station exists in the silk thread or the flying lead phenomenon, when the server recognizes that the flying lead or the flying lead phenomenon exists in a certain machine station, the server immediately sends out alarm information to remind a worker that a problem exists in the certain machine station, before the worker processes the corresponding machine station, the alarm information of the server can be closed firstly, or the alarm information of the server can be closed after the corresponding machine is processed. After the robot finishes alarming, the robot can continue to patrol without influencing the normal operation of subsequent patrol.
The robot of the present invention is an intelligent device capable of moving automatically, and is equipped with a high definition camera and a light supplement device through laser navigation, visual navigation, two-dimensional code navigation, magnetic nail or tape navigation, guide rail type, etc., and has real-time network communication capabilities, such as 4G, 5G, wifi, mesh, etc.
Therefore, according to the flying lead impurity inspection method based on the robot, the robot automatically inspects and shoots the machine table, judges whether the working condition of the machine table is normal according to the shooting result, determines whether to send alarm information according to the judgment result, and reminds workers to process the machine table with flying lead impurities.
According to an embodiment of the present invention, step S1 includes:
and S11, setting the patrol task of the robot.
And S12, controlling the robot to reach the position to be patrolled of the certain machine station according to the patrolling task.
Optionally, in some embodiments of the invention, the robot goes to the to-be-patrolled position of the certain machine table through automatic navigation.
That is, before detecting the flying fibers and the impurities on the machine stations, firstly, the inspection task of the robot is set according to the arrangement and the inspection requirement of the machine stations, and then the robot reaches the position to be inspected of a certain machine station according to the inspection task. The robot can automatically go to a machine station to be patrolled in an automatic navigation mode according to the set patrolling task. From this, through setting up predetermined inspection task for the robot, steerable robot moves about according to predetermined inspection orbit promptly, has improved the degree of automation of inspection greatly, has guaranteed inspection efficiency and precision.
According to some embodiments of the invention, step S2 includes:
s21, controlling a light supplement lamp on the robot to irradiate the convergence position of the tows to be formed on the working machine table, and generating a light reflecting area on the tows irradiated by the irradiation lamp; and S22, the robot shoots the light reflection region by aiming the camera to obtain the shot image.
In other words, because the silk thread is very thin, the silk thread can be seen only through the reflection of light of the silk thread, and after the robot reaches the position to be patrolled of a certain machine, the robot can automatically align the camera of the robot to the light reflection region to be shot so as to fill light and take a picture. The light reflecting area is an area which is 5-15cm away from the height of the oil nozzle, namely an area where the tows converge into a line, and light reflected in the area is nodular and bright after being irradiated.
Wherein, the light filling lamp can be rectangular shape strong light, installs at the robot top or control both sides or other positions, and the light filling lamp is connected through a small-size cloud platform with the robot, can let lamp every single move or horizontal adjustment angle. The cloud platform can have manual and automatic two kinds, all can be applicable to this embodiment. After the manual cradle head is adjusted manually, as each machine table is the same, as long as the navigation scheme adopted by the robot is accurate enough, a better light compensation effect can be realized. If the navigation error is great, then can adopt automatic cloud platform, the robot judges whether the cloud platform needs the adjustment through the definition in the analysis video picture, when the bright luminance of bulk is not enough, can finely tune the light cloud platform through the control procedure in order to satisfy the light filling needs.
Therefore, the processing condition of the silk thread can be more clearly reflected by supplementing light to the silk thread and shooting, and the detection precision of the silk thread is further improved.
Optionally, in some embodiments of the invention, in step S3, the method for detecting flying fibers in the captured image includes photo detection, and the visual inspection method includes: the robot automatically collects one or more shooting images and uploads the shooting images to the server, and the server detects flying fibers and flying impurities through a visual algorithm.
In other embodiments of the present invention, in step S3, the method for detecting flying fibers and flying impurities in the captured image includes video stream detection, and the visual inspection method includes: the robot shoots the video stream and uploads the video stream to the server, and the server detects flying fibers and flying impurities through a visual algorithm.
The visual algorithm is as follows: the server analyzes whether the bright light outside the globoid bright light exists or not outside the globoid bright light in the video or the photo through comparison,
if the free bright light is the floating silk or the floating impurities, the server outputs an instruction for sending out the floating silk warning information or the floating impurities warning information.
If no bright light is emitted outside, the device is considered to be working normally.
That is to say, the robot can send the serial number of board to the server after arriving a certain board, makes things convenient for the location position, and the discernment server carries out the detection discernment that the silk is wafted miscellaneous simultaneously. There are two recognition methods, one is photo recognition and the other is video stream recognition. When photo recognition is adopted, the robot automatically collects one or more photos and sends the photos to the recognition server, and the recognition server detects flying filaments and flying impurities through a visual algorithm. When the video stream identification is adopted, the identification server directly obtains the video stream of the robot, and the video stream is decoded to detect frame by frame or frame by frame.
Finally, whether the machine table has the flying filaments or the flying impurities can be judged by judging whether other free bright light exists outside the cluster bright light in the picture or the video picture, wherein the bright light is the filament bundle with the flying filaments or the flying impurities.
As shown in fig. 2, no matter what way is adopted to transmit data between the server and the robot, real-time network communication is required, and the data transmission can be realized through 4G and 5G networks, or through self-built network coverage, such as wifi.
According to an embodiment of the present invention, step S4 includes: and sending out the flying filament warning information or flying impurity warning information when the detection result shows that the machine platform has flying filaments and flying impurities. Specifically, the flying wire warning information or the flying impurity warning information is sound warning information or image information displayed on a monitoring program interface.
In other words, once the recognition server detects that the machine has the flying filaments or flying impurities, the recognition server immediately generates an alarm to remind the worker that the machine has the flying filaments, and simultaneously displays image information on the monitoring program interface. The operator can directly shut down the machine and perform the wire drawing process. After the robot takes a picture of one machine, the robot can directly go to the next machine for inspection.
In summary, according to the flying-filament flying-impurity inspection method based on the robot in the embodiment of the invention, the robot is used as an inspection device, each machine is supplemented with light and shot through a planned inspection task, a photo or video stream is sent to a background for intelligent identification, and once flying filaments and flying impurities are found, an alarm is immediately generated to inform an operator on duty to process. After the robot shoots the photo, the robot can immediately go to the next work inspection. Therefore, high-density inspection can be carried out, and the flying silks can be identified more accurately than human eyes by adopting an intelligent identification algorithm.
In addition, the present invention also provides a computer storage medium, which includes one or more computer instructions, and when executed, the one or more computer instructions implement any one of the above-mentioned robot-based flying filament clutter visual inspection methods.
That is, the computer storage medium stores a computer program that, when executed by a processor, causes the processor to perform any of the robot-based fly ash clutter visual inspection methods described above.
As shown in fig. 3, an embodiment of the present invention provides an electronic device 300, which includes a memory 310 and a processor 320, where the memory 310 is configured to store one or more computer instructions, and the processor 320 is configured to call and execute the one or more computer instructions, so as to implement any one of the methods described above.
That is, the electronic device 300 includes: a processor 320 and a memory 310, in which memory 310 computer program instructions are stored, wherein the computer program instructions, when executed by the processor, cause the processor 320 to perform any of the methods described above.
Further, as shown in fig. 3, the electronic device 300 further includes a network interface 330, an input device 340, a hard disk 350, and a display device 360.
The various interfaces and devices described above may be interconnected by a bus architecture. A bus architecture may be any architecture that may include any number of interconnected buses and bridges. Various circuits of one or more Central Processing Units (CPUs), represented in particular by processor 320, and one or more memories, represented by memory 310, are coupled together. The bus architecture may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like. It will be appreciated that a bus architecture is used to enable communications among the components. The bus architecture includes a power bus, a control bus, and a status signal bus, in addition to a data bus, all of which are well known in the art and therefore will not be described in detail herein.
The network interface 330 may be connected to a network (e.g., the internet, a local area network, etc.), and may obtain relevant data from the network and store the relevant data in the hard disk 350.
The input device 340 may receive various commands input by an operator and send the commands to the processor 320 for execution. The input device 340 may include a keyboard or a pointing device (e.g., a mouse, a trackball, a touch pad, a touch screen, or the like).
The display device 360 may display the result of the instructions executed by the processor 320.
The memory 310 is used for storing programs and data necessary for operating the operating system, and data such as intermediate results in the calculation process of the processor 320.
It will be appreciated that memory 310 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 310 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some embodiments, memory 310 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 311 and application programs 312.
The operating system 311 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs 312 include various application programs, such as a Browser (Browser), and are used for implementing various application services. A program implementing methods of embodiments of the present invention may be included in application 312.
The method disclosed by the above embodiment of the present invention can be applied to the processor 320, or implemented by the processor 320. Processor 320 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 320. The processor 320 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, and may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 310, and the processor 320 reads the information in the memory 310 and completes the steps of the method in combination with the hardware.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
In particular, the processor 320 is also configured to read the computer program and execute any of the methods described above.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A flying filament flying impurity visual inspection method based on a robot is characterized by comprising the following steps:
s1, controlling the robot to reach a position to be patrolled of a certain machine;
s2, controlling the robot to align the camera with the area to be shot of the certain machine, and shooting the area to be shot to obtain a shot image;
s3, uploading the shot image and the machine information of a certain machine to a server, and carrying out flying wire and flying impurity detection on the shot image of the certain machine to obtain a detection result;
s4, judging whether the flying filament warning information or the flying impurity warning information needs to be sent according to the detection result;
and S5, controlling the robot to reach the position to be patrolled of the next machine, and repeating the steps S2-S4.
2. The method according to claim 1, wherein step S1 includes:
s11, setting a patrol task of the robot;
and S12, controlling the robot to reach the position to be patrolled of the certain machine station according to the patrolling task.
3. The method according to claim 2, wherein the robot is guided to the location to be patrolled of the certain board by automatic navigation.
4. The method according to claim 1, wherein step S2 includes:
s21, controlling a light supplement lamp on the robot to irradiate the convergence position of the tows to be formed on the working machine table, and generating a light reflecting area on the tows irradiated by the irradiation lamp;
and S22, the robot shoots the light reflection region by aiming the camera to obtain the shot image.
5. The method of claim 1, wherein in step S3, the method of detecting fly-ash in the captured image comprises photo detection, and the visual inspection method comprises: the robot automatically collects one or more shooting images and uploads the shooting images to the server, and the server detects flying fibers and flying impurities through a visual algorithm.
6. The method according to claim 1, wherein in step S3, the method for detecting the flying fibers in the shot image comprises video stream detection, the shot image is a video stream, and the visual inspection method comprises: the robot shoots the video stream and uploads the video stream to the server, and the server decodes the video stream and detects the flying filaments and the impurities frame by frame or frame by adopting a visual algorithm.
7. The method according to claim 5 or 6, wherein the visual algorithm is: the server analyzes whether the bright light outside the globoid bright light exists or not outside the globoid bright light in the video or the photo through comparison,
if the free bright light is the floating filament or the floating impurities, the server outputs an instruction for sending out the floating filament warning information or the floating impurities warning information;
if no bright light is emitted outside, the device is considered to be working normally.
8. The method of claim 7, wherein the fluttering filament warning message or the fluttering impurity warning message is a sound warning message or a monitor program interface display image message.
9. A computer storage medium comprising one or more computer instructions which, when executed, implement the method of any one of claims 1-8.
10. An electronic device comprising a memory and a processor, wherein,
the memory is to store one or more computer instructions;
the processor is configured to invoke and execute the one or more computer instructions to implement the method of any one of claims 1-8.
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