CN113592397A - Port material transportation method and device, electronic equipment and readable medium - Google Patents
Port material transportation method and device, electronic equipment and readable medium Download PDFInfo
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Abstract
The application provides a port material transportation method, a port material transportation device, electronic equipment and a readable medium, wherein the port material transportation method comprises the following steps: acquiring road information of a port, and starting point information and end point information of an unmanned container truck, wherein the unmanned container truck is used for transporting port materials; and generating first navigation information for guiding the unmanned collecting card to run according to the road information, the starting point information and the end point information, so that the unmanned collecting card runs from the area indicated by the starting point information to the area indicated by the end point information according to the first navigation information. The first navigation information for guiding the unmanned container truck to run is generated by comprehensively acquiring the road information, the starting point information and the end point information, so that the unmanned container truck can efficiently finish the transportation of port materials, and the purpose of improving the transportation efficiency of the port materials is achieved.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a port material transportation method, a port material transportation device, electronic equipment and a readable medium.
Background
In traditional port transportation, in order to complete the transportation of materials, workers need to drive a truck to frequently go back and forth between a cargo ship and a shore field. In practical application, the transportation efficiency of port materials is low due to the influence of factors such as the working state and working experience of workers.
Disclosure of Invention
The application provides a port material transportation method, a port material transportation device, electronic equipment and a readable medium, which are used for solving the problem of low port material transportation efficiency.
In a first aspect, an embodiment of the present application provides a port material transportation method, where the method includes:
acquiring road information of a port, and starting point information and end point information of an unmanned container truck, wherein the unmanned container truck is used for transporting port materials;
and generating first navigation information for guiding the unmanned collecting card to run according to the road information, the starting point information and the end point information, so that the unmanned collecting card runs from the area indicated by the starting point information to the area indicated by the end point information according to the first navigation information.
In a second aspect, an embodiment of the present application provides a transportation device for port materials, the device includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring road information of a port, and starting point information and end point information of an unmanned container truck, and the unmanned container truck is used for transporting port materials;
and the first navigation module is used for generating first navigation information for guiding the unmanned collecting card to run according to the road information, the starting point information and the end point information, so that the unmanned collecting card runs from the area indicated by the starting point information to the area indicated by the end point information according to the first navigation information.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, where the program or instructions, when executed by the processor, implement the steps of the transportation method of the port material according to the first aspect.
In a fourth aspect, the present application provides a computer-readable medium, on which a computer program is stored, the computer program comprising program instructions, which when executed by a processor, implement the steps of the method for transporting port material according to the first aspect.
The application provides a port material transportation method, which generates first navigation information for guiding an unmanned truck to run by comprehensively acquiring road information, starting point information and end point information, so that the unmanned truck can efficiently finish the transportation of port materials, and further the purpose of improving the transportation efficiency of the port materials is achieved.
Drawings
Fig. 1 is a flow chart of a transportation method of port materials according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an automated transportation system provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a port material transportation device provided by an embodiment of the application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Referring to fig. 1, fig. 1 is a schematic flow chart of a transportation method of a port material according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
Wherein, unmanned collecting card is used for transporting port material.
And 102, generating first navigation information for guiding the unmanned truck to run according to the road information, the starting point information and the end point information.
Wherein the first navigation information is used for guiding the unmanned collective card to travel from the area indicated by the start point information to the area indicated by the end point information.
According to the port material transportation method provided by the embodiment of the application, the first navigation information for guiding the unmanned truck to run is generated in a mode of comprehensively acquiring the road information, the starting point information and the end point information, so that the unmanned truck can efficiently finish the transportation work of port materials, and the purpose of improving the transportation efficiency of the port materials is further achieved.
It should be noted that the unmanned trucks include, but are not limited to, automated trucks, automated guided vehicles, and unmanned straddle carriers; the start point information includes current coordinates of the unmanned truck, and the end point information includes regional coordinates of a cargo ship or a yard.
In practical application, a central control system is arranged in an area where a port is located, the central control system is communicated with the unmanned collecting card through a message queue or a websocket in cooperation with http to issue the first navigation information to the corresponding unmanned collecting card, and the issuing process can be as follows:
the central control system acquires a first area coordinate of a cargo ship or a storage yard where port materials to be transported are located, and the first area coordinate is set as terminal point information;
the method comprises the steps that a central control system acquires road information of a port, wherein the road information comprises an area coordinate of a maintenance area and an area coordinate of a forbidden area;
the central control system acquires a card collecting information set according to the first area coordinate, wherein the card collecting information set comprises card collecting information of a plurality of candidate unmanned cards, the candidate unmanned cards are used for indicating the unmanned cards with the distance between the current coordinate and the first area coordinate being smaller than a preset distance threshold, and the card collecting information comprises the current coordinate and state information of the candidate unmanned cards.
The central control system sorts the container truck coordinate set according to the distance between the container truck coordinate set and the first area coordinate set;
the central control system traverses the sorted card collection coordinates, judges whether the traversed state information of the alternative unmanned card collection is in an idle state, if so, terminates the traversing process, sets the alternative unmanned card collection as a target unmanned card collection, and simultaneously receives task request information transmitted by the target unmanned card collection, wherein the task request information comprises the current coordinates of the target unmanned card collection;
and the central control system processes the road information, the task request information and the end point information according to a path planning algorithm to obtain the first navigation information, and issues the first navigation information to the target unmanned collecting card.
The first navigation information is used for guiding the target unmanned collecting card, and the target unmanned collecting card is driven to the first area coordinate from the current coordinate of the target unmanned collecting card with minimum cost under the condition of avoiding the area coordinate of the maintenance area and the area coordinate of the forbidden area. In practical applications, the first navigation information may further include vehicle gear information and vehicle speed information, for example, in rainy and snowy weather, the first navigation information is used for guiding the target unmanned aggregate card to travel from the current coordinates of the target unmanned aggregate card to the first area coordinates with minimum cost under a three-gear 60-yard vehicle speed traveling condition. Through the arrangement, under the condition that the driving path of the target unmanned collecting card is planned, the driving speed of the target unmanned collecting card is limited, so that the probability of safety accidents in severe weather environment is reduced.
The path planning algorithm is preferably set as an a-path search algorithm, and the area coordinates of the maintenance area and the area coordinates of the forbidden area can be manually set or cancelled by a worker or automatically set or cancelled by a central control system according to preset logic.
The status information of the unmanned hub includes, but is not limited to, a transport status, an idle status, and a maintenance status.
In practical application, each unmanned card concentrator transmits its own card concentrator information to the central control system in real time, so that the central control system can efficiently and accurately regulate and control a plurality of unmanned card concentrators in a port, wherein the card concentrator information includes, but is not limited to, current coordinates, a headstock angle, a towing angle, remaining power information, vehicle speed information, vehicle gear information, driving mileage, total transportation time, total transportation times, total transportation amount, laser radar state information, host computer cluster state information, vehicle-mounted camera state information and navigation equipment state information of the unmanned card concentrator.
Through the centralized regulation and control of the central control system, the problem of path conflict of a plurality of unmanned trucks can be effectively avoided, and the transport efficiency of port materials is further improved.
The current coordinate of the unmanned aggregate card, the area coordinate of the maintenance area, and the area coordinate of the no-walk area are preferably set to be the UTM (Universal Transverse Mercator Grid System) coordinate.
Optionally, after the unmanned aggregate card travels from the area indicated by the start point information to the area indicated by the end point information according to the first navigation information, the method further includes:
acquiring first state information of bridge crane equipment;
under the condition that the first state information meets a first preset condition, controlling the bridge crane equipment to grab the port material, and acquiring actual pose information of the unmanned container truck;
generating pose adjustment information according to preset target pose information and the actual pose information, wherein the pose adjustment information is used for guiding the unmanned collecting card to carry out pose adjustment;
and controlling the bridge crane equipment to move the port materials between the cargo ship and the unmanned truck after the pose adjustment.
The bridge crane equipment is material traction equipment arranged at a cargo ship or a storage yard, generally, a plurality of bridge crane equipment arranged at the cargo ship are collectively called as a shore bridge, and a plurality of bridge crane equipment arranged at the storage yard are collectively called as a yard bridge.
It should be noted that an entry point, an exit point and a plurality of bridge hanging points located between the entry point and the exit point are generally arranged at the site bridge or the shore bridge, each bridge hanging point corresponds to a bridge hanging device, each bridge hanging point is provided with a unique number, and the distance between the bridge hanging point and the entry point is positively correlated with the unique number corresponding to the bridge hanging point.
For example, if the bridge includes 3 bridge suspension points, and the unique numbers of the three bridge suspension points are respectively the first bridge suspension point, the second bridge suspension point and the third bridge suspension point, it indicates that the bridge includes three bridge suspension devices, and the distance between the first bridge suspension point and the entrance point of the bridge is the closest, and the distance between the third bridge suspension point and the entrance point of the bridge is the farthest.
For example, in the case that the unmanned truck is unloaded from the bridge, when the unmanned truck moves to the bridge or the shore bridge according to the first navigation information, the central control system may receive task completion information transmitted by the unmanned truck, and obtain a set of crane information of the bridge or the shore bridge according to the task completion information, where the set of crane information includes unique numbers of a plurality of crane points in the bridge or the shore bridge, first state information of a plurality of crane devices corresponding to the unique numbers one by one, and a plurality of guide information corresponding to the unique numbers one by one, and the guide information is used to guide the unmanned truck to travel from an entry point of the bridge or the shore bridge to the corresponding crane point.
After the bridge crane information set is obtained, the central control system can arrange the bridge crane information sets from small to large according to the numerical values of the unique numbers, traverse a plurality of pieces of first state information in the arranged bridge crane information sets, and the traversing termination condition is that the traversed first state information meets a preset first preset condition, or the first state information in the arranged bridge crane information sets does not meet the first preset condition.
And under the condition that the plurality of pieces of first state information in the arranged bridge crane information sets do not meet a first preset condition, the central control system indicates the unmanned truck to wait, acquires a new bridge crane information set again according to a preset interval period, and repeats the sequencing and convenience process for the new bridge crane information set.
Under the condition that the traversed first state information meets preset first preset conditions, the central control system issues a grabbing instruction to the bridge crane equipment corresponding to the traversed first state information so that the bridge crane equipment grabs the port material to be transported according to the grabbing instruction; and simultaneously transmitting guide information to the unmanned truck so that the unmanned truck drives to a bridge crane point corresponding to the bridge crane equipment from a site bridge or a shore bridge entrance point.
After the unmanned truck moves to a bridge crane point corresponding to the bridge crane equipment, the central control system acquires actual pose information of the unmanned truck and compares the actual pose information with preset target position information to generate pose adjustment information.
And the central control system issues the pose adjustment information to the unmanned truck, and after the unmanned truck completes the adjustment of the vehicle pose according to the pose adjustment information, the unmanned truck transmits adjustment completion information to the central control system, so that the central control system issues a transfer instruction to the bridge crane equipment according to the adjustment completion information, and the bridge crane equipment pulls the port material to the unmanned truck according to the transfer instruction.
Wherein the first status information includes, but is not limited to, an application status, an idle status, and a maintenance status; the first preset condition may indicate that the first status information is an idle status.
In practical application, the central control system can also control the bridge crane equipment to pull port materials from the unmanned truck to a cargo ship berthing at a port, and the control process is similar to that of the previous example and is not repeated.
Optionally, after the controlling the bridge crane device to move the port material between the cargo ship and the unmanned set of trucks after the pose adjustment, the method further includes:
acquiring second state information of the bridge crane equipment;
and generating second navigation information under the condition that the second state information meets a second preset condition, so that the unmanned truck drives away from the area where the bridge crane equipment is located according to the second navigation information.
Through the arrangement, the damage probability of port materials is reduced, and the safety in the port material transportation process is improved.
For example, in the process that the central control system controls the bridge crane equipment to move port materials to be transported to the unmanned truck, when the port materials are pulled to the unmanned truck, the separation condition of the bridge crane equipment and the port materials is confirmed by acquiring second state information of the bridge crane equipment and judging whether the second state information meets a second preset condition, so that the situation that the unmanned truck moves under the condition that the bridge crane equipment is not fully separated from the port materials is avoided, and the safety and the stability of the port materials in the transportation process are guaranteed.
The bridge crane equipment comprises a supporting component, a translation component arranged on the supporting component, a lifting component arranged on the translation component, a lifting platform arranged on the lifting component and a locking component arranged on the lifting platform. The second status information of the bridge crane apparatus includes height information of the platform and status information of the locking assembly (including a locked status and an unlocked status), and the second preset condition may be used to indicate that the height of the platform is greater than or equal to a height threshold and the locking assembly is in the unlocked status.
And the second navigation information is used for guiding the unmanned truck loaded with port materials to travel from the bridge crane point corresponding to the bridge crane equipment to the exit point of the yard bridge or the shore bridge.
It should be noted that, in practical applications, the unmanned aggregate card may sort the tasks issued by the central control system in a priority sorting manner, so as to reduce the probability of collision of the tasks executed by the unmanned aggregate card.
Meanwhile, when the unmanned centralized card executes a task or an instruction issued by the central control system, if the unmanned centralized card is in a state of executing the task or the instruction, first task state information used for indicating that the task or the instruction is in progress is transmitted to the central control system; if the unmanned hub card finishes the task or the instruction, transmitting second task state information for indicating that the task or the instruction is finished to the central control system; and if the unmanned hub card fails to execute the task or the instruction, transmitting third task state information for indicating that the task or the instruction fails to execute to the central control system.
Under the condition that the central control system receives the third task state information, the central control system issues a parking waiting instruction to the unmanned collecting card and sends out warning information to workers to remind the workers of the unmanned collecting card with failed task execution, wherein the sending mode of the warning information can be adaptively selected based on actual conditions, for example, the mode of highlighting the characteristic information of the unmanned collecting card is displayed on a display interface corresponding to the workers, and the characteristic information comprises the current coordinate of the unmanned collecting card and a collecting card number; or by controlling the buzzer to sound or the warning lamp to flash.
Optionally, the method further includes:
acquiring historical transportation information of the unmanned collecting card;
and displaying the historical transportation information.
Through the mode of collecting and showing the historical transportation information of unmanned collecting card, can make the staff learn the operating condition of unmanned collecting card comparatively directly perceivedly, make the staff obtain better use and experience, among the practical application, historical transportation information includes information such as the operation number of times, the operation case volume of unmanned collecting card, the average time spent and the mileage of single operation.
It should be noted that, besides obtaining and displaying the historical transportation information of the unmanned collecting card, the use experience of the staff can be further improved by displaying the real-time coordinates of the unmanned collecting card, the port map and the road information of the port. In practical applications, the information content displayed by the operation panel corresponding to the worker may be adaptively adjusted based on requirements, which is not limited in the embodiment of the present application.
As shown in fig. 2, some embodiments of the present application also provide an automated transport system comprising an automated transport, a central control module, a port operations module, a bridge crane management module;
the automatic transport tool is used for receiving and executing the operation tasks distributed by the central control module. In practical applications, the automated transportation vehicle may be an unmanned truck.
And the port operation module is used for automatically issuing initial tasks such as shipment, ship unloading, stock dump box changing, cancellation, suspension and the like to the central control module.
The bridge crane management module is used for transmitting first information of a shore bridge and a field bridge in a port to the central control module in real time, wherein the first information comprises type information, position information, size information, a unique number, first state information, second state information and guidance information of bridge crane equipment.
The central control module comprises a man-machine interaction unit, a task management unit, an equipment management unit, a vehicle management unit, a road management unit, a high-precision map unit, a path planning unit and a data statistics unit.
The man-machine interaction unit is used for receiving and transmitting an operation instruction of a worker and displaying the operation condition of the port to the worker.
The task management unit is used for receiving and decomposing the initial tasks transmitted by the port operation module so as to generate a plurality of operation tasks for issuing to the automatic transport tool.
The equipment management unit is used for receiving and processing the first information transmitted by the bridge crane management module.
The vehicle management unit is used for receiving and processing vehicle information transmitted by the automatic transport tool, wherein the vehicle information comprises a unique number, real-time coordinates, chassis information, an operation state and the like of the automatic transport tool.
The road management unit is used for storing and updating road information of the port.
And the high-precision map unit is used for storing and updating map information of the port.
And the path planning unit is used for generating navigation information for guiding the automatic transportation tool to run according to a preset path planning algorithm.
And the data statistical unit is used for counting the information such as the operation times of the automatic transport tool, the operation box amount, the average time consumption of single operation, the driving mileage and the like.
Referring to fig. 3, fig. 3 is a device for transporting port materials according to an embodiment of the present application, the device including:
a first obtaining module 201, configured to obtain road information of a port, and start point information and end point information of an unmanned truck, where the unmanned truck is used to transport port materials;
a first navigation module 202, configured to generate, according to the road information, the start point information, and the end point information, first navigation information for guiding the unmanned aggregate card to travel, so that the unmanned aggregate card travels from an area indicated by the start point information to an area indicated by the end point information according to the first navigation information.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring first state information of the bridge crane equipment;
the first control module is used for controlling the bridge crane equipment to grab the port material and acquiring the actual pose information of the unmanned container truck under the condition that the first state information meets a first preset condition;
the adjusting module is used for generating pose adjusting information according to preset target pose information and the actual pose information, and the pose adjusting information is used for guiding the unmanned collecting card to carry out pose adjustment;
and the second control module is used for controlling the bridge crane equipment to move the port material between the cargo ship and the unmanned container truck after the pose adjustment.
Optionally, the apparatus further comprises:
the third acquisition module is used for acquiring second state information of the bridge crane equipment;
and the second navigation module is used for generating second navigation information under the condition that the second state information meets a second preset condition, so that the unmanned truck drives away from the area where the bridge crane equipment is located according to the second navigation information.
Optionally, the apparatus further comprises:
and the display module is used for acquiring historical transportation information of the unmanned collecting card and displaying the historical transportation information.
Referring to fig. 4, fig. 4 is a structural diagram of an electronic device according to an embodiment of the present disclosure, and as shown in fig. 4, the electronic device 300 includes: a memory 301, a processor 302 and a program or instructions stored on the memory 301 and executable on the processor 302, wherein the program or instructions when executed by the processor 302 implement the steps of the transportation method of the port material.
Embodiments of the present application also provide a readable medium that can employ any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, 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), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code 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 terminal. 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).
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a readable storage medium (such as ROM or RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of transporting port material, the method comprising:
acquiring road information of a port, and starting point information and end point information of an unmanned container truck, wherein the unmanned container truck is used for transporting port materials;
and generating first navigation information for guiding the unmanned collecting card to run according to the road information, the starting point information and the end point information, so that the unmanned collecting card runs from the area indicated by the starting point information to the area indicated by the end point information according to the first navigation information.
2. The method according to claim 1, wherein after the unmanned aggregate card travels from the area indicated by the start point information to the area indicated by the end point information according to the first navigation information, the method further comprises:
acquiring first state information of bridge crane equipment;
under the condition that the first state information meets a first preset condition, controlling the bridge crane equipment to grab the port material, and acquiring actual pose information of the unmanned container truck;
generating pose adjustment information according to preset target pose information and the actual pose information, wherein the pose adjustment information is used for guiding the unmanned collecting card to carry out pose adjustment;
and controlling the bridge crane equipment to move the port materials between the cargo ship and the unmanned truck after the pose adjustment.
3. The method of claim 2, wherein after controlling the bridge crane apparatus to move the port material between the cargo ship and the pose unmanned skid, the method further comprises:
acquiring second state information of the bridge crane equipment;
and generating second navigation information under the condition that the second state information meets a second preset condition, so that the unmanned truck drives away from the area where the bridge crane equipment is located according to the second navigation information.
4. The method of claim 1, further comprising:
acquiring historical transportation information of the unmanned collecting card;
and displaying the historical transportation information.
5. A transport device for port material, characterized in that the device comprises:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring road information of a port, and starting point information and end point information of an unmanned container truck, and the unmanned container truck is used for transporting port materials;
and the first navigation module is used for generating first navigation information for guiding the unmanned collecting card to run according to the road information, the starting point information and the end point information, so that the unmanned collecting card runs from the area indicated by the starting point information to the area indicated by the end point information according to the first navigation information.
6. The apparatus of claim 5, further comprising:
the second acquisition module is used for acquiring first state information of the bridge crane equipment;
the first control module is used for controlling the bridge crane equipment to grab the port material and acquiring the actual pose information of the unmanned container truck under the condition that the first state information meets a first preset condition;
the adjusting module is used for generating pose adjusting information according to preset target pose information and the actual pose information, and the pose adjusting information is used for guiding the unmanned collecting card to carry out pose adjustment;
and the second control module is used for controlling the bridge crane equipment to move the port material between the cargo ship and the unmanned container truck after the pose adjustment.
7. The apparatus of claim 6, further comprising:
the third acquisition module is used for acquiring second state information of the bridge crane equipment;
and the second navigation module is used for generating second navigation information under the condition that the second state information meets a second preset condition, so that the unmanned truck drives away from the area where the bridge crane equipment is located according to the second navigation information.
8. The apparatus of claim 5, further comprising:
and the display module is used for acquiring historical transportation information of the unmanned collecting card and displaying the historical transportation information.
9. An electronic device comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the method according to any one of claims 1-4.
10. A readable medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 4.
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