CN113408983A

CN113408983A - Method, device and equipment for screening feeding and discharging points of freight cableway of power transmission line

Info

Publication number: CN113408983A
Application number: CN202110681215.4A
Authority: CN
Inventors: 辛小瑜; 张飞凯; 陈立斌; 曾健; 王永峰; 温智平; 范西荣; 张晓明; 武嫚嫚; 秦剑; 彭飞; 刘钊; 刘中书; 张东海; 张令佳; 惠君伟; 刘士祥; 王丽; 何广奇
Original assignee: State Grid Shaanxi Electric Power Co Construction Branch; China Electric Power Research Institute Co Ltd CEPRI
Current assignee: State Grid Shaanxi Electric Power Co Construction Branch; China Electric Power Research Institute Co Ltd CEPRI
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2021-09-17
Anticipated expiration: 2041-06-18
Also published as: CN113408983B

Abstract

The invention discloses a method, a device and equipment for screening feeding and discharging points of a freight cableway of a power transmission line, which can automatically screen out alternative feeding/discharging points of the freight cableway of the power transmission line according to input geographic information data, iron tower positions and road information. The mark point screening method based on the clustering idea only needs to judge whether the connecting line of a plurality of mark points and the tower is intersected with the road, thereby greatly improving the calculation efficiency of the program.

Description

Method, device and equipment for screening feeding and discharging points of freight cableway of power transmission line

Technical Field

The invention belongs to the technical field of power transmission line engineering, and particularly relates to a method, a device and equipment for screening feeding and discharging points of a freight cableway of a power transmission line.

Background

The traditional cableway path planning work mainly comprises line selection on a graph, data collection, site initial survey, planning scheme, final survey line selection and path examination. Each work depends on the experience of technicians to a great extent, and needs to go to the site for surveying many times, which consumes a great deal of time and manpower and has the defects of long planning period, high labor intensity and the like. When the cableway path is planned, the influence of geographic information on the scientificity and economy of material transportation needs to be fully considered, the path planning relates to the space multi-objective decision problem in various aspects such as engineering, environment and economy, and construction technicians are difficult to comprehensively master and implement. With the development of a Geographic Information System (GIS for short), the strong Geographic Information analysis and processing capabilities of the System are widely and successfully applied to the fields of urban and rural planning, urban pipe networks, traffic navigation and the like, and in recent years, the System is also applied to power transmission line path planning, so that the efficiency of power transmission line path planning is greatly improved. Therefore, GIS-based automatic planning of the freight cableway path of the power transmission line is a hot research problem at present, but GIS is rarely used in the fields of automatic planning of the cableway path and the like, and cannot fully play the technical role.

Disclosure of Invention

The invention provides a method, a device and equipment for screening loading and unloading points of a freight cableway of a power transmission line, which realize automatic screening of the loading/unloading points of the freight cableway of the power transmission line, lay a foundation for automatic planning of a path of the freight cableway and provide theoretical basis and technical support for automation of cableway path planning based on high-precision data.

In order to achieve the purpose, the invention provides a method for screening feeding and discharging points of a freight cableway of a power transmission line, which comprises the following steps:

step 1, selecting all marking points with the distance from the highway meeting preset conditions;

step 2, when screening the feeding points, screening out the mark points on the non-iron tower side of the highway; when the blanking points are screened, the marking points on the non-iron tower side of the highway do not need to be screened out;

and 3, judging whether the terrain of the peripheral area of the rest mark points is smooth, and if so, taking the mark points as alternative feeding and discharging points.

Further, in step 1, the preset conditions are as follows: and the distance between the points and the highway is 10-20 m.

Further, in step 2, the process of screening out the mark points on the side of the highway non-railway tower is as follows:

s1, clustering all the mark points to obtain a plurality of clusters according to whether the mark points are adjacent or not;

s2, randomly selecting one marking point from each cluster, judging whether the marking point is positioned on the iron tower side of the highway or not, thereby judging whether the marking point of the cluster is positioned on the iron tower side of the highway or not, and then screening out all the marking points in the clusters positioned on the non-iron tower side of the highway.

Further, the process of S1 is:

s1.1, judgment (x)_i,y_j) If the point at the position is the mark point, executing S2; otherwise, judging the next point;

s1.2, calculating clustering parameter A₀＝4×A_i-1,j-1+2×A_i-1,j+A_i,j-1，A_i,jRepresents (x)_i,y_i) Whether the point at the position is a mark point or not; when (x)_i,y_i) When the point at the position is a mark point, A_i,jWhen the point is a non-marked point, A_i,j＝0；

S1.3, according to A₀A value of (x)_i,y_j) Point at location assigned cluster number, B_i,jRepresents (x)_i,y_i) Cluster numbers to which points at the location belong;

when A is₀When 0 is satisfied, the maximum cluster number is k, and k +1 is (x)_i,y_j) At the positionCluster number of the point of (a);

when A is₀When 1, it is a mark point (x)_i,y_j) Assigning a cluster number: b is_i,j＝B_i,j-1；

When A is₀When 2, it is a mark point (x)_i,y_j) Assigning a cluster number: b is_i,j＝B_i-1,j；

When A is₀When it is 3, it is a mark point (x)_i,y_j) When cluster numbers are allocated, two mark points (x) need to be compared_i-1,y_j) And (x)_i,y_j-1) Cluster number B of_i-1,jAnd B_i,j-1Assigning a smaller number to the marker point (x)_i,y_j) Cluster number B of_i,j(ii) a Then, all clusters are numbered max [ B ]_i-1,j,B_i,j-1]The cluster number of the mark point of (1) is updated to min [ B ]_i-1,j,B_i,j-1]；

When A is₀When the number is more than or equal to 4, the mark point is (x)_i,y_j) Assigning a cluster number: b is_i,j＝B_i-1,j-1。

Further, S2 includes the steps of:

s2.1, marking clusters on the non-iron tower side of the highway: selecting a mark point in each cluster, judging whether a connecting line of the mark point and an iron tower is intersected with the highway or not, namely judging whether the mark point is positioned on the non-iron tower side of the highway or not, if so, indicating that the cluster is positioned on the non-iron tower side of the highway, and changing the cluster number of the cluster into 0; if the intersection is not achieved, the cluster is positioned on the iron tower side of the highway, and other processing is not needed;

s2.2, deleting the mark points in the cluster on the non-iron tower side of the road: and changing all the points with the cluster number of 0 into non-marked points, wherein the rest marked points are marked points on the side of the highway iron tower.

Further, in step 3, the process of judging whether the terrain of the area around the mark point is smooth is as follows:

establishing a square judgment area of the mark point by taking the judged mark point as a center;

then calculating the maximum gradient and the root mean square of the gradient of the square judgment area;

and judging whether the maximum gradient and the root mean square of the gradient of each terrain area meet the requirement of smooth terrain.

The utility model provides a transmission line freight transportation cableway is gone up, unloading point sieving mechanism, includes:

the acquisition module is used for acquiring geographic information data, iron tower positions and road information and transmitting the acquired data to the calculation module;

the computing module is used for obtaining alternative points of the upper and lower material discharging points of the freight cableway of the power transmission line according to the geographic information data, the position of the iron tower and the road information and transmitting the alternative points to the display module;

and the display module is used for displaying the selected alternative points of the upper and lower discharging points of the power transmission line freight cableway.

A computer device, comprising a memory and a processor which are electrically connected, wherein the memory is stored with a computing program which can be run on the processor, and the processor executes the computing program to realize the steps of the method for screening the feeding and discharging points of the power transmission line freight ropeway.

A computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the method for screening the feeding and discharging points of the power transmission line freight cableway.

Compared with the prior art, the invention has at least the following beneficial technical effects:

the method is based on high-precision geographic information data, iron tower positions and road information, comprehensively considers the influence of the geographic information on the scientificity and economy of material transportation, realizes automatic screening of alternative material loading/unloading points of the freight cableway of the power transmission line, lays a foundation for automatic path planning of the freight cableway, and provides theoretical basis and technical support for automation of cableway path planning based on the high-precision data.

When the marking points on the non-iron tower side are screened, firstly, all the marking points are clustered according to whether the marking points are adjacent or not to obtain a plurality of clusters, then, one marking point is randomly selected from each cluster, whether the point is positioned on the iron tower side of the highway or not is judged, so that whether the marking point of the cluster is positioned on the iron tower side of the highway or not is directly judged, and finally, all the marking points in the clusters positioned on the non-iron tower side of the highway are deleted. The mark point screening method based on the clustering idea only needs to judge whether the connecting line of a plurality of mark points and the tower is intersected with the road, thereby greatly improving the calculation efficiency of the program.

The clustering method only needs to sequentially traverse all sampling points and directly clusters the sampling points according to the mark point information around the traversed points, and is simple in structure, high in searching speed and capable of rapidly clustering the mark points.

Drawings

FIG. 1 is a schematic diagram of input information;

FIG. 2a is a main flow chart of the screening of the feeding points;

FIG. 2b is a main flow chart of the screening of the blanking point;

FIG. 3 is a schematic diagram of a mark point;

FIG. 4a is a schematic diagram of clustering in which mark points around a road are clustered into two clusters;

FIG. 4b is a schematic diagram of clustering in which the mark points around the road are clustered into three clusters;

FIG. 5 is the information of the marking points around the highway;

FIG. 6 is a main flow chart of a mark point screening method based on a clustering idea;

FIG. 7 is a schematic diagram of alternative loading/unloading points of a power transmission line freight cableway;

fig. 8 is a schematic block diagram of a junction temperature monitoring apparatus according to the present invention;

fig. 9 is a schematic structural diagram of a computer device provided in the present invention.

Detailed Description

In order to make the objects and technical solutions of the present invention clearer and easier to understand. The present invention will be described in further detail with reference to the following drawings and examples, wherein the specific examples are provided for illustrative purposes only and are not intended to limit the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 1, the method for screening the feeding and discharging points of the freight cableway of the power transmission line can automatically screen the alternative feeding and discharging points meeting the principle of the feeding and discharging point selection of the freight cableway according to geographic information data, iron tower positions and road information shown in fig. 1, and lays a foundation for the automatic path planning of the freight cableway.

The input data required in the freight cableway loading/unloading point automatic screening method mainly comprises the position of an iron tower, road information around the tower position and three-dimensional geographic information data of the tower position and the road periphery.

Wherein the position of the iron tower is the plane coordinate (x) of the iron tower_t,y_t) Under, isThe symbol t represents an iron tower;

the road information around the tower is two one-dimensional arrays [ x ] of coordinate values respectively representing the directions x and y of the road_g]_K×1And [ y_g]_K×1Subscript g denotes a road, and symbol K denotes the number of points expressing the coordinates of the road;

three-dimensional geographic information data [ H ] of road periphery]_M×NIs a two-dimensional array whose elements H_i,jRepresenting a road peripheral coordinate of (x)_i,y_j) Terrain height at location, i ═ 1,2, …, M; j ═ 1,2, …, N; m and N are the number of topographical data sample points in the x and y directions, respectively.

When the freight cableway path is planned, the principle for selecting the material loading/unloading points is as follows: the alternative feeding point needs to be positioned on the iron tower side of the highway, has a proper distance with the highway, and has a flat terrain in a small square area with the point as the center; the distance between the alternative blanking point and the iron tower is proper, and the terrain in a small square area with the point as the center is smooth.

The main process of screening the feeding point provided by the invention is shown in fig. 2a, and the main steps of the process are as follows:

step 1, selecting points according to distance: selecting all mark points with proper distance from the road: selecting all points which are 10m-20m away from the highway, and recording the number of the marked points as m₁。

Step 2, screening out mark points on the side of the non-iron tower: marking points on the non-iron tower side of the highway are screened out, and the number of the residual marking points is marked as m₀。

And 3, setting gamma to 0 and setting epsilon to 0, and judging whether the terrain of the area around the gamma mark point is smooth: establishing a square judgment area: firstly, establishing a square judgment area of a gamma mark point by taking the gamma mark point as a center and a certain length as a side length, wherein the side length is generally 10-20 m; then calculating the maximum gradient and the root mean square of the gradient of the square judgment area; and then judging whether the maximum gradient and the root mean square of the gradient of each square area meet the requirement of smoothness of the terrain, wherein the requirement of smoothness of the terrain is as follows: the maximum gradient of the square area is less than or equal to 1, and the root mean square of the gradient of the square area is less than or equal to 0.5. If the requirement is met, the terrain of the area around the gamma marking point is smooth, the gamma marking points are marked as epsilon-th alternative feeding points, and epsilon is added by 1; and then, continuously judging whether the terrain of the area around the gamma +1 th mark point is smooth by using the method until all the mark points are judged.

As shown in fig. 2b, the main process of screening the unloading points is similar to the main process of screening the loading points, the mark points selected during screening the loading points are distributed on both sides of the highway (as shown in fig. 3), and if the mark points on the non-iron tower side of the highway are used as the loading points of the cableway, the cableway will inevitably cross the highway. And "the cableway path should avoid crossing the highway as much as possible" is one of the design principles of the cableway. Therefore, when screening the feeding point, an additional step is needed: and (5) screening out the mark points on the non-iron tower side of the highway.

The marking points on the non-iron tower side of the highway can be screened out by judging whether the connecting lines of the marking points and the tower are intersected with the highway or not, and if the connecting lines of the marking points and the tower are intersected with the highway, the marking points can be deleted after the marking points are positioned on the non-iron tower side of the highway. However, this method needs to judge all the marked points, and is computationally inefficient. Considering that any mark point and the adjacent mark point are necessarily positioned on the same side of the road, the invention provides a mark point screening method based on a clustering idea. As shown in fig. 4, the method first clusters all the mark points according to whether the mark points are adjacent or not to obtain a plurality of clusters, then randomly selects one mark point from each cluster, judges whether the mark point is positioned on the iron tower side of the highway, thereby directly judging whether the mark point of the cluster is positioned on the iron tower side of the highway or not, and finally deletes all the mark points in the cluster positioned on the non-iron tower side of the highway. The mark point screening method based on the clustering idea only needs to judge whether the connecting line of a plurality of mark points and the tower is intersected with the road, thereby greatly improving the calculation efficiency of the program.

In order to realize the screening of the mark points based on the idea of clustering, the invention provides a mark point clustering method, which clusters and clusters the mark points according to whether the peripheral points of each mark point are the mark points and the cluster to which the mark points belong.

As shown in fig. 5, the clustering of the mark points includes the following steps:

first define A_i,jAnd B_i,jRespectively represent (x)_i,y_i) Whether the point at the position is a mark point and the cluster number to which the mark point belongs, if (x)_i,y_i) When the point at the position is a mark point, A_i,j1 and B_i,jA non-zero positive integer as cluster number, when the point is a non-marked point, A_i,j0 and B_i,j＝0。

If (x)_i,y_i) The point at the position is a mark point, then according to (x)_i-1,y_i-1)，(x_i,y_i-1) And (x)_i-1,y_i) Whether the point at the position is the mark point or not is judged, namely A is judged_i-1,j-1，A_i,j-1And A_i-1,jWhether or not it is equal to 0. Here, it is worth noting that: if i-1 is 0, (x) is considered to be_i-1,y_j-1) And (x)_i-1,y_j) The point is a non-marked point, if j-1 is 0, then (x) is considered to be_i-1,y_j-1) And (x)_i,y_j-1) The dots are unmarked dots.

To (x)_i,y_i) Clustering:

(1) if (x)_i-1,y_i-1)，(x_i,y_i-1) And (x)_i-1,y_i) Are not marked points, then (x)_i,y_i) The marker at the position belongs to a new cluster, namely: if A is_i-1,j-1＝0，A_i,j-1Is equal to 0 and A_i-1,jWhen the value is 0, then B_i,jNew cluster number;

(2) if only (x)_i,y_i-1) Or (x)_i-1,y_i) The point at the position is a mark point, (x)_i,y_i) The point at the position is clustered with the mark point, namely: if only A is present_i,j-11 or A_i-1,jWhen 1, then B_i,j＝B_i,j-1Or B_i,j＝B_i-1,j；

(3) If only (x)_i,y_i-1) And (x)_i-1,y_i) The point of the position is a mark point, (x)_i,y_i)，(x_i,y_i-1) And (x)_i-1,y_i) The marker points at the positions must be clustered, i.e.: if only A is present_i,j-11 and A_i-1,jWhen 1, then B_i,j＝B_i,j-1＝B_i-1,j；

(4) If (x)_i-1,y_i-1) The point at the position is a mark point, and whether the other two points are mark points or not, (x)_i,y_i) Point at position and (x)_i-1,y_i-1) The marker points at the positions are clustered, i.e.: provided that A is_i-1,j-1＝1，B_i,j＝B_i-1,j-1This is true.

The main flow of the mark point screening method based on the clustering idea provided by the invention is shown in fig. 6, and the main steps of the flow are as follows:

s1, judgment (x)_i,y_j) Whether the point at the position is a marked point, i.e. A_i,jWhether or not 1 is true. If so, go to S2; if not, the next point is judged.

S2, pair (x)_i,y_j) Clustering points at the positions: first, the clustered mark points (x) are comprehensively considered_i,y_j) Peripheral point (x)_i-1,y_j-1)，(x_i-1,y_j) And (x)_i,y_j-1) Whether the mark point is the mark point or not, and calculating clustering parameter A according to the mark point₀＝4×A_i-1,j-1+2×A_i-1,j+A_i,j-1。

S3, then according to A₀A value of (x)_i,y_j) Point assignment cluster number at location:

if A is₀(x) is 0_i-1,y_j-1)、(x_i-1,y_j) And (x)_i,y_j-1) Are not mark points, and since the maximum cluster number is k, k +1 is (x)_i,y_j) Cluster number of points at a location;

if A is₀(x) is illustrated as 1_i,y_j-1) Is a marked point, and (x)_i-1,y_j-1) And (x)_i-1,y_j) Are not mark points, so are mark points (x)_i,y_j) Is divided intoNumbering the matched clusters: b is_i,j＝B_i,j-1。

If A is₀(x) is illustrated as 2_i-1,y_j) Is a marked point, and (x)_i,y_j-1) And (x)_i-1,y_j) Are not mark points, so are mark points (x)_i,y_j) Assigning a cluster number: b is_i,j＝B_i-1,j。

If A is₀(x) is illustrated as 3_i-1,y_j-1) Is not a marker point and (x)_i-1,y_j) And (x)_i,y_j-1) Are all marked points, so are marked points (x)_i,y_j) When cluster numbers are allocated, two mark points (x) need to be compared_i-1,y_j) And (x)_i,y_j-1) Cluster number B of_i-1,jAnd B_i,j-1Assigning a smaller number to the marker point (x)_i,y_j) Cluster number B of_i,j. Then, all clusters are numbered max [ B ]_i-1,j,B_i,j-1]The cluster number of the mark point of (1) is updated to min [ B ]_i-1,j,B_i,j-1]。

If A is₀Not less than 4, indicates that (x)_i-1,y_j-1) Is inevitably a marked point, at this time, if (x)_i,y_j-1) And (x)_i-1,y_j) With the marked points, their cluster numbers must be equal to (x)_i-1,y_j-1) The clusters of points are numbered identically, so only the mark point (x)_i,y_j) Assigning a cluster number: b is_i,j＝B_i-1,j-1。

S4 marks the cluster on the non-tower side of the highway: selecting a mark point in each cluster, judging whether a connecting line of the mark point and an iron tower is intersected with the highway or not, namely judging whether the mark point is positioned on the non-iron tower side of the highway or not, if so, indicating that the cluster is positioned on the non-iron tower side of the highway, and changing the cluster number of the cluster into 0; if the intersection is not met, the cluster is positioned on the iron tower side of the highway, and other processing is not needed.

S5, deleting the mark points in the cluster on the non-iron tower side of the road: and changing all the points with the cluster number of 0 into non-marked points, wherein the rest marked points are the marked points on the side of the highway iron tower.

Example 2

As shown in fig. 8, the device for screening feeding and discharging points of a power transmission line freight ropeway, provided by the invention, comprises an acquisition module, a calculation output module and a display module.

The system comprises a calculation module, an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring geographic information data, iron tower positions and road information and transmitting the acquired data to the calculation module;

the computing module is used for operating the method to obtain alternative points of the upper and lower discharging points of the freight cableway of the power transmission line and transmitting the alternative points to the display module; and the display module is used for displaying the selected alternative points of the upper and lower discharging points of the power transmission line freight cableway.

Example 3

As shown in fig. 9, the computer device provided by the present invention includes a memory and a processor, which are electrically connected, wherein the memory stores a computing program that can be run on the processor, and when the processor executes the computing program, the steps of the method for screening the feeding and discharging points on the power transmission line freight cableway are implemented.

Example 4

The screening device for the feeding and discharging points of the power transmission line freight ropeway can be stored in a computer readable storage medium if the screening device is realized in the form of a software functional unit and is 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, etc. 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.

Examples of the applications

Inputting geographic information data, the position of an iron tower and road information shown in figure 1, running a program, and automatically outputting alternative loading/unloading points of the power transmission line freight cableway shown in figure 7.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims

1. A method for screening loading and unloading points of a freight cableway of a power transmission line is characterized by comprising the following steps:

2. The method for screening feeding and discharging points of the power transmission line freight cableway according to claim 1, wherein in the step 1, the preset conditions are as follows: and the distance between the points and the highway is 10-20 m.

3. The method for screening feeding and discharging points of the freight cableway of the power transmission line according to claim 1, wherein in the step 2, the process of screening the mark points on the non-iron tower side of the highway comprises the following steps:

4. The method for screening feeding and discharging points of the power transmission line freight ropeway according to claim 3, wherein the S1 comprises the following steps:

when A is₀When 0 is satisfied, the maximum cluster number is k, and k +1 is (x)_i,y_j) Cluster number of points at a location;

5. The method for screening feeding and discharging points of the power transmission line freight ropeway as claimed in claim 3, wherein the step S2 comprises the following steps:

6. The method for screening feeding and discharging points of the freight cableway for the electric transmission line according to claim 1, wherein in the step 3, the process of judging whether the terrain of the area around the mark point is smooth is as follows:

7. The utility model provides a transmission line freight transportation cableway is gone up, unloading point sieving mechanism which characterized in that includes:

8. A computer device comprising a memory and a processor electrically connected, the memory having a computing program stored thereon, the computing program being executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 6 when executing the computing program.

9. A computer-readable storage medium, in 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 6.