CN112847338B - Method, computing device, and storage medium for determining vehicle energy replenishment location - Google Patents
Method, computing device, and storage medium for determining vehicle energy replenishment location Download PDFInfo
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- CN112847338B CN112847338B CN202011559361.1A CN202011559361A CN112847338B CN 112847338 B CN112847338 B CN 112847338B CN 202011559361 A CN202011559361 A CN 202011559361A CN 112847338 B CN112847338 B CN 112847338B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
Abstract
The present disclosure relates to a method, a computing device, and a computer-readable storage medium for determining a location of energy replenishment for a vehicle. The method comprises the following steps: acquiring the height of an energy supply socket of a vehicle to be supplied with energy; adjusting the tail end of a mechanical arm of the energy supply equipment to a first height; sequentially adjusting the first included angle according to a preset step angle to obtain first position information of the tail end at the transverse farthest position and second position information of the tail end at the transverse nearest position; adjusting the end of the robot arm to at least a second height; acquiring third position information of the tail end at the transverse farthest position and fourth position information at the transverse nearest position aiming at each adjusted first included angle; and generating an operable coordinate space region of the energy supply device based on the first position information and the second position information, the third position information and the fourth position information, and determining the energy supply position of the vehicle. This openly can need not artifical supplementary, and suitable vehicle energy supply position is instructed accurately and in time.
Description
Technical Field
The present disclosure relates generally to data processing technology, and in particular, to a method, computing device, and computer-readable storage medium for determining a vehicle energy replenishment location.
Background
With the development of new energy vehicles, there is a wide demand for convenience in energy supply (e.g., charging or gas supply) of new energy vehicles.
A conventional way of determining the location of the energy supply of the vehicle is, for example, to park the vehicle in a parking space provided with an energy supply device (e.g., a charging pile) by the vehicle owner and then manually insert an energy supply plug into an energy supply socket of the vehicle by the vehicle owner or other auxiliary personnel. If the relative position of the vehicle and the energy supply device (such as the charging pile) is not appropriate, for example, too far away, the owner of the vehicle is required to return to the vehicle again and start the vehicle, and the position of the vehicle is adjusted under visual inspection or assistance of others, so that the relative position of the vehicle and the energy supply device (such as the charging pile) is suitable for energy supply. Obviously, the method for adjusting the distance between the vehicle and the energy supply equipment through visual inspection of the vehicle owner or assistance of others is low in efficiency, needs more manual assistance, and cannot accurately and timely indicate the appropriate vehicle energy supply position.
Accordingly, conventional solutions for determining the location of a vehicle's energy supply have disadvantages including: more manual assistance is needed, and it is difficult to accurately and timely indicate the proper vehicle energy supply position of the vehicle owner.
Disclosure of Invention
The present disclosure provides a method, computing device, and computer-readable storage medium for determining a vehicle energy replenishment location that is capable of accurately and timely indicating an appropriate vehicle energy replenishment location without manual assistance.
According to a first aspect of the present disclosure, there is provided a method for determining a location of energy replenishment of a vehicle, the method comprising: acquiring the height of an energy supply socket of a vehicle to be supplied with energy at a management device; adjusting the tail end of a mechanical arm of the energy supply equipment to a first height, wherein the first height is consistent with the height of an energy supply socket, a first included angle is formed between the end face of an energy supply plug arranged at the tail end of the mechanical arm and the vehicle running direction of a vehicle to be supplied with energy, and the mechanical arm is provided with a plurality of rotatable joints; sequentially adjusting the first included angles at a predetermined step angle for controlling the tip of the robot arm to move laterally in a plane of a first height perpendicular to a vehicle traveling direction for each adjusted first included angle, so as to acquire first position information of the tip at a laterally farthest position and second position information at a laterally nearest position; adjusting the end of the robot arm to at least a second height; sequentially adjusting the first included angles by a preset step angle so as to control the tail end of the mechanical arm to transversely move on each plane with the second height aiming at each adjusted first included angle, so as to acquire third position information of the tail end at the transversely farthest position and fourth position information of the tail end at the transversely nearest position; and generating an operable coordinate space region of the energy replenishment device for determining the vehicle energy replenishment location based on the acquired first and second location information on the plane of the first elevation and the third and fourth location information on the plane of each second elevation.
According to a second aspect of the present invention, there is also provided a computing device comprising: one or more processors; and storage means for storing the one or more programs which, when executed by the one or more processors, cause the apparatus to perform the method of the first aspect of the disclosure.
According to a third aspect of the present disclosure, there is also provided a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of the first aspect of the disclosure.
In some embodiments, determining the vehicle energy replenishment location comprises: calculating the coordinates of an energy supply socket of the vehicle to be supplied with energy in a coordinate system of the mechanical arm; determining whether the energy charging socket coordinates are within an operable coordinate space region; in response to determining that the energy replenishment socket coordinates are within the operable coordinate space region, allowing the energy replenishment device to perform energy replenishment on the vehicle to be replenished with energy; and in response to determining that the energy replenishment outlet coordinates are not within the operable coordinate space region, generating a signal indicative of movement of at least one of the energy replenishment device and the vehicle to be replenished.
In some embodiments, obtaining first position information of the tip at a laterally farthest position and second position information at a laterally nearest position comprises: determining, as the first position information, coordinates at which the tip end of the robot arm is locked, in response to determining that the tip end of the robot arm is laterally moved to an extreme position away from the energy replenishment device on a plane at a first height in a direction perpendicular to a vehicle traveling direction and that the robot arm is locked; determining that the tip of the robot arm is located at the coordinate when the robot arm is locked as the second position information, in response to determining that the tip of the robot arm is laterally moved to an extreme position near the energy replenishment apparatus on a plane at the first height in a direction perpendicular to the traveling direction of the vehicle and that the robot arm is locked; and for each adjusted first included angle, acquiring first position information and second position information from the energy supply equipment, wherein the first position information and the second position information are respectively associated with corresponding timestamps.
In some embodiments, adjusting the end of the robot arm to at least one second height comprises: the robot arm is sequentially raised or sequentially lowered from the first height so that the distal end of the robot arm has a second height that sequentially increases or sequentially decreases in height by a predetermined step.
In some embodiments, adjusting the end of the robot arm to at least one second height comprises: the robot arm is sequentially raised or sequentially lowered from the first height so that the distal end of the robot arm has a second height that sequentially increases or sequentially decreases in height by a predetermined step.
In some embodiments, adjusting the distal end of the robotic arm of the energy replenishment apparatus to have the first height comprises: after the tail end of the mechanical arm is adjusted to have a first height, an energy supply plug arranged at the tail end is adjusted to be in a posture coupled with an energy supply socket, and a connecting device between the energy supply plug and the tail end of the mechanical arm is locked; and rotating the mechanical arm so that the end face of the energy supply plug and the vehicle running direction of the vehicle to be supplied with energy have a first included angle.
In some embodiments, calculating the energy charging socket coordinates of the energy charging socket of the vehicle to be energy charged in the coordinate system of the robotic arm comprises: unifying the coordinate systems of the first camera device and the second camera device to the coordinate system of the mechanical arm, wherein the position of the second camera device is different from the position of the first camera device; acquiring a first image which is acquired by a first camera device and is about an energy supply socket of a vehicle to be supplied with energy; acquiring a second image which is acquired by a second camera device and is about an energy supply socket of the vehicle to be supplied with energy; moving a predetermined image window in each direction of the first image and the second image so as to obtain the change characteristics of the gray data of the area corresponding to the predetermined image window; confirming that the area corresponding to the preset image window is an angular point, a uniform area or an image edge based on the change characteristics of the gray data so as to be used for matching the characteristic points of the first image and the second image about the energy supply socket; and calculating the coordinates of the energy supply socket in the coordinate system of the mechanical arm based on the coordinates of the matched characteristic points of the energy supply socket in the first image and the second image in the coordinate systems of the first camera device and the second camera device.
In some embodiments, obtaining the height of the energy charging socket of the vehicle to be recharged comprises one of: calculating the height of an energy supply socket of a vehicle to be supplied with energy based on the energy supply socket coordinate of the energy supply socket in the coordinate system of the mechanical arm; or the type of the vehicle to be supplied with energy is identified based on the image acquired by at least one of the first camera device and the second camera device, so that the height of an energy supply socket of the vehicle to be supplied with energy is inquired based on the type.
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the disclosure, nor is it intended to be used to limit the scope of the disclosure.
Drawings
Fig. 1 shows a schematic diagram of a system for determining a vehicle energy replenishment location according to an embodiment of the present disclosure.
FIG. 2 shows a flowchart of a method for determining a location of a vehicle energy tender according to an embodiment of the present disclosure.
Fig. 3 shows a schematic diagram for an energy charging plug and energy charging socket coupling, according to an embodiment of the disclosure.
FIG. 4 shows a schematic diagram of a method for determining first location information and second location information according to an embodiment of the disclosure
FIG. 5 illustrates a flow chart of a method for determining coordinates of an energy charging outlet in accordance with an embodiment of the present disclosure.
FIG. 6 illustrates a schematic diagram of a method for determining coordinates of an energy charging outlet, in accordance with an embodiment of the present disclosure.
FIG. 7 schematically shows a block diagram of an electronic device suitable for use to implement embodiments of the present disclosure.
Like or corresponding reference characters designate like or corresponding parts throughout the several views.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are illustrated in the accompanying drawings, it is to be understood that the 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.
The term "include" and variations thereof as used herein is meant to be inclusive in an open-ended manner, i.e., "including but not limited to". Unless specifically stated otherwise, the term "or" means "and/or". The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like may refer to different or the same object.
As described above, conventional solutions for determining the location of a vehicle's energy supply have deficiencies including: more manual assistance is needed, and it is difficult to accurately and timely indicate the proper vehicle energy supply position of the vehicle owner.
To address, at least in part, one or more of the above problems and other potential problems, an example embodiment of the present disclosure proposes a method for determining a location of energy replenishment of a vehicle. In the disclosed solution: acquiring the height of an energy supply socket of a vehicle to be supplied with energy at a management device; adjusting the tail end of a mechanical arm of the energy supply equipment to a first height, wherein the first height is consistent with the height of an energy supply socket, a first included angle is formed between the end face of an energy supply plug arranged at the tail end of the mechanical arm and the vehicle running direction of a vehicle to be supplied with energy, and the mechanical arm is provided with a plurality of rotatable joints; sequentially adjusting the first included angles at a predetermined step angle for controlling the tip of the robot arm to move laterally in a plane of a first height perpendicular to a vehicle traveling direction for each adjusted first included angle, so as to acquire first position information of the tip at a laterally farthest position and second position information at a laterally nearest position; adjusting the end of the robot arm to at least a second height; sequentially adjusting the first included angles by a preset step angle so as to control the tail end of the mechanical arm to transversely move on each plane with the second height aiming at each adjusted first included angle, so as to acquire third position information of the tail end at the transversely farthest position and fourth position information of the tail end at the transversely nearest position; and generating an operable coordinate space region of the energy replenishment device for determining the vehicle energy replenishment location based on the acquired first and second location information on the plane of the first elevation and the third and fourth location information on the plane of each second elevation.
In the above scheme, by obtaining the transverse closest limit position and the transverse farthest limit position of the tail end of the mechanical arm configured with the energy supply plug at different angles on the plane of the height of the energy supply socket, and obtaining the transverse closest limit position and the transverse farthest limit position of the tail end of the mechanical arm at different angles on other heights, and generating the operable coordinate space region based on the transverse closest limit position and the transverse farthest limit position on the planes of the plurality of different heights, the effective operation range of the mechanical arm with the complex connecting mechanism relative to different charging port positions can be quickly and accurately obtained, and the appropriate position of the vehicle energy supply can be quickly and effectively determined, so that the appropriate vehicle energy supply position can be accurately and timely indicated under the unmanned operation condition.
FIG. 1 shows a schematic diagram of a system 100 for implementing a method of determining a location of an energy replenishment for a vehicle, according to an embodiment of the disclosure. As shown in fig. 1, the system 100 includes: the system comprises a first camera 110, a second camera 120, a management device 130, an energy supply device 160, a network 150 and a vehicle to be supplied with energy 180.
With respect to the energy replenishment device 160, it further includes a control device 162, a robotic arm 164, a connector 166, and an energy replenishment plug 168.
As for the control device 162, it is configured to control the movement of the robot arm 164 based on an instruction from the management device 130, and to transmit the acquired plurality of first position information and the plurality of second position information of the tip end 170 of the robot arm 164 on the plane of the first height, and the plurality of third position information and the plurality of fourth position information of the tip end 170 of the robot arm 164 on the plane of the plurality of second heights to the management device 130. The control device 162 may also drive the moving means of the energy replenishment device 160 based on the instruction and the signal from the management device 130 so as to adjust the position of the energy replenishment device 160. The control device 162 may be separate from the robot arm 164 or may be integral with the robot arm 164, such as being coupled to a base 172 of the robot arm.
With respect to the connecting robot arm 164, it includes, for example, a base 172, a plurality of joints (e.g., 5 joints, one of which is schematically indicated by reference numeral 174), connecting arms (e.g., indicated by reference numeral 176) respectively connected to the joints (e.g., indicated by reference numeral 174), and a tip 170. Each joint may for example perform a rotation of 175 deg. in both directions. The end 170 of the robotic arm 164 is configured with a connector 166 and an energy supply plug 168. The connector 166 is used to connect the end 170 of the robotic arm 164 to the energy supply plug 168. The energy supply plug 168 is also provided with an energy supply line 178, and the energy supply line 178 is, for example, an electric cord for charging or a gas line for charging gas. The energy charging plug 168 is configured to couple to an energy charging socket 182 of the vehicle 180 to be recharged, such that electrical energy or gas provided by the energy charging line 178 is provided to the vehicle 180 via the energy charging socket 182.
As for the management apparatus 130, it is, for example, without limitation, a server or a personal computer. The management apparatus 130 is used to acquire the height of the energy replenishment socket 182 of the vehicle to be energy replenished 180; adjusting the end 170 of the robot arm 164 of the energy replenishment device 160 to a first height, and sequentially adjusting the first included angles at a predetermined step angle, so as to obtain, for each adjusted first included angle, position information of a laterally farthest position and a laterally closest position of the end of the robot arm on a plane of the first height; adjusting the tail end of the mechanical arm to at least one second height, and then acquiring the position information of the tail end of the mechanical arm at the farthest transverse position and the position information of the tail end of the mechanical arm at the nearest transverse position on the plane of each second height according to each adjusted first included angle; and generating an operable coordinate space region of the energy replenishment device for determining the vehicle energy replenishment position based on the position information of the distal end of the robot arm at the laterally farthest position and at the laterally closest position on the plane of the first height and on the plane of each of the second heights. The management apparatus 130 includes, for example, an energy supply outlet height acquisition unit 132, a first height adjustment unit 134, a first height end limit position acquisition unit 136, a second height adjustment unit 138, a second height end limit position acquisition unit 140, and an operable coordinate space region generation unit 142. In some embodiments, the management apparatus 130 further includes, for example, a vehicle energy replenishment position adjustment unit 144 and an energy replenishment socket coordinate determination unit 146.
Regarding the energy charging outlet height acquisition unit 132, it is used to acquire the height of the energy charging outlet of the vehicle to be energy-charged.
The first height adjusting unit 134 is configured to adjust a tip of a robot arm of the energy replenishment device to a first height, the first height is consistent with a height of the energy replenishment socket, an end face of an energy replenishment plug disposed at the tip of the robot arm has a first included angle with a vehicle traveling direction of the vehicle to be replenished with energy, and the robot arm has a plurality of rotatable joints.
Regarding the first height end limit position acquisition unit 136 for adjusting the first angle in turn at a predetermined step angle for controlling the tip end of the robot arm to move laterally in the plane of the first height perpendicular to the vehicle traveling direction for each adjusted first angle, so as to acquire first position information of the tip end at the laterally farthest position and second position information at the laterally closest position.
With respect to the second height adjustment unit 138, it is used to adjust the tip of the robot arm to at least one second height.
Regarding the second-height end limit position acquisition unit 140, it is used for adjusting the first included angle in turn by a predetermined step angle, for controlling the tip of the robot arm to move laterally on the plane of each second height for each adjusted first included angle, so as to acquire the third position information of the tip at the laterally farthest position and the fourth position information at the laterally closest position.
Regarding the operable coordinate space region generating unit 142, it is configured to generate an operable coordinate space region of the energy replenishment device for determining the vehicle energy replenishment location, based on the acquired first position information and second position information on the plane of the first elevation, and the third position information and fourth position information on the plane of each second elevation.
A vehicle energy replenishment location adjustment unit 144 for determining whether the energy replenishment socket coordinates are within the operable coordinate space region; if the coordinates of the energy supply socket are determined to be in the operable coordinate space area, allowing the energy supply equipment to supply energy to the vehicle to be supplied with energy; and generating a signal for instructing movement of at least one of the energy replenishment device and the vehicle to be energy replenished if it is determined that the energy replenishment socket coordinates are not within the operable coordinate space region.
And an energy supply socket coordinate determination unit 146 for calculating the energy supply socket coordinates of the energy supply socket in the coordinate system of the robot based on the coordinates of the matched feature points of the energy supply socket in the first image and the second image in the coordinate systems of the first camera and the second camera.
With respect to the first imaging device 110 and the second imaging device 120, it is configured to acquire a first image and a second image with respect to the energy charging inlet of the vehicle to be energy-charged at different positions, respectively, for transmission to the management apparatus 130 to identify the energy charging inlet of the vehicle to be energy-charged 180 based on the first image and the second image, and to match feature points with respect to the energy charging inlet in the first image and the second image and to calculate the energy charging inlet coordinates.
A method 200 for determining a vehicle energy replenishment location according to an embodiment of the present disclosure will be described below with reference to fig. 2. Fig. 2 shows a flowchart of a method for determining a vehicle energy replenishment location according to an embodiment of the present disclosure. It should be understood that the method 200 may be performed, for example, at the electronic device 700 depicted in fig. 7. May also be executed at the computing device 130 depicted in fig. 1. It should be understood that method 200 may also include additional acts not shown and/or may omit acts shown, as the scope of the disclosure is not limited in this respect.
At step 202, computing device 130 obtains a height of an energy charging outlet of a vehicle to be energy charged.
As for a manner of obtaining the height of the energy charging socket of the vehicle to be supplied with energy, for example, it includes: calculating the height of an energy supply socket of a vehicle to be supplied with energy based on the energy supply socket coordinate of the energy supply socket in the coordinate system of the mechanical arm; or the type of the vehicle to be supplied with energy is identified based on the image acquired by at least one of the first camera device and the second camera device, so that the height of an energy supply socket of the vehicle to be supplied with energy is inquired based on the type. The maximum height of the vehicle's energy charging socket is 1558mm, for example, and the minimum height of the vehicle's energy charging socket is 190mm, for example. For example, the height of an energy supply outlet (e.g., a charging outlet) of a type a automobile is 880 mm. The height of an energy supply socket (for example, a charging socket) of a type-B automobile is 1012 mm.
At step 204, the computing device 130 adjusts the end of the robotic arm of the energy replenishment device to a first height, the first height corresponding to the height of the energy replenishment socket, the end face of the energy replenishment plug disposed at the end of the robotic arm having a first angle with the vehicle travel direction of the vehicle to be replenished, the robotic arm having a plurality of rotatable joints. For example, the computing device 130 may first fix the energy replenishment device and set the coordinate system origin position and the coordinate axis direction of the robot arm, for example, as shown in fig. 1, where the X-axis direction is a direction perpendicular to the vehicle traveling direction, the Y-axis direction is parallel to the vehicle traveling direction, and the Z-axis direction is the vehicle height direction. The computing device 130, for example, issues instructions to the control device 162 of the energy replenishment device to cause the tip 170 of the robotic arm to adjust to a first height that coincides with the height of the energy replenishment socket 182 of the vehicle to be replenished 180. For example, the height of the energy supply inlet (for example, a charging inlet) of the a-model vehicle 180 to be supplied with energy is 880 mm. The computing device 130 adjusts the end of the robot arm to a level of 880mm and disposes the energy replenishment plug 168 (e.g., without limitation, a charging gun) at the end of the robot arm.
After the end 170 of the mechanical arm is adjusted to have a first height, the energy supply plug 168 arranged on the end 170 is adjusted to be coupled with the energy supply socket 182, and the connecting device 166 between the energy supply plug 168 and the end 170 of the mechanical arm is locked; and rotating the robot arm 164 so that the end face of the energy charging plug 168 has a first angle with the direction of travel of the vehicle to be recharged. Fig. 3 shows a schematic diagram for an energy charging plug and energy charging socket coupling, according to an embodiment of the disclosure. As shown in the right-most portion of fig. 3, the energy charging plug 310 is in a coupled position with the energy charging socket 320. By locking the connection 166 between the energy charging plug 168 and the end 170 of the arm, the energy charging plug 310 remains coupled after it is decoupled from the energy charging socket 320. By adopting the means, the obtained coordinates of the tail end of the mechanical arm can more accurately reflect the pose state during energy supply. The first angle is, for example, a fixed angle of inclination of a plane formed by the end surface of the energy supply plug 168 and the Y-axis Z-axis. For example, for model A, to-be-recharged vehicle 180, the initial position has a first included angle θ 1 of 10.
At step 206, the first angles are adjusted in turn by a predetermined step angle for controlling the tip end of the robot arm to move transversely in a plane of the first height perpendicular to the vehicle traveling direction for each adjusted first angle so as to acquire first position information of the tip end at a laterally farthest position and second position information at a laterally nearest position. A method of acquiring the first location information and the second location information is described below with reference to fig. 4. Fig. 4 shows a schematic diagram of a method for determining first location information and second location information according to an embodiment of the disclosure.
The method of acquiring the first location information and the second location information includes, for example: as shown in FIG. 4, ifDetermining the coordinate at which the end of the robotic arm is locked (e.g., the coordinate [ X ] in the robotic arm coordinate system) when the robotic arm is locked, when the robotic arm is moved laterally to an extreme position 412 away from the energy replenishment apparatus in a plane perpendicular to the direction of vehicle travel at the first elevation and the robotic arm is locked21，Y1，Z1]) Is first position information; if it is determined that the tip end of the robot arm is moved laterally on the plane of the first height in the direction perpendicular to the vehicle traveling direction to the extreme position 410 near the energy replenishment apparatus and the robot arm is locked, it is determined that the tip end of the robot arm is located at the coordinate (for example, the coordinate [ X ] in the robot arm coordinate system) when the robot arm is locked11，Y1，Z1]) Is the second position information; and sequentially adjusting the first included angles by a predetermined step angle, and acquiring the first position information (for example, a coordinate [ X ] in a mechanical arm coordinate system) from the energy supply device for each adjusted first included angle (for example, the first included angle is adjusted by a step angle θ from an initial first included angle θ 1, and the step angle θ may be the same as or different from the first included angle θ 1)22，Y2，Z1]) And the second position information (e.g., coordinates { [ X ] in a robot arm coordinate system12，Y2，Z1]) The first location information and the second location information are respectively associated with corresponding timestamps. For example, according to the above steps, the robot arm is sequentially rotated by a predetermined step angle within a range of 0 to 180 ° from the Y-axis, and first position information and second position information after each adjustment of the predetermined step angle are respectively obtained so as to obtain a plurality of coordinates at a plurality of laterally farthest positions and a plurality of coordinates at a plurality of laterally nearest positions on the first height plane. In some embodiments, a trajectory line on the first height plane indicating a maximum working range of the robot arm tip may be generated based on the coordinates of the plurality of laterally farthest locations and the coordinates at the plurality of laterally closest locations. The trajectory has a generally crescent-shaped profile. In some embodiments, the coordinates at the plurality of laterally farthest locations and the coordinates at the plurality of laterally closest locations may also be compared to calculate the coordinate at the first height plane along the X-axis directionAnd a maximum variation range in the Y-axis direction (e.g., Δ Y shown in fig. 3).
At step 208, the tip of the robotic arm is adjusted to at least a second height.
With regard to the method of adjusting the tip of the robotic arm to at least one second height, it includes, for example: sequentially raising or sequentially lowering the robot arm from the first height so that the second height of the end of the robot arm sequentially increases or sequentially decreases by a predetermined step height. For example, the elevation angle of the robot arm is sequentially increased from the first height such that the tip of the robot arm is increased at a predetermined step height of 50 mm or 100 mm, for example, until the elevation angle of the robot arm reaches 100 degrees. Then, the elevation angle of the robot arm is sequentially decreased from the first height so that the tip of the robot arm is lowered at a predetermined step height of 50 mm or 100 mm.
At step 210, the computing device 130 adjusts the first included angles in turn at a predetermined step angle for controlling the tip of the robotic arm to move laterally in each plane of the second elevation for each adjusted first included angle so as to obtain third position information of the tip at a laterally farthest position and fourth position information at a laterally nearest position.
The end of the robotic arm is adjusted to a second height each time, the first included angle is adjusted in sequence at a predetermined step angle. For each adjusted first included angle, determining that the tail end of the mechanical arm is transversely moved to an extreme position far away from the energy supply equipment on the plane of the second height in a direction perpendicular to the driving direction of the vehicle and the mechanical arm is locked, and determining that the tail end of the mechanical arm is located at a coordinate when the mechanical arm is locked as third position information; if it is determined that the tip end of the robot arm is moved laterally on the plane of the second height in a direction perpendicular to the vehicle traveling direction to the extreme position near the energy replenishment apparatus and the robot arm is locked, it is determined that the tip end of the robot arm when locked is located at the coordinate as fourth position information. Third position information and fourth position information corresponding to each adjusted first included angle on each plane of the second height are obtained. In some embodiments, a trajectory line indicating a maximum working range of the robot arm tip on each second height plane may be generated based on the plurality of third position information and the plurality of fourth information. The track line has a generally crescent-shaped profile, and the generally crescent-shaped profile covers less of an extent as the second height is greater in height difference from the first height.
At step 212, the computing device 130 generates an operable coordinate space region of the energy replenishment device for determining the vehicle energy replenishment location based on the acquired first and second location information on the plane of the first elevation and the third and fourth location information on the plane of each second elevation.
With respect to the method of generating the operable coordinate space region of the energy replenishment device, it includes, for example: a plurality of first position information and a plurality of second position information on the plane of the first height, and a plurality of third position information and a plurality of fourth position information on the plane of each second height are smoothly connected so as to generate an operable coordinate space region closed in a coordinate system of the robot arm. In some embodiments, the coordinates of the plurality of laterally farthest locations corresponding to the respective angles and the coordinates of the plurality of laterally closest locations on each of the height planes are smoothly connected, for example, in a manner of a closest point connection, so as to generate an operable coordinate space region in the form of a three-dimensional space. In some embodiments, the operable coordinate space region in the form of three-dimensional space is generated based on the time stamp corresponding to each spatial coordinate and each spatial coordinate.
The method for adjusting the energy replenishment position of the vehicle includes, for example: calculating the coordinates of an energy supply socket of the vehicle to be supplied with energy in the coordinate system of the mechanical arm; determining whether the energy charging socket coordinates are within the operable coordinate space region; in response to determining that the energy replenishment socket coordinates are within the operable coordinate space region, allowing the energy replenishment device to perform energy replenishment with a vehicle to be energy replenished; and in response to determining that the energy replenishment socket coordinates are not within the operable coordinate space region, generating a signal indicative of movement of at least one of the energy replenishment device and the vehicle to be energy replenished. By adopting the above means, this disclosure can realize through the removal with energy supply equipment to suitable vehicle energy supply position, and then makes this disclosure can be suitable for the energy supply of different energy supply socket positions. And no different types of mechanical arms need to be configured.
Methods for determining whether the energy charging socket coordinates are within the operable coordinate space region include, for example: and inquiring the operable coordinate space area based on the height of the energy supply socket so as to obtain the maximum working range of the tail end of the mechanical arm corresponding to the height of the energy supply socket and confirm whether the X-axis and Y-axis coordinates of the energy supply socket are within the maximum working range of the tail end of the mechanical arm corresponding to the height. And if the energy supply socket coordinate is not in the maximum working range of the tail end of the mechanical arm at the corresponding height, generating a signal for indicating the movement of at least one of the energy supply device and the vehicle to be supplied with energy so as to enable the energy supply socket coordinate (the energy supply socket coordinate is, for example, a coordinate interval) to fall in the maximum working range of the tail end of the mechanical arm at the corresponding height after the energy supply device or the vehicle to be supplied with energy moves.
In the above scheme, by obtaining the transverse closest limit position and the transverse farthest limit position of the tail end of the mechanical arm configured with the energy supply plug at different angles on the plane of the height of the energy supply socket, and obtaining the transverse closest limit position and the transverse farthest limit position of the tail end of the mechanical arm at different angles on other heights, and generating the operable coordinate space region based on the transverse closest limit position and the transverse farthest limit position on the planes of the plurality of different heights, the effective operation range of the mechanical arm with the complex connecting mechanism relative to different charging port positions can be quickly and accurately obtained, and the appropriate position of the vehicle energy supply can be quickly and effectively determined, so that the appropriate vehicle energy supply position can be accurately and timely indicated under the unmanned operation condition.
A method 500 for determining energy charging outlet coordinates in accordance with an embodiment of the present disclosure will be described below in conjunction with fig. 5. FIG. 5 schematically illustrates a flow chart of a method for determining energy charging socket coordinates according to an embodiment of the disclosure. It should be understood that method 500 may be performed, for example, at electronic device 700 depicted in fig. 7. May also be executed at the computing device 130 depicted in fig. 1.
At step 502, the computing apparatus 130 unifies the coordinate systems of the first camera and the second camera to the coordinate system of the robotic arm, the second camera being located at a different location than the first camera. For example, the computing device first performs calibration of the first camera and the second camera. The relative relationship of the two camera coordinate systems is described, for example, by calibrating the rotation matrix and translation matrix of the first camera and the second camera. By photographing the same object, i.e., the energy supply socket, by the first and second photographing devices at different positions, three-dimensional reconstruction of the shape and position of the energy supply socket can be more easily achieved. In some embodiments, the three-dimensional coordinate values of the energy charging socket space points may be obtained by calculating the disparity of the energy charging socket space points in the two images based on triangulation principles.
At step 504, the computing device 130 obtains a first image captured by a first camera of an energy replenishment outlet for the vehicle to be energy replenished.
At step 506, computing device 130 obtains a second image captured by a second camera of an energy replenishment outlet for the vehicle to be energy replenished.
At step 408, the computing device 130 moves a predetermined image window in each direction of the first image and the second image to obtain a change characteristic of the gray scale data of the region corresponding to the predetermined image window. For example, the computing device 130 extracts image features (e.g., Harris feature corners) of the first image and the second image by using a Harris operator with higher accuracy to perform feature point matching and identification of energy charging outlets for the first image and the second image. The image features are extracted by adopting the feature descriptor Harris operator based on the angular points, the local characteristics of the image can be accurately and effectively expressed, the robustness to environmental influence factors such as illumination and the like is strong, and the operation speed is high.
At step 510, the computing device 130 determines, based on the variation characteristics of the gray scale data, that the predetermined image window corresponds to a corner, a uniform region, or an image edge, for matching the characteristic points of the first image and the second image with respect to the energy charging outlet. The calculation method of the Harris operator is described below with reference to equations (1) to (3)).
R＝detM-α(traceM)2 (1)
detM＝λ1λ2 (2)
traceM＝λ1+λ2 (3)
In the above equations (1) to (3), R represents a corner response value. detM represents the determinant of matrix M and traceM represents the traces of matrix M. α represents a constant, typically having a value of 0.04 to 0.06. λ 1 and λ 2 represent eigenvalues of the matrix M. When λ 1 and λ 2 are small, i.e. there is no significant change in the gray value of the predetermined image window moving in all directions, the corresponding region of the predetermined image window is a uniform region. When λ 1 is much larger than λ 2 or λ 2 is much larger than λ 1, the corresponding region of the predetermined image window is an image edge. When the values of λ 1 and λ 2 are both large and are equivalent, that is, the moving gray value of the predetermined image window in all directions has obvious change, determining the corresponding region of the predetermined image window as the corner point.
At step 512, the computing device 130 calculates the coordinates of the energy charging socket in the coordinate system of the robot arm based on the coordinates of the matched feature points in the first and second images about the energy charging socket in the coordinate systems of the first and second cameras.
For example, fig. 6 shows a schematic diagram of a method 600 for determining coordinates of an energy charging outlet, in accordance with an embodiment of the present disclosure. Taking fig. 6 as an example, the center point P indicated by the coordinate 610 is the center point of the identified energy charging outlet (a matched characteristic point about the energy charging outlet), the first point of the center point P in the first image 622 captured by the first camera 620 is, for example, P1, the second point of the center point P in the second image 632 captured by the second camera 630 is, for example, P2, and the spatial position of the center point P is above the extension of the line O1P1 connecting the point O1 of the first camera with the first point P1, and also above the extension of the line O2P2 connecting the point O2 of the second camera with the second point P2. Therefore, the central point P of the energy supply socket is the intersection point of two straight lines O1P1 and O2P2, and the three-dimensional position of the central point P can be determined uniquely. The relationship between the coordinates of the point in the pixel coordinate system and the coordinates of the point in the world coordinate system is described below in conjunction with equations (4) and (5), respectively.
In the above formulas (4) and (5), wherein [ u ]1 v1 l]TRepresenting a coordinate matrix of the feature points in the first image coordinate system. [ x ] ofw yw zw 1]TAnd representing the coordinates of the characteristic point of the energy supply socket in a world coordinate system. [ p ]00 1…p23 1]A projection matrix representing the first imaging device (the projection matrix is generated, for example, by transformation of an intrinsic parameter matrix, a rotation matrix, and a translation vector). [ u ] of2 v2 l]TAnd representing a coordinate matrix of the characteristic point in the second image coordinate system. [ p ]00 2…p23 2]A projection matrix representing the second imaging device (the projection matrix is generated, for example, by transformation of an intrinsic parameter matrix, a rotation matrix, and a translation vector). The manner of calculating the coordinates of the feature points of the energy charging outlet in the world coordinate system will be described below with reference to equation (6).
In the above formula (6), pij 1And parameters (i is 0,1,2, j is 0,1,2,3) representing the ith row and the jth column in the parameter matrix, the rotation matrix and the translation vector transformation matrix in the first imaging device. p is a radical ofij 2And representing the parameter of the ith row and the jth column in the projection matrix of the first image pick-up device. The coordinates of each point of the energy supply socket in the world coordinate system can be calculated by solving the above equation (6) by a least square method based on the coordinates of each point of the energy supply socket in the pixel coordinate system and the parameter matrices of the first camera and the second camera, and then converted to the space coordinates in the robot arm coordinate system. In the scheme, the energy supply socket coordinate can be accurately obtained by the method and the device.
FIG. 7 schematically illustrates a block diagram of an electronic device (or computing device) 700 suitable for use to implement embodiments of the present disclosure. The device 700 may be a device for implementing the method 200, 500 shown in fig. 2, 5. As shown in fig. 6, device 700 includes a Central Processing Unit (CPU)701 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)702 or computer program instructions loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM, various programs and data required for the operation of the device 700 may also be stored. The CPU, ROM, and RAM are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, a central processing unit 701 performs the various methods and processes described above, e.g., performing the methods 200, 500. For example, in some embodiments, the methods 200, 500 may be implemented as a computer software program stored on a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 700 via ROM and/or communications unit 709. When the computer program is loaded into RAM and executed by a CPU, one or more of the operations of the methods 200, 500 described above may be performed. Alternatively, in other embodiments, the CPU may be configured by any other suitable means (e.g., by way of firmware) to perform one or more acts of the methods 200, 500.
It should be further appreciated that the present disclosure may be embodied as methods, apparatus, systems, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for carrying out various aspects of the present disclosure.
The computer-readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.
These computer-readable program instructions may be provided to a processor in a voice interaction device, a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
The above are merely alternative embodiments of the present disclosure and are not intended to limit the present disclosure, which may be modified and varied by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A method for determining a location of energy replenishment for a vehicle, comprising:
acquiring the height of an energy supply socket of a vehicle to be supplied with energy at a management device;
adjusting the tail end of a mechanical arm of the energy supply equipment to a first height, wherein the first height is consistent with the height of the energy supply socket, a first included angle is formed between the end face of an energy supply plug arranged at the tail end of the mechanical arm and the vehicle running direction of a vehicle to be supplied with energy, and the mechanical arm is provided with a plurality of rotatable joints;
sequentially adjusting the first included angles at a predetermined step angle for controlling the tip of the robot arm to move transversely in a plane of a first height perpendicular to the vehicle traveling direction for each adjusted first included angle, so as to acquire first position information of the tip at a laterally farthest position and second position information at a laterally nearest position;
adjusting the end of the robotic arm to at least a second height;
sequentially adjusting the first included angles by a preset step angle so as to control the tail end of the mechanical arm to transversely move on each plane with the second height aiming at each adjusted first included angle, so as to acquire third position information of the tail end at the transversely farthest position and fourth position information of the tail end at the transversely nearest position; and
and generating an operable coordinate space region of the energy replenishment device for determining a vehicle energy replenishment position based on the acquired first position information and second position information on the plane of the first elevation and the acquired third position information and fourth position information on the plane of each second elevation.
2. The method of claim 1, wherein determining a vehicle energy replenishment location comprises:
calculating the coordinates of an energy supply socket of the vehicle to be supplied with energy in the coordinate system of the mechanical arm;
determining whether the energy charging socket coordinates are within the operable coordinate space region;
in response to determining that the energy replenishment socket coordinates are within the operable coordinate space region, allowing the energy replenishment device to perform energy replenishment with a vehicle to be energy replenished; and
in response to determining that the energy replenishment outlet coordinates are not within the operable coordinate space region, generating a signal indicative of movement of at least one of the energy replenishment device and the vehicle to be energy replenished.
3. The method of claim 1, wherein obtaining first position information of the tip at a laterally farthest position and second position information at a laterally nearest position comprises:
determining, as first position information, coordinates at which the tip end of the robot arm is located when the robot arm is locked, in response to determining that the tip end of the robot arm is laterally moved to an extreme position away from the energy replenishment apparatus on a plane of the first height in a direction perpendicular to a vehicle traveling direction and that the robot arm is locked;
determining coordinates at which the tip end of the robot arm is located when the robot arm is locked as second position information in response to determining that the tip end of the robot arm is laterally moved to an extreme position near the energy replenishment apparatus on the plane of the first height in a direction perpendicular to a vehicle traveling direction and that the robot arm is locked; and
and acquiring the first position information and the second position information from the energy supply equipment aiming at each adjusted first included angle, wherein the first position information and the second position information are respectively associated with corresponding timestamps.
4. The method of claim 3, wherein adjusting the tip of the robotic arm to at least a second height comprises:
sequentially raising or sequentially lowering the robot arm from the first height so that the second height of the end of the robot arm sequentially increases or sequentially decreases by a predetermined step height.
5. The method of claim 3, wherein generating the operable coordinate space region of the energy replenishment device comprises:
and carrying out smooth connection on a plurality of first position information and a plurality of second position information on the plane of the first height and a plurality of third position information and a plurality of fourth position information on the plane of each second height so as to generate an operable coordinate space region closed in the coordinate system of the mechanical arm.
6. The method of claim 1, wherein adjusting the end of the robotic arm of the energy replenishment apparatus to have the first height comprises:
after the tail end of the mechanical arm is adjusted to have a first height, adjusting an energy supply plug arranged at the tail end to a posture coupled with the energy supply socket, and locking a connecting device between the energy supply plug and the tail end of the mechanical arm; and
and rotating the mechanical arm so that the end surface of the energy supply plug and the vehicle running direction of the vehicle to be supplied with energy have the first included angle.
7. The method of claim 2, wherein calculating energy replenishment socket coordinates of an energy replenishment socket of the vehicle to be energy replenished in the coordinate system of the robotic arm comprises:
unifying coordinate systems of a first camera device and a second camera device to a coordinate system of the mechanical arm, wherein the position of the second camera device is different from the position of the first camera device;
acquiring a first image which is acquired by a first camera device and is about an energy supply socket of the vehicle to be supplied with energy;
acquiring a second image which is acquired by a second camera device and is about an energy supply socket of the vehicle to be supplied with energy;
moving a predetermined image window in each direction of the first image and the second image so as to obtain the change characteristics of the gray data of the area corresponding to the predetermined image window;
confirming that the area corresponding to the preset image window is an angular point, a uniform area or an image edge based on the change characteristics of the gray data so as to be used for matching the characteristic points of the first image and the second image about the energy supply socket; and
calculating the coordinates of the energy charging socket in the coordinate system of the mechanical arm based on the coordinates of the matched feature points of the first image and the second image about the energy charging socket in the coordinate systems of the first camera and the second camera.
8. The method of claim 7, wherein obtaining the height of the energy charging receptacle of the vehicle to be energy charged comprises one of:
calculating the height of an energy supply socket of the vehicle to be supplied with energy based on the coordinates of the energy supply socket in the coordinate system of the mechanical arm; or
And identifying the type of the vehicle to be supplied with energy based on the image acquired by at least one of the first camera device and the second camera device, so as to inquire the height of an energy supply socket of the vehicle to be supplied with energy based on the type.
9. A computing device, comprising:
one or more processors; and
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of any one of claims 1-8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 8.
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