CN110764501A - Rotation control method and device of navigation trolley, storage medium and navigation trolley - Google Patents
Rotation control method and device of navigation trolley, storage medium and navigation trolley Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention provides a rotation control method and device of a navigation trolley, a storage medium and the navigation trolley, wherein the method comprises the following steps: when the navigation trolley reaches the rotating position, acquiring first angle information of a two-dimensional code arranged on the navigation trolley, wherein the center position of the two-dimensional code is consistent with the center position of the navigation trolley; correcting the current angle information of a gyroscope arranged on the navigation trolley according to the first angle information; and compensating the current rotation parameters according to the corrected angle information, and performing rotation control on the navigation trolley according to the compensated rotation parameters. According to the invention, before the trolley rotates, the positioning error of the trolley can be corrected through the angle information of the two-dimensional code, the rotation parameter can be corrected, the rotation of the trolley can be controlled by using the new parameter, the rotation precision of the trolley can be improved, and the rotation control can be accurately realized.
Description
Technical Field
The invention relates to the technical field of navigation control, in particular to a rotation control method and device of a navigation trolley, a storage medium and the navigation trolley.
Background
For a trackless navigation AGV (automatic guided vehicle) such as laser navigation and inertial navigation, a navigation path virtually exists and does not physically restrict the AGV. And the current AGV can not accurately realize rotation control under the influence of factors such as positioning system errors, mechanical errors of an actuating mechanism, ground slipping and the like.
In the prior art, the driving mode of the AGV car mainly adopts double-wheel differential speed, and if the driving mode adopts double-wheel differential speed, the functions of rotating by 90 degrees, -90 degrees, 180 degrees and 360 degrees in situ need to be realized. In the existing scheme, gyroscope angle information is used as a positioning basis, and gyroscope angle variation of a starting position and an end position is used as a rotation angle (clockwise is a positive direction).
However, the mere implementation of rotation control based on a gyroscope has at least the following two problems:
the positioning accuracy of the angle of the trolley is +/-5 degrees, and the trolley possibly has angle deviation before rotating;
the gyroscope data has drift and accumulated errors exist.
Disclosure of Invention
The present invention is directed to overcome the above technical problems, and provides a method and an apparatus for controlling rotation of a navigation cart, a storage medium, and a navigation cart.
In one aspect of the embodiments of the present invention, a method for controlling rotation of a navigation cart is provided, where the method includes:
when the navigation trolley reaches the rotating position, acquiring first angle information of a two-dimensional code arranged on the navigation trolley, wherein the center position of the two-dimensional code is consistent with the center position of the navigation trolley;
correcting the current angle information of a gyroscope arranged on the navigation trolley according to the first angle information;
and compensating the current rotation parameters according to the corrected angle information, and performing rotation control on the navigation trolley according to the compensated rotation parameters.
Optionally, after the rotation control of the navigation car according to the compensated rotation parameter, the method further includes:
and when the navigation trolley finishes the current rotation operation, the angle information of the gyroscope is cleared.
Optionally, the correcting current angle information of a gyroscope disposed on the navigation trolley according to the first angle information includes:
determining the direction to be rotated of the navigation trolley according to the first angle information of the two-dimensional code;
and determining a correction parameter according to the first angle information and the rotation angle corresponding to the direction to be rotated, and correcting the current angle information of the gyroscope based on the correction parameter.
Optionally, the obtaining first angle information of the two-dimensional code arranged on the navigation trolley includes:
determining the central position of the two-dimensional code;
and determining the offset angle of the angle identifier of the two-dimensional code relative to the central position according to the central position of the two-dimensional code, and determining first angle information of the two-dimensional code according to the offset angle.
In another aspect of the embodiments of the present invention, there is provided a rotation control apparatus of a navigation car, the apparatus including:
the acquisition module is used for acquiring first angle information of a two-dimensional code arranged on the navigation trolley when the navigation trolley reaches a rotating position, wherein the central position of the two-dimensional code is consistent with the central position of the navigation trolley;
the configuration module is used for correcting the current angle information of the gyroscope arranged on the navigation trolley according to the first angle information;
and the control module is used for compensating the current rotation parameters according to the corrected angle information and performing rotation control on the navigation trolley according to the compensated rotation parameters.
Optionally, the configuration module is further configured to clear the angle information of the gyroscope when the navigation trolley completes a current rotation operation after the control module performs rotation control on the navigation trolley according to the compensated rotation parameter.
Optionally, the configuration module is specifically configured to determine a to-be-rotated direction of the navigation trolley according to the first angle information of the two-dimensional code; and determining a correction parameter according to the first angle information and the rotation angle corresponding to the direction to be rotated, and correcting the current angle information of the gyroscope based on the correction parameter.
Optionally, the obtaining module includes:
the first positioning unit is used for determining the central position of the two-dimensional code;
and the second positioning unit is used for determining the offset angle of the angle identifier of the two-dimensional code relative to the central position according to the central position of the two-dimensional code and determining the first angle information of the two-dimensional code according to the offset angle.
Furthermore, the invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
In addition, the invention also provides a navigation trolley which comprises a trolley body and a controller, wherein the trolley body is provided with a two-dimensional code and a gyroscope for rotation control, and the central position of the two-dimensional code is consistent with that of the navigation trolley;
the controller comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
According to the rotation control method and device of the navigation trolley, the storage medium and the navigation trolley provided by the embodiment of the invention, the positioning error of the trolley can be corrected through the angle information of the two-dimensional code before the trolley rotates, meanwhile, the rotation parameter is compensated according to the corrected positioning information, the rotation of the trolley is controlled by using a new parameter, the rotation precision of the trolley is improved, and the rotation control is accurately realized.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart of a method for controlling rotation of a navigation cart according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another method for controlling the rotation of a navigation cart according to an embodiment of the present invention;
fig. 3 is a schematic diagram of two-dimensional code angle information according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of gyroscope angle information provided by an embodiment of the present invention;
fig. 5 is a block diagram of a rotation control device of a navigation cart according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In order to solve the problem that the rotation precision of an AGV of a navigation trolley is influenced due to the fact that the AGV may have an angle deviation before rotating or the rotation precision is influenced due to the fact that gyroscope data has drift and accumulated errors, the invention provides a rotation control method of the navigation trolley.
Fig. 1 schematically shows a flowchart of a method for controlling the rotation of a navigation car according to an embodiment of the present invention. Referring to fig. 1, the method for controlling rotation of a navigation cart according to the embodiment of the present invention specifically includes steps S11 to S13, as follows:
and S11, when the navigation trolley reaches the rotating position, acquiring first angle information of the two-dimensional code arranged on the navigation trolley, wherein the center position of the two-dimensional code is consistent with the center position of the navigation trolley.
In the embodiment of the invention, a navigation trolley adopting a double-wheel differential driving mode is taken as an example for explanation.
When the navigation trolley needs to realize the rotation function of 90 degrees, -90 degrees, 180 degrees or 360 degrees in situ in the linear running process, firstly, whether the navigation trolley reaches the rotation position is judged, and when the navigation trolley reaches the rotation position, the angle information of the navigation trolley deviating the current route is confirmed by reading the deviation angle of the two-dimensional code arranged on the navigation trolley.
Specifically, the two-dimensional code can be pasted on the navigation trolley in a pasting mode, and the central position of the two-dimensional code is consistent with the central position of the navigation trolley.
And S12, correcting the current angle information of the gyroscope arranged on the navigation trolley according to the first angle information.
And S13, compensating the current rotation parameters according to the corrected angle information, and performing rotation control on the navigation trolley according to the compensated rotation parameters.
According to the rotation control method of the navigation trolley provided by the embodiment of the invention, before the trolley rotates, the positioning error of the trolley can be corrected through the angle information of the two-dimensional code, meanwhile, the rotation parameter is compensated according to the corrected positioning information, the rotation of the trolley is controlled by using a new parameter, the rotation precision of the trolley is improved, and the rotation control is accurately realized.
In the embodiment of the present invention, the acquiring the first angle information of the two-dimensional code arranged on the navigation trolley in step S11 specifically includes the following steps: determining the central position of the two-dimensional code; and determining the offset angle of the angle identifier of the two-dimensional code relative to the central position according to the central position of the two-dimensional code, and determining first angle information of the two-dimensional code according to the offset angle.
In order to solve the drift problem of gyroscope data and avoid the existence of accumulated errors, in the embodiment of the present invention, after the rotation control is performed on the navigation trolley according to the compensated rotation parameter, the method further includes: and when the navigation trolley finishes the current rotation operation, the angle information of the gyroscope is cleared.
According to the rotation control method of the navigation trolley provided by the embodiment of the invention, the first angle information of the two-dimensional code arranged on the navigation trolley is read before rotation, and because the central position of the two-dimensional code is consistent with the central position of the navigation trolley, the angle information of the two-dimensional code is the angle information of the navigation trolley deviating from the current route, the positioning error of the trolley can be corrected through the first angle information of the two-dimensional code, meanwhile, the rotation parameter is corrected, the trolley is controlled to rotate by using a new parameter, the rotation position can be accurately reached, the gyroscope data is cleared after the rotation is finished, the accumulated error of a gyroscope is eliminated, and the rotation precision of the trolley is improved.
According to the two-wheel differential navigation car AGV based on two-dimensional code navigation, only forward, backward and rotation are achieved in the driving function, and the gyroscope and the two-dimensional code are used for correcting the deviation when the AGV advances and retreats, so that the stability of straight running can be influenced for a long time if the accumulated error of the gyroscope is not eliminated. Therefore, the invention adopts a method for eliminating the accumulated error of the gyroscope during rotation, and the gyroscope data is cleared after the rotation is finished, so that the requirement on the precision of the rotation is higher.
In the embodiment of the present invention, the step S12 of correcting the current angle information of the gyroscope disposed on the dolly according to the first angle information specifically includes the following steps not shown in the figure:
s121, determining the to-be-rotated direction of the navigation trolley according to the first angle information of the two-dimensional code;
and S122, determining a correction parameter according to the first angle information and the rotation angle corresponding to the direction to be rotated, and correcting the current angle information of the gyroscope based on the correction parameter.
According to the embodiment of the invention, the to-be-rotated direction of the navigation trolley is determined according to the first angle information of the two-dimensional code, then the correction parameter is determined according to the first angle information and the rotation angle corresponding to the to-be-rotated direction, the current angle information of the gyroscope is corrected based on the correction parameter, and the rotation angle corresponding to the to-be-rotated direction is compensated according to the corrected angle information.
The technical solution of the present invention is explained in detail by a specific example below.
Referring to fig. 2, in the process of linear operation of the navigation trolley, when in-situ rotation needs to be achieved, whether the navigation trolley reaches a rotation position is judged, and if the navigation trolley reaches the rotation position, first angle information a of a two-dimensional code arranged on the navigation trolley and current angle information b of a gyroscope are read.
As shown in fig. 3, the angle information a of the two-dimensional code is determined to be close to one of 90, 180, and 270, so that the heading direction of the vehicle head in the current state of the vehicle, i.e., the direction to be rotated, can be known, and then the correction parameter α is determined according to the first angle information and the rotation angle corresponding to the direction to be rotated, so as to be used for compensation during rotation.
In one specific example, if the current angle a is close to 0 °, and a ≦ 45 ° or a ≧ 325 °, 0< a ≦ 45 °, α ≦ a-0, 360> a ≧ 325 °, α ≦ a-360 °, so α >0 the angle is to the left, α <0 the angle is to the right.
Through the data α and b, the deviation c between the gyroscope data and the two-dimensional code data can be calculated to be b- α, so that the target rotation angles of the trolley are-90 + c, 0+ c, 80+ c and 360+ c, and the rotation can be ensured to be consistent with the angle of the two-dimensional code after the rotation is finished.
After the rotation is completed, the gyroscope data is cleared to eliminate the accumulated error of the gyroscope, and then the linear motion is continued in the direction after the rotation.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 5 is a schematic structural diagram of a rotation control device of a navigation trolley according to an embodiment of the invention. Referring to fig. 5, the rotation control device of a navigation cart according to the embodiment of the present invention specifically includes an obtaining module 101, a configuration module 102, and a control module 103, where:
the acquisition module 101 is used for acquiring first angle information of a two-dimensional code arranged on the navigation trolley when the navigation trolley reaches a rotating position, wherein the central position of the two-dimensional code is consistent with the central position of the navigation trolley;
the configuration module 102 is configured to correct current angle information of a gyroscope arranged on the navigation trolley according to the first angle information;
and the control module 103 is used for compensating the current rotation parameter according to the corrected angle information and performing rotation control on the navigation trolley according to the compensated rotation parameter.
The rotation control device of the navigation trolley provided by the embodiment of the invention can correct the positioning error of the trolley through the angle information of the two-dimensional code read by the configuration module before the trolley rotates, meanwhile, the control module compensates the rotation parameter according to the corrected positioning information, the rotation of the trolley is controlled by using a new parameter, the rotation precision of the trolley is improved, and the rotation control is accurately realized.
In this embodiment of the present invention, the configuration module 102 is further configured to clear the angle information of the gyroscope when the navigation cart completes the current rotation operation after the control module 103 performs rotation control on the navigation cart according to the compensated rotation parameter.
In an embodiment of the present invention, the configuration module 103 is specifically configured to determine a to-be-rotated direction of the navigation trolley according to the first angle information of the two-dimensional code; and determining a correction parameter according to the first angle information and the rotation angle corresponding to the direction to be rotated, and correcting the current angle information of the gyroscope based on the correction parameter.
In the embodiment of the present invention, the obtaining module 101 specifically includes a first positioning unit and a second positioning unit, where:
the first positioning unit is used for determining the central position of the two-dimensional code;
and the second positioning unit is used for determining the offset angle of the angle identifier of the two-dimensional code relative to the central position according to the central position of the two-dimensional code and determining the first angle information of the two-dimensional code according to the offset angle.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
According to the rotation control method and device for the navigation trolley, provided by the embodiment of the invention, the positioning error of the trolley can be corrected through the angle information of the two-dimensional code before the trolley rotates, meanwhile, the rotation parameter is compensated according to the corrected positioning information, the rotation of the trolley is controlled by using a new parameter, the rotation precision of the trolley is improved, and the rotation control is accurately realized.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method as described above.
In this embodiment, the module/unit integrated with the rotation control device of the navigation cart may be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In addition, the present invention further provides a dolly navigation, which includes a dolly body and a controller, where the controller includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the processor implements the steps in the above-mentioned method embodiments of controlling rotation of the dolly navigation, such as S11 to S13 shown in fig. 1. Alternatively, the processor implements the functions of the modules/units in the above-mentioned rotation control device embodiments of the respective navigation carts when executing the computer program, such as the acquisition module 101, the configuration module 102 and the control module 103 shown in fig. 5.
In this embodiment, the trolley body is provided with a two-dimensional code and a gyroscope for rotation control. And the central position of the two-dimensional code is consistent with the central position of the navigation trolley.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the rotation control device of the navigation trolley. For example, the computer program may be divided into an acquisition module 101, a configuration module 102, and a control module 103.
The navigation cart may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the navigation cart in this embodiment may include more or fewer components, or some components in combination, or different components, for example, the navigation cart may also include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other 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 device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center for the navigation cart, with various interfaces and lines connecting the various parts of the entire navigation cart.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the navigational cart by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling rotation of a navigation trolley, the method comprising:
when the navigation trolley reaches the rotating position, acquiring first angle information of a two-dimensional code arranged on the navigation trolley, wherein the center position of the two-dimensional code is consistent with the center position of the navigation trolley;
correcting the current angle information of a gyroscope arranged on the navigation trolley according to the first angle information;
and compensating the current rotation parameters according to the corrected angle information, and performing rotation control on the navigation trolley according to the compensated rotation parameters.
2. The method for controlling rotation of a navigation trolley according to claim 1, wherein after the controlling rotation of the navigation trolley according to the compensated rotation parameter, the method further comprises:
and when the navigation trolley finishes the current rotation operation, the angle information of the gyroscope is cleared.
3. The rotation control method of a navigation trolley according to claim 1 or 2, wherein the correcting current angle information of a gyroscope provided on the navigation trolley according to the first angle information includes:
determining the direction to be rotated of the navigation trolley according to the first angle information of the two-dimensional code;
and determining a correction parameter according to the first angle information and the rotation angle corresponding to the direction to be rotated, and correcting the current angle information of the gyroscope based on the correction parameter.
4. The rotation control method of a navigation trolley according to claim 1 or 2, wherein the acquiring of the first angle information of the two-dimensional code provided to the navigation trolley comprises:
determining the central position of the two-dimensional code;
and determining the offset angle of the angle identifier of the two-dimensional code relative to the central position according to the central position of the two-dimensional code, and determining first angle information of the two-dimensional code according to the offset angle.
5. A rotation control apparatus of a navigation car, characterized in that the apparatus comprises:
the acquisition module is used for acquiring first angle information of a two-dimensional code arranged on the navigation trolley when the navigation trolley reaches a rotating position, wherein the central position of the two-dimensional code is consistent with the central position of the navigation trolley;
the configuration module is used for correcting the current angle information of the gyroscope arranged on the navigation trolley according to the first angle information;
and the control module is used for compensating the current rotation parameters according to the corrected angle information and performing rotation control on the navigation trolley according to the compensated rotation parameters.
6. The rotation control apparatus of a navigation trolley according to claim 5, wherein the configuration module is further configured to clear the angle information of the gyroscope when the navigation trolley completes the current rotation operation after the control module performs rotation control on the navigation trolley according to the compensated rotation parameter.
7. The rotation control device of a navigation trolley according to claim 5 or 6, wherein the configuration module is specifically configured to determine a to-be-rotated direction of the navigation trolley according to the first angle information of the two-dimensional code; and determining a correction parameter according to the first angle information and the rotation angle corresponding to the direction to be rotated, and correcting the current angle information of the gyroscope based on the correction parameter.
8. The rotation control device of a navigation trolley according to claim 5 or 6, wherein the acquisition module comprises:
the first positioning unit is used for determining the central position of the two-dimensional code;
and the second positioning unit is used for determining the offset angle of the angle identifier of the two-dimensional code relative to the central position according to the central position of the two-dimensional code and determining the first angle information of the two-dimensional code according to the offset angle.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
10. A navigation trolley comprises a trolley body and a controller, and is characterized in that the trolley body is provided with a two-dimensional code and a gyroscope for rotation control, and the central position of the two-dimensional code is consistent with that of the navigation trolley;
the controller comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1-4 when executing the program.
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