用于型钢的机器人切割方法 Steel cutting method for robot

技术领域 FIELD

[0001] 本发明涉及船舶制造领域，具体而言，涉及一种用于型钢的机器人切割方法。 [0001] The present invention relates to the field of shipbuilding, in particular, relates to a robot for steel cutting method.

背景技术 BACKGROUND

[0002] 造船行业的材料切割数量巨大，质量要求高，船用型钢在焊接之前要切割各种形状的端头、中间孔和焊接坡口。 [0002] shipbuilding industry cut a huge amount of material, high quality requirements, marine steel in a variety of shapes to be cut before soldering tip, the middle hole and weld groove. 传统的手工划线切割或者专机划线切割方式切割效率低、质量差，严重制约着造船行业的发展。 Traditional hand scribing or cutting plane scribing way low efficiency, poor quality, seriously restricting the development of the shipbuilding industry. 这使得船用型钢切割对自动化生产的要求大幅增加，而采用机器人柔性切割技术能够很好的适应切割生产需要。 This allows for a substantial increase in cutting steel marine automation requirements, and the use of flexible cutting robot technology can adapt well cut production. 但若采用示教方式进行，需要的工时长，切割作业效率低，并且大大降低切割精度，影响系统的整体性能，而采用CAD/CAM/ROBOT —体化的机器人离线编程型钢切割技术可以提高生产效率和切割精度。 However, if the use of teaching methods, requiring long working hours, low cut operating efficiency, and significantly reduce the overall performance of cutting precision, the impact of the system, and the use of CAD / CAM / ROBOT - the body of the robot offline programming steel cutting technology can improve production efficiency and cutting accuracy.

[0003] 机器人离线编程是利用计算机图形学的成果，建立起机器人及其工作环境的几何模型，再利用规划算法，通过对图形的控制和操作，在离线的情况下进行轨迹规划。 [0003] The robot offline programming is the use of computer graphics achievements build a robot and its working environment geometry, re-use planning algorithm, control and operation of the graphics, in the case of offline trajectory planning. 通过对编程结果进行三维图形仿真，以检验切割动作的正确性，最后将生成的代码传到机器人控制器，控制机器人运动，完成切割任务。 By the results of three-dimensional graphics programming simulations to verify the correctness of the cutting action, and finally reached the generated code robot controller, robot motion control, complete the cutting task. 在国外，已经开发了型钢机器人切割系统，如荷兰HGG相贯线及型钢切割生产线、德国ISU公司机器人型钢切割生产线、挪威的TTS机器人切割全自动生产线等。 In other countries, has developed a steel robot cutting systems, such as the Netherlands HGG intersection line and cut steel production line, the German company ISU steel cutting production line robots, robot cutting Norway's TTS automatic production lines. 国内尚无相关的机器人型钢自动化切割生产线产品，尚处于实验室研究阶段。 Robotic automation is no domestic steel production line of products related to the cut, is still in the laboratory stage.

[0004] 现阶段用于型钢切割的机器人离线编程技术大多存在以下缺点:1)型钢切割特征建模复杂，不适合工人操作；2)切割坡口角度在一侧型钢表面上只能设定固定的坡口值，不能进行变坡口切割；3)在角钢、球扁钢等的切割中两个型面相交棱角处切割质量较 [0004] stage robot offline programming techniques for steel cutting most of the following disadvantages: 1) modeling of complex features cutting steel, not suitable for workers to operate; 2) cutting bevel angle on the side of the steel surface can only set a fixed The groove value can not be changed beveling; 3) at the intersection of cutting corners in quality angle, the ball flat steel cutting two profiles compared

差，需要进行人工二次加工等。 Difference, the need for artificial secondary processing.

发明内容 SUMMARY

[0005] 本发明提供一种用于型钢的机器人切割方法，该方法基于机器人离线编程技术，提高型钢切割的精度和效率，实现机器人示教不能实现的坡口特征切割。 [0005] The present invention provides a method for robot-beam cutting method, which is based on off-line robot programming technology to improve the accuracy and efficiency of steel cutting, robot teaching can not be achieved bevel cutting characteristics.

[0006] 为达到上述目的，本发明提供了一种用于型钢的机器人切割方法，其包括以下步骤:根据CAD图形文件得到型钢的几何特征，将几何特征进行路径规划和切割参数设计，生成型钢切割单元；将所述型钢切割单元在指定长度的型钢上进行放置规划，确定放置面、参考面和放置顺序，并给出切割枪的动作参数和切割参数，生成套料文件；将套料文件按照机器人程序格式转化为机器人可执行的程序，实现对型钢的切割。 [0006] To achieve the above object, the present invention provides a method of cutting a steel robot, comprising the steps of: CAD drawing file according to the obtained beam geometry, the geometric characteristics of the cutting path planning and design parameters to generate a beam cutting unit; the steel cutting unit on a specified length of steel placement plan, determine the mounting surface, the reference surface and place the order and give the torch of motion parameters and cutting parameters, raw material document sets; the nesting file format conversion in accordance with the robot program executable program the robot to realize the steel cutting.

[0007] 较佳的，在上述机器人切割方法中，根据CAD图形文件得到型钢的切割单元步骤包括JfCAD图形特征按照基本图元进行分解，并按照特定格式生成中间数据；根据图形特征的分解信息，设置基本图元的切割放置面和坡口类型，构建切割特征，将切割特征进行路径规划和切割参数设计，形成型钢切割单元。 [0007] Preferably, in the cutting process of the robot, according to the cutting unit step CAD graphic file comprises JfCAD obtained steel base primitive pattern feature in accordance with the decomposition, and to generate the intermediate data in a specific format; dividing the information based on the pattern feature, Set the basic elements of the cutting surface and groove type place, build cutting characteristics, features the cutting path planning and design of the cutting parameters to form steel cutting unit.

[0008] 较佳的，在上述机器人切割方法中，根据所属切割单元，构建套料文件，步骤包括:切割单元在指定长度的型钢上进行放置规划，确定放置面、参考面和放置顺序，并给出切割枪的动作参数和切割参数；将放置了多个切割单元的型钢进行多角度三维图形显示，并以动画仿真切割枪的运动过程以检查运动的合理性，如果合理，则将中间数据以型钢切割套料文件的形式存储。 [0008] Preferably, in the cutting process of the robot, according to the cutting unit belongs, build nesting file, comprising the steps: cutting unit placed on the plan specified length steel, determining the mounting surface, the reference plane and placing the order, and given the torch of motion parameters and cutting parameters; placing a plurality of cutting elements steel multi-angle three-dimensional graphics, animation and motion simulation cutting gun to check the reasonableness of the movement, if justified, then the intermediate data with steel-cut materials stored files.

[0009] 较佳的，上述机器人切割方法还包括以下步骤:如需对切割特征进行部分更改，根据需要对切割特征进行参数驱动，包括位置驱动、图形尺寸驱动和坡口驱动，以满足实际切割要求。 [0009] Preferably, the robot further comprising the steps of cutting method: To partially change the characteristics of the cutting, the cutting characteristics as needed for the drive parameters, including the location of the drive, the drive pattern size and bevel driven, to meet the actual cutting Claim.

[0010] 较佳的，在上述机器人切割方法中，将型钢切割特征文件转化为机器人程序对型钢进行切割步骤包括:调用切割单元特征文件，并按照工艺要求通过参数设置界面对工艺参数进行设置或通过查表方式确定最优化的参数；根据型钢的整体长度以及设定的切割单元间的相邻距离，确定切割单元排列数目，形成型钢切割套料文件；对型钢切割套料文件进行编译，生成机器人程序，通过机器人执行此程序实现对型钢的切割。 [0010] Preferably, in the robot cutting method, cutting steel profiles into a robot program for steel cutting steps include: cutting unit calls the signature file, and follow the process requirements of the process parameters set by the parameter setting interface or determine the optimal parameters by look-up table; according to distance from the adjacent steel and the overall length of the cutting unit set between determine the number of cutting unit arranged to form a steel cutting nesting file; for cutting steel nesting files are compiled to generate robot program, perform this procedure to achieve cut through steel robots.

[0011] 较佳的，上述机器人切割方法还包括以下步骤:根据切割工艺要求，输出切割设备的控制信息，如果所述输出切割特征长度超过预先设定的阈值，将所述输出程序进行分解，分别在机器人和外部轴之间进行动作分配和协调控制，实现切割。 [0011] Preferably, the robot cutting method further comprising: according to the requirements of the cutting process, the cutting device output control information, if the output characteristics of cut length exceeds a preset threshold, the output of the program is decomposed, difference between the robot and external axes motion control distribution and coordination to achieve cutting.

[0012] 较佳的，在上述机器人切割方法中，工艺参数包括: [0012] Preferably, in the cutting method of the robot, the process parameters include:

[0013] 坡口角、切割厚度、切口宽度、切割速度、切割电流和气体流量。 [0013] bevel cutting thickness incision width, cutting speed, cutting current and gas flow.

[0014] 在上述实施例中，通过对CAD图形文件进行分析和设计得到型钢的切割特征，通过路径规划和参数设计得到切割单元，切割单元进行放置规划、动作设置和运动仿真生成型钢切割套料文件，最后利用后置处理将型钢切割套料文件转化为机器人程序，完成机器人连续性的型钢切割。 [0014] In the above example, through the CAD drawing files for analysis and design has been cut steel features, get the cutting unit, cutting unit by placing the planning path planning and design parameters, action settings, and motion simulation to generate cutting steel nesting file, and finally the use of post-processing the steel cutting nesting files into a robot program, complete continuity of steel cutting robot. 本发明基于机器人离线编程，直接读取CAD图形几何信息，提高型钢切割精度和效率。 The present invention is based on off-line robot programming, CAD drawings directly read geometric information to improve the accuracy and efficiency of steel cutting. 这种机器人切割方法能够适应V型、Y型等坡口类型以及变坡口的型钢切割要求，并解决了角钢等过棱处切割质量差的问题，具有通用性、灵活性、高效率和高精度的特点。 This robot can adapt to the V-cut method, Y-groove type, etc. as well as change of steel bevel cutting requirements, and solve the angle of the cutting edge and so had the problem of poor quality, versatility, flexibility, high efficiency and high accuracy.

附图说明 Brief Description

[0015] 为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。 [0015] In order to more clearly illustrate the prior art embodiment or aspect of the practice of this invention, will be implemented as the following embodiments or drawings described in the prior art need to use brief Apparently, in the following description The drawings are only some embodiments of the present invention, those of ordinary skill in terms of creative work without paying the premise, you can also obtain other drawings based on these drawings.

[0016] 图1为本发明一个实施例的用于型钢的机器人切割方法流程图； [0016] Figure 1 embodiment of the present invention, a robot for cutting steel flowchart of a method;

[0017] 图2为本发明一个优选实施例的用于型钢的机器人切割方法示意图。 [0017] Figure 2 embodiment of the present invention for the steel of a schematic of a preferred embodiment of the robot cutting method.

具体实施方式 DETAILED DESCRIPTION

[0018] 下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。 [0018] Hereinafter, the present invention in conjunction with the accompanying drawings which illustrate, were clearly the technical solution of the embodiment of the present invention, fully described, obviously, the described embodiments are merely part of embodiments of the present invention, but not all embodiments cases. 基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。 Based on the embodiments of the present invention, all other embodiments to those of ordinary skill in the premise of no creative efforts obtained, are within the scope of protection of the present invention.

[0019] 根据本发明一个实施例的用于型钢的机器人切割系统，其包括:特征建模模块、单元编程模块和套料编程模块，其中:[0020] 特征建模模块，实现由图形文件(CAD生成的DXF文件和TRIBON生成的GEN文件)到型钢切割特征的转换，通过对图形文件进行语法分析，提取型钢切割的图形特征要求，根据实际切割需要设置型钢切割路径的放置面、坡口类型特征等切割信息，按照特征规则完整地记录型钢切割要求，建立格式化的型钢切割特征文件，构建型钢切割特征库； [0019] According to the robot cutting system for an example embodiment of the present invention steel, comprising: feature modeling module, cell programming and nesting module programming module, where: [0020] feature modeling module, implemented by graphics files ( CAD generated DXF files and file TRIBON generated GEN) to the beam Cutting characteristics conversion, by parsing the graphic file, the graphic feature extraction requirement cutting steel, the cutting needs to be set according to the actual cutting path of beam mounting surface, groove type Cutting characteristics information, in accordance with the rules of a complete record features steel cutting requirements, establish formatted cutting steel profiles, building steel cutting signatures;

[0021] 单元编程模块，实现切割特征的有序化组合，构建型钢切割单元，并以三维模型和动画仿真的形式实现对机器人执行动作的观测，通过语法分析对型钢切割特征文件进行编译，结合切割单元的规划需要，生成中间数据，依据中间数据在三维模型和动画结合的方式展示了切割姿态变化过程，形成型钢切割单元特征文件； [0021] unit programming module, orderly combination of cutting features, building steel cutting unit, and in the form of three-dimensional modeling and animation simulation realize observation robot to perform an action, by parsing the cutting of steel profiles compiled, combined Planning cutting unit needs to generate intermediate data, based on the data in the middle of a three-dimensional models and animations show the combination of the cutting process of attitude change, the formation of steel profile cutting unit;

[0022] 套料编程模块，实现切割单元在型钢上的系列化编排，完成机器人连续性的型钢切割，通过导入型钢切割单元特征文件，将切割单元在一定长度的型钢上进行有序放置，并进行切割工艺参数的设置和切割单元之间过渡过程的安排，以型钢切割套料特征文件记录，利用后置处理将型钢切割特征文件转化为机器人程序。 [0022] Nesting programming modules for steel cutting unit on the series schedule, complete the robot continuous steel cutting, cutting unit by importing steel profiles, the cutting unit in a certain length of steel orderly place, and arrangements for the transition process between the setting and cutting unit for cutting process parameters in order to cut steel nesting features documented by post-processing the steel cut into a robot program profiles.

[0023] 图1为本发明一个实施例的用于型钢的机器人切割方法流程图。 [0023] Figure 1 is one embodiment of the invention, a robot for performing cutting steel flowchart of a method. 如图1所示，其包括以下步骤: As shown in Figure 1, comprising the steps of:

[0024] S102，根据CAD图形文件得到型钢的几何特征，将几何特征进行路径规划和切割参数设计，得到型钢切割单元文件； [0024] S102, based on the CAD drawing file obtained beam geometry, the geometric characteristics of the cutting path planning and design parameters, to obtain steel cutting unit file;

[0025] S104，将型钢切割特征单元文件在指定长度的型钢上进行放置规划，确定放置面、参考面和放置顺序，并给出切割枪的动作参数和切割参数，生成套料文件； [0025] S104, will feature steel cutting unit planning documents placed on the specified length of steel, determine the placement surface, the reference surface and place the order and give the torch of motion parameters and cutting parameters, raw material document sets;

[0026] S106，将所述套料文件按照机器人程序格式转化为机器人可执行的程序，实现对型钢的切割。 [0026] S106, the nesting file format according to the robot program executable program into a robot to realize the steel cutting.

[0027] 在本实施例中，通过对CAD图形文件进行分析和设计得到型钢的切割特征，通过路径规划和参数设计得到切割单元，切割单元进行放置规划、动作设置和运动仿真生成型钢切割套料文件，最后利用后置处理将型钢切割套料文件转化为机器人程序，完成机器人连续性的型钢切割。 [0027] In this embodiment, through the CAD drawing files for analysis and design has been cut steel features, get the cutting unit, cutting unit by placing the planning path planning and design parameters, action settings, and motion simulation to generate cutting steel nesting file, and finally the use of post-processing the steel cutting nesting files into a robot program, complete continuity of steel cutting robot. 本发明基于机器人离线编程，直接读取CAD图形几何信息，提高型钢切割精度和效率。 The present invention is based on off-line robot programming, CAD drawings directly read geometric information to improve the accuracy and efficiency of steel cutting. 这种机器人切割方法能够适应V型、Y型等坡口类型以及变坡口的型钢切割要求，并解决了角钢等过棱处切割质量差的问题，具有通用性、灵活性、高效率和高精度的特点。 This robot can adapt to the V-cut method, Y-groove type, etc. as well as change of steel bevel cutting requirements, and solve the angle of the cutting edge and so had the problem of poor quality, versatility, flexibility, high efficiency and high accuracy.

[0028] 图2为本发明一个优选实施例的用于型钢的机器人切割方法示意图。 [0028] Figure 2 embodiment of the present invention for the steel of a schematic of a preferred embodiment of the robot cutting method.

[0029] 例如在本发明的实施例中，使用第三方CAD产品如AutoCAD、TRIBON等，绘制型钢切割所要求的切割图形，并以指定格式文件存储。 [0029] For example, in an embodiment of the present invention, the use of third-party CAD products such as AutoCAD, TRIBON etc., required to draw the cutting steel cutting pattern, and the file is stored in the specified format. 然后利用特征建模模块将图形文件打开，对文件进行编译，提取文件的图形特征，并进行基本图元分解。 Then use feature modeling module will open a graphic file, the file is compiled, extracted graphical features file and basic primitives decomposition. 通过参数设置界面，将依次对基本图元进行放置面、坡口类型、坡口参数等信息的设置，构建切割特征，并以切割特征文件形式保存。 By parameter setting interface, turn on the basic elements were placed face to set the type of information the groove, groove parameters, build cutting characteristics, and to cut the signature file in the form of preservation. 此切割特征文件将放入型钢切割特征库中。 This file will be placed in steel cutting features cutting feature library. 若型钢切割特征库存在所需的切割图形或相似图形(图元组成相同，但尺寸不同)，则可以免去上述步骤，直接进入单元编程模块。 If the steel cut at the desired cutting inventory feature graphics or similar graphics (composed of the same elements, but in different sizes), you can avoid the above steps, directly into the unit programming module.

[0030] 在单元编程模块中，通过调用型钢切割特征文件来导入切割特征，如要对切割特征进行部分更改，可根据需要对切割特征进行参数驱动，包括位置驱动(更改切割特征的放置位置)、图形尺寸驱动(更改切割特征中的图形尺寸)和坡口驱动(更该切割特征中坡口参数)，以满足实际切割要求。 [0030] In the unit programming module, cut signature file to import steel cutting by calling features, such as to the characteristics of the cutting portion of changes may need to cut parameter-driven features, including the location of the drive (to change the placement of the cutting characteristics) graphic dimension driven (change cutting feature graphics size) and bevel drive (even the bevel cutting feature parameters), to meet the actual cutting requirements. 将调整好的切割特征进行路径规划，完成整个切割单元的建立。 Good cutting characteristics of the adjustment path planning, to complete the establishment of the entire cutting unit. 仿真子模块建立了型钢的三维仿真模型，并对切割单元特征进行编译，生成中间数据。 The establishment of a three-dimensional simulation of sub-modules of the simulation model of steel, and the characteristics of the cutting unit to compile, generate intermediate data. 依据此中间数据，一方面将型钢切割的套料进行多角度显示，另一方面以三维动画模拟机器人末端切割枪的运动过程，方便用户观察，检查运动的合理性。 Based on this intermediate data, on the one hand the steel cut nesting multi-angle display, movement on the other hand to cut the end of the three-dimensional animated simulation robot gun, user observation, reasonableness checks movement. 最终将完成的切割套料文件以型钢切割套料文件的形式存储。 Cutting nesting final document will be completed in order to steel-cut materials stored files.

[0031] 例如，在上述机器人切割方法中，将型钢切割特征文件转化为机器人程序对型钢进行切割步骤包括:调用切割单元特征文件，并按照工艺要求通过参数设置界面接收对切割的工艺参数进行设置或通过查表方式确定最优化的参数；根据型钢的整体长度以及设定的切割单元间的相邻距离，确定切割单元编排数目，形成型钢切割文件；对型钢切割文件进行编译，生成机器人运动的控制命令和位姿数据，并按照机器人的执行程序要求的输出程序，机器人执行输出程序对型钢进行切割。 [0031] For example, the robot cutting method, cutting steel profiles into a robot program for steel cutting steps include: cutting unit calls the signature file, and follow the process requirements through parameter setting interface to receive cutting process parameters set or to determine the optimal parameters of the way through the look-up table; according to distance from the adjacent steel and the overall length of the cutting unit set between choreography determine the number of cutting unit formed steel cutting file; for steel cutting files are compiled to generate a robot movement command and control the position and orientation data, and execute the program in accordance with the requirements of the output of the program the robot, the robot performs the output of steel cutting program.

[0032] 机器人在型钢上的连续性切割操作通过套料编程模块实现。 [0032] robot continuity in the steel cutting operations by nesting programming module. 套料子模块中，用户导入所需的切割单元特征文件，并按照工艺要求利用参数设置界面对切割的工艺参数(如切割速度、切割电流、气体流量)进行设置，也可以由程序利用查表方式进行参数最优化确定。 Cover material module, users import the required cutting unit features file and follow the process requires the use of parameter setting interface for cutting process parameters (such as cutting speed, cutting current, gas flow rate) is set, you can also make use of look-up table by the program parameter optimization OK. 根据型钢的整体长度以及切割单元的相邻距离(由用户确定)，可确定切割单元编排数目。 (Determined by the user), the number may be determined according to the overall length of the arrangement of the cutting unit and the distance between adjacent steel cutting unit. 最终形成型钢切割文件。 Eventually formed steel cutting files. 后置处理模块调用型钢切割文件，进行编译，生成机器人运动控制命令和位形数据，并按照机器人执行程序要求，输出程序。 Post-processing module calls steel cutting files, compile, generate robot motion control commands and data bits shape and execute the program in accordance with the requirements of the robot, the output of the program. 同时根据切割工艺信息，输出其余切割设备的控制信息。 According to information at the same time cutting process, the remaining control information output cutting equipment. 因为有时候切割特征单元较复杂，生成的机器人执行程序过大，超出了控制器的允许范围，此时后置处理模块可智能地在可停顿点除将超大程序进行分割，并自动添加用户坐标系等机器人执行程序附属信息，形成系列化的型钢机器人切割执行程序。 Because sometimes the cutting unit more complex features, generated robot program execution is too large, beyond the allowable range controller, then post-processing module can intelligently can pause point in addition to the large program is divided, and automatically add the user coordinate Department of execution of the program, such as a robot attached information to form a series of steel cutting robot execute the program.

[0033] 从上述描述中可以看出，本发明的上述实施例实现了以下有益效果: [0033] As can be seen from the above description, the above-described embodiments of the present invention achieves the following advantageous effects:

[0034] 提供了一种基于图形文件(CAD生成的DXF文件和TRIBON生成的GEN文件)的型钢机器人切割离线编程技术，解决用于型钢切割的机器人离线编程问题。 [0034] provides a file-based graphics (CAD DXF files generated and TRIBON GEN generated file) steel cutting robot off-line programming techniques to solve the problem of off-line programming robots for steel cutting. 利用自主开发的路径偏置求交算法、路径规划算法、图形插补算法等，这种离线编程方法能够完成I型、V型、Y型等多种类型的单一坡口型钢切割，变坡口的型钢切割，并解决了角钢、球扁钢等型钢面相交棱处切割质量差的问题，具有通用性、灵活性、高效率和高精度的特点。 Use the path of independent development bias intersection algorithm, path planning algorithm, graphics interpolation algorithm, this method can be completed off-line programming I type, V-type, Y-type and other types of single steel bevel cutting, beveling change The steel cutting, and solve the angle, the ball flat steel and other steel surfaces intersect at the cutting edge problem of poor quality, versatility, flexibility, high efficiency and high precision characteristics.

[0035] 本领域普通技术人员可以理解:附图只是一个实施例的示意图，附图中的模块或流程并不一定是实施本发明所必须的。 [0035] Those of ordinary skill will be understood: the drawings is a schematic of an embodiment, the modules or processes in the drawings are not necessarily to be the embodiment of the present invention.

[0036] 本领域普通技术人员可以理解:实施例中的装置中的模块可以按照实施例描述分布于实施例的装置中，也可以进行相应变化位于不同于本实施例的一个或多个装置中。 [0036] Those of ordinary skill will be understood: the embodiment of the apparatus in the described modules may be distributed in accordance with an embodiment of the apparatus of the embodiment, corresponding changes can also be located in one embodiment is different from the present embodiment or a plurality of devices . 上述实施例的模块可以合并为一个模块，也可以进一步拆分成多个子模块。 Module of the above embodiment may be combined into a module, may be further split into a plurality of sub-modules.

[0037] 本领域普通技术人员可以理解:实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括:R0M、RAM、磁碟或者光盘等各种可以存储程序代码的介质。 [0037] Those of ordinary skill will be understood: the above-described method can be realized by a program instructing relevant hardware. All or part of the steps implemented to complete the aforementioned program may be stored in a computer readable storage medium, the program execution when executing the method comprising the steps of the above-described embodiments;. The storage medium includes: R0M, RAM, disk, or an optical medium can store program codes.

[0038] 最后应说明的是:以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解:其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围。 [0038] Finally, it should be noted that: above embodiments are merely to illustrate the technical aspect of the present invention, but not intended to limit; although reference to the embodiments of the present invention has been described in detail, those skilled in the art will appreciate: technical solutions which can still be described in the foregoing embodiments can be modified, or for some technical features equivalent replacements; and these modifications or replacements do not make the essence of corresponding technical solutions depart from the spirit and scope of the technical implementation of the program of the present invention .