CN113618734A

CN113618734A - Robot feedback method and robot

Info

Publication number: CN113618734A
Application number: CN202110908295.2A
Authority: CN
Inventors: 肖阳; 杜晓雨; 谭斌; 刘旭; 王冲
Original assignee: Shenzhen Energy Injection Technology Co ltd
Current assignee: Shenzhen Energy Injection Technology Co ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-11-09
Anticipated expiration: 2041-08-09
Also published as: CN113618734B

Abstract

The invention discloses a robot feedback method, which comprises the steps of obtaining the rotation information of a robot arm around a robot body; wherein the robot arm and the robot body are connected through a rotating mechanism with a position sensor; the position sensor converts the rotation information into position information; and outputting feedback information according to the position information. The invention also discloses a robot and a storage medium. The invention at least solves the technical problems of improving the precision of the robot for acquiring the information of the interactive object, linearly feeding back the feedback information to the interactive object and improving the man-machine interaction effect.

Description

Robot feedback method and robot

Technical Field

The invention relates to the technical field of intelligent robots. More particularly, the present invention relates to a robot feedback method and a robot.

Background

At present, the interaction mode of the interaction object and the traditional robot is generally voice type man-machine interaction, touch click type or sliding type man-machine interaction, button type man-machine interaction or knob type man-machine interaction and the like. Although these interaction methods can bring convenience to the interaction object, they do not avoid some drawbacks. Specifically (note that, the background art takes the volume as an example, and does not limit the usage of the robot in this document):

in a voice man-machine interaction mode, the phenomenon that the feedback of the robot is delayed or the feedback information is inconsistent with the voice information of an interaction object usually occurs. Therefore, the voice type man-machine interaction mode is low in voice recognition precision and high in implementation cost, and information cannot be fed back to an interaction object in real time. Moreover, the voice-based human-computer interaction mode is nonlinear, and the change process cannot be intuitively fed back to an interaction object. Specifically, the voice-based man-machine interaction mode feeds back corresponding information according to the voice information of the interaction object, for example, the current volume of the robot is 30, the voice information of the interaction object is "adjust the volume to 60", and after receiving the voice information, the robot directly adjusts the volume to 60 instead of gradually increasing the volume from 30 to 60. Thus, the feedback of the robot is now non-linear.

Touch click type or sliding type man-machine interaction and key type man-machine interaction belong to a step type interaction mode, and the robot can only provide a plurality of grades for the adjustment of an interactive object, so that the interactive object can only be sequentially increased in size, sequentially decreased in size or directly stepped to the corresponding grade in each adjustment, and accurate adjustment of other numerical values except the grade cannot be achieved. For example, if the robot provides 5 levels for adjusting the volume, the 1 level of the 5 levels corresponds to 20% of the volume, the 2 level corresponds to 40% of the volume, the 3 level corresponds to 60% of the volume, the 4 level corresponds to 80% of the volume, and the 5 level corresponds to 100% of the volume, and if the interactive object needs to adjust 30% of the volume, the step-type interactive mode cannot be realized. Therefore, the touch-click type or sliding type man-machine interaction mode and the key-press type man-machine interaction mode have obvious defects in adjusting numerical precision, and the two interaction modes are nonlinear.

Compared with the above-mentioned interaction method, the knob-type man-machine interaction method has the most accurate, linear and intuitive adjustment value precision. However, conventional robots generally do not add additional knobs. The reason is that the shape of the knob is protruded, which affects the beauty of the robot; and is easily influenced by external force during the movement to be triggered by mistake, thereby directly causing the deviation of the precision of the regulating value.

Disclosure of Invention

It is an object of the present invention to at least solve the above problems and to provide corresponding advantages.

Another object of the present invention is to provide a robot feedback method and a robot, which at least solve the technical problems of how to improve the accuracy of acquiring information of an interactive object by the robot, linearly feed back feedback information to the interactive object, and improve human-computer interaction effect. The invention is mainly realized by the technical scheme in the following aspects:

< first aspect of the invention >

A first aspect provides a robot feedback method, comprising:

acquiring rotation information of a robot arm around a robot body; wherein the robot arm and the robot body are connected through a rotating mechanism with a position sensor;

the position sensor converts the rotation information into position information;

and outputting feedback information according to the position information.

In the first aspect of the present invention, the rotation information of the robot arm around the robot body is converted into the position information by the position sensor, and the feedback information is output according to the position information. The robot arm can freely rotate around the robot body, so that the change of the rotation information can be linearly and gradually increased or decreased, the linear change and the accurate positioning of the position information can be realized, the technical problems of improving the accuracy of acquiring the interactive object information by the robot and linearly feeding back the feedback information to the interactive object are solved, the accuracy of acquiring the interactive object information by the robot is effectively improved, and the feedback information is linearly fed back to the interactive object.

In addition, the robot feedback method provided by the invention has the advantages that the robot arm is used as the contact part between the robot and the interactive object, so that the interactive object and the robot have action communication, the technical problem of improving the human-computer interaction effect is solved, and the experience of human-computer interaction is effectively improved.

In some embodiments, after the step of outputting the feedback information according to the position information, the robot feedback method further includes:

acquiring first triggered information;

and generating and storing target position information according to the first triggered information.

By the technical scheme, the robot can record the position information required by the interactive object, so that when the subsequent interactive object interacts with the robot, the robot can recover the interactive content with the previous interactive object; in addition, the phenomenon that the robot arm is triggered by mistake and changes the position information can be effectively prevented.

In some embodiments, after the step of generating and storing the target position information according to the first triggered information, the robot feedback method further includes:

acquiring second triggered information;

and rotating the robot arm according to the second triggered information, the target position information and a preset torque, and stopping rotating when the robot arm rotates to a position corresponding to the target position information.

Through the technical scheme, the robot can feed back the stored position information to the interactive object through the robot arm, and the man-machine interaction efficiency is effectively improved.

In some embodiments, before the step of acquiring the second triggered information, the robot feedback method further includes:

and acquiring the third triggered information and starting a corresponding interactive working mode.

In some embodiments, after the step of rotating the robot arm according to the second triggered information, the target position information, and a preset torque, and stopping the rotation when the robot arm rotates to a position corresponding to the target position information, the robot feedback method further includes:

the torque is adjusted to zero.

Through the technical scheme, the robot arm can be rotated by the interactive object, so that the rotation angle of the robot arm can be adjusted according to the wish of the interactive object, and the interactive experience of the interactive object is improved.

< second aspect of the invention >

A second aspect provides a robot for performing the robot feedback method of the first aspect of the invention, the robot including the robot body, the robot arm, and the rotation mechanism having the position sensor.

In some aspects, the robot further comprises a display module.

< third aspect of the invention >

A third aspect provides a robot, which includes a robot body, a robot arm, a rotation mechanism with a position sensor, a memory and a processor, wherein the robot arm and the robot body are rotatably connected through the rotation mechanism, the memory stores a computer program operable on the processor, and the computer program implements the robot feedback method according to the first aspect of the present invention when executed by the processor.

< fourth aspect of the invention >

A fourth aspect provides a storage medium having computer program instructions pre-stored therein for performing the robot feedback method of the first aspect.

The technical scheme provided by the invention at least has the following beneficial effects:

in the invention, the rotation information of the robot arm around the robot body is converted into position information through the position sensor, and feedback information is output according to the position information. Based on that the robot arm can freely rotate around the robot body, the change of the rotation information can be linearly and gradually increased or decreased, so that the linear change and the accurate positioning of the position information can be realized, the technical problems of how to improve the accuracy of the robot for acquiring the information of the interactive object and linearly feeding back the feedback information to the interactive object are solved, and therefore, the invention can: 1) the accuracy of the robot for acquiring the information of the interactive object is effectively improved, and the feedback information is linearly fed back to the interactive object; 2) the human-computer interaction effect is effectively improved, and the experience of human-computer interaction is improved; 3) the robot can record the position information required by the interactive object, so that when the subsequent interactive object interacts with the robot, the robot can recover the interactive content with the previous interactive object; 4) the phenomenon that the robot arm is triggered by mistake and the position information is changed can be effectively prevented; 5) the robot can feed back the stored position information to the interactive object through the robot arm, so that the man-machine interaction efficiency is effectively improved; 6) the robot arm can be rotated by the interactive object, so that the rotation angle of the robot arm can be adjusted according to the wish of the interactive object, and the interactive experience of the interactive object is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a flow diagram of a robotic feedback method of the present invention in some embodiments;

FIG. 2 is a flow diagram of a robot feedback method of the present invention in further embodiments;

FIG. 3 is a flow chart of a robot feedback method of the present invention in further embodiments;

FIG. 4 is a flow chart of a robot feedback method of the present invention in further embodiments;

FIG. 5 is a flow chart of a robot feedback method of the present invention in further embodiments;

FIG. 6 is a schematic diagram of a robot of the present invention in some embodiments;

FIG. 7 is a schematic view of a robot according to the present invention in further embodiments;

FIG. 8 is a schematic view of a robot according to still other embodiments of the present invention;

FIG. 9 is a schematic view of a robot according to still other embodiments of the present invention;

fig. 10 is a schematic structural diagram of a robot according to still other embodiments of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly and completely apparent, the technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first", "second", and "third" and the like in the description of the embodiments of the present application are used for distinguishing different objects, and are not used for describing a particular order of the objects. For example, the first triggered information, the second triggered information and the third triggered information are used for distinguishing different triggered information, and are not used for describing a specific order of the triggered information.

In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In addition to the foregoing, it remains emphasized that reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

< method of robot feedback >

Fig. 1 is a flow chart of a robot feedback method provided by the present invention in some embodiments, and a robot 600 in the robot feedback method may refer to the robot 600 shown in fig. 6-10. In fig. 1, the robot feedback method includes:

s101, obtaining rotation information of a robot arm 602 around a robot body 601; wherein the robot arm 602 and the robot body 601 are connected by a rotating mechanism (not shown) having a position sensor.

In step S101, the robot arm 602 is touched and moved by the interactive object, so that the robot 600 can acquire the rotation information of the robot arm 602 around the robot body 601. The rotation information may be rotation angle information. In this embodiment, the robot arm 602 may rotate around the robot body 601 within 180 degrees, specifically, may rotate from the foot to the head of the robot 600. Therefore, the rotation information may be any one of "30 degrees rotation toward the robot head", "60 degrees rotation toward the robot head", "90 degrees rotation toward the robot head", or "90 degrees rotation toward the robot foot". In some other embodiments, the robot arm 602 can rotate around the robot body 601 within 360 degrees or other degrees of rotation, which can be set by those skilled in the art according to practical needs, and is not limited to the aforementioned exemplary 180 degrees. The rotation information can also be set by those skilled in the art according to actual needs, and is not limited to the foregoing examples.

It should be understood that the interactive objects referred to herein refer to users using the robot 600.

The rotation mechanism may be a steering engine, so that the robot arm 602 may displace when subjected to a force. The steering engine can include motor, potentiometre, circuit board and position sensor.

The position sensor is used for converting the rotation information into position information. The position sensor may be an encoder. In some embodiments, the encoder may further be a single-turn encoder.

And S102, converting the rotation information into position information by the position sensor.

The position information may be any one of "a position at an angle of 30 degrees", "a position at an angle of 90 degrees", or "a position at an angle of 180 degrees", based on the aforementioned rotation information. The above position information is all set to an angle of 0 degree with the arm position where the robot arm 602 naturally hangs down. For example, please see fig. 6 to 9, in fig. 6, the robot arm 602 is at an angle of 0 degrees; in fig. 7, the robotic arm 602 is in a 30 degree angular position; in fig. 8, the robotic arm 602 is in a 90 degree angular position; in fig. 9, the robotic arm 602 is in a 180 degree angular position.

It should be noted that, in the embodiment of the present application, the aforementioned four pieces of rotation information may be consistency information sequentially acquired by the robot 600. Specifically, the robot 600 may first acquire the rotation information "rotate by 30 degrees toward the robot head", and on the basis of this, continue to acquire the rotation information "rotate by 60 degrees toward the robot head", then continue to acquire the rotation information "rotate by 90 degrees toward the robot head", and finally continue to acquire the rotation information "rotate by 90 degrees toward the robot foot". It should be understood that the "consistency" means that after one rotation information is obtained, on the basis of the rotation information, the next rotation information is continuously obtained, and so on, all the obtained rotation information has consistency.

Since the position information is converted from the rotation information, the correspondence relationship between the position information and the conversion information may be realized as follows:

the position information "position at 30 degrees" may correspond to the rotation information "rotation at 30 degrees in the robot head direction". It should be understood that the rotation information "rotate by 30 degrees in the robot head direction" may be a rotation by 30 degrees starting from the arm position (0 degree angle) where the robot arm 602 naturally hangs, that is, the robot arm 602 rotates from the arm position in fig. 6 to the arm position in fig. 7 in the P direction.

The position information "position at 90 degrees" may correspond to the rotation information "rotation by 60 degrees in the direction of the robot head" or "rotation by 90 degrees in the direction of the robot foot". It should be understood that the rotation information "rotate by 60 degrees in the robot head direction" may be that the robot arm 602 rotates by 60 degrees from the 30 degree angle position as the starting point, that is, the robot arm 602 rotates from the arm position in fig. 7 to the arm position in fig. 8 in the P direction. The rotation information "rotate by 90 degrees in the direction of the robot foot" may be that the robot arm 602 rotates by 90 degrees from the 180 degree position as a starting point, that is, the robot arm 602 rotates from the arm position in fig. 9 to the arm position in fig. 8 in the S direction.

The position information "position at 180 degrees" may correspond to the rotation information "rotation by 90 degrees toward the robot head direction". It should be understood that the rotation information "rotate by 90 degrees in the robot head direction" may be that the robot arm 602 rotates by 90 degrees from the 90 degree position as a starting point, that is, the robot arm 602 rotates from the arm position in fig. 8 to the arm position in fig. 9 in the P direction.

And S103, outputting feedback information according to the position information.

It should be appreciated that the feedback information may be fed back to the interactive object in mathematical percentage form. Illustratively, the feedback information may be any one of 17%, 50%, or 100%.

Wherein, the feedback information of 17% may correspond to the position information "position at 30 degree angle"; the feedback information 50% may correspond to the position information "position at 90 degrees"; the feedback information 100% may correspond to the location information "location at an angle of 180 degrees".

The feedback information may be fed back to the interactive object in a form of a numerical value or a bar, and in some other embodiments, the feedback information may also be fed back to the interactive object in another form, and is not limited to the aforementioned exemplary numerical value or bar.

In the feedback information, "%" is a percentile of mathematical symbols.

In the above embodiment, the rotation information of the robot arm 602 around the robot body 601 is converted into the position information by the position sensor, and the feedback information is output based on the position information. Based on that the robot arm 602 can freely rotate around the robot body 601, the change of the rotation information can be linearly and gradually increased or decreased, so that the linear change and the accurate positioning of the position information can be realized, the technical problems of how to improve the accuracy of acquiring the interactive object information by the robot 600 and linearly feed back the feedback information to the interactive object are solved, the accuracy of acquiring the interactive object information by the robot 600 is effectively improved, and the feedback information is linearly fed back to the interactive object.

In addition, the robot feedback method provided by the invention has the advantages that the robot arm 602 is used as the contact part between the robot 600 and the interactive object, so that the interactive object and the robot 600 have action communication, the technical problem of how to improve the human-computer interaction effect is solved, and the experience of human-computer interaction is effectively improved.

In some embodiments, as shown in fig. 2, after the step S103, the robot feedback method further includes:

s201, acquiring first triggered information.

When the interactive object touches the robot 600, the robot 600 may acquire first triggered information. For example, referring to the robot 600 of fig. 10, when the interactive object touches the first touch area 604 at the top of the robot 600, the robot 600 may acquire the first triggered information. It should be understood that the touch action of the interactive object on the first touch area 604 may be a click touch or a slide touch.

And S202, generating and storing target position information according to the first triggered information.

It should be appreciated that the position sensor has converted the rotational information to positional information prior to acquiring the first triggered information. Therefore, after the first triggered information is acquired, the current position information can be generated into target position information according to the first triggered information and stored. The target location information may be consistent with the location information.

In some embodiments, as shown in fig. 3, after the step S202, the robot feedback method further includes:

s301, second triggered information is obtained.

When the interactive object touches the robot 600, the robot 600 may acquire the second triggered information. For example, referring to the robot 600 of fig. 10, when the interactive object touches the first touch area 604 at the top of the robot 600, the robot 600 may acquire the second triggered information. It should be understood that the touch action of the interactive object on the first touch area 604 may be a click touch or a slide touch.

The first triggered information and the second triggered information may be acquired in the same touch area, or may be acquired in a non-same touch area. The touch area is not limited to the aforementioned exemplary first touch area 604, and can be set by those skilled in the art according to actual needs.

As will be appreciated by those skilled in the art, the first triggered information is used to save the target location information; the second triggered information is used to initiate a rotational operation of the robotic arm 602.

S302, the robot arm 602 is rotated according to the second triggered information, the target position information and a preset torque, and when the robot arm 602 rotates to a position corresponding to the target position information, the rotation is stopped.

The target location information may be the target location information saved in step S202.

It should be understood that the present application is not limited to specific torque, and the skilled person can identify specific torque according to actual requirements.

The implementation of the steps S301 to S303 can be implemented with reference to the following implementation:

after the robot 600 acquires the second triggered information from the first touch area 604, the target position information is acquired, and the target position information may be "a position at an angle of 90 degrees", so that the robot 600 may rotate the robot arm 602 according to the second triggered information, the target position information, and a preset torque. Specifically, the rotation operation may be rotation from an angle of 0 degree to an angle of 90 degrees, i.e., the robot arm 602 rotates from the arm position in fig. 6 to the arm position in fig. 8 toward the P direction. When the robot arm 602 rotates to the corresponding arm position (90 degree angle) in fig. 8, the robot arm 602 stops rotating.

In some embodiments, as shown in fig. 4, before the step S301, the robot feedback method further includes:

s401, acquiring the third triggered information, and starting a corresponding interactive working mode.

When the interactive object touches the robot 600, the robot 600 may acquire third triggered information. For example, referring to the robot 600 of fig. 10, when the interactive object touches the second touch area 605 in front of the chest of the robot 600, the robot 600 may acquire the third triggered information. It should be understood that the touch action of the interactive object on the second touch area 605 may be a click touch or a slide touch.

The interactive mode of operation may be a set mode of operation. The setting operation mode may be for adjusting a volume or brightness of the robot 600. The interworking mode is set by those skilled in the art and is not limited in this application.

As will be appreciated by those skilled in the art, the first triggered information is used to save the target location information; the second triggered information is used to start the rotation operation of the robot arm 602; the third triggered information is used to start the corresponding interactive working mode of the robot 600.

In some embodiments, as shown in fig. 5, after the step S303, the robot feedback method further includes:

and S501, adjusting the moment to be zero.

It should be noted that when the moment is zero, the robot arm 602 may be rotated by the interactive object.

It should be understood by those skilled in the art that the step S501 is applicable to a usage scenario where the overall weight of the robot arm 602 is light, and reference may be made to the robot 600 of fig. 6-10. In fig. 6-10, the robotic arm 602 may be made of a lightweight material and be lightweight. When the robot arm 602 is at the 90-degree angle position, as shown in fig. 8, the robot arm 602 can be maintained at the 90-degree angle position without a moment, and therefore, in this usage scenario, the moment can be adjusted to zero.

In some embodiments, in a usage scenario where the overall weight of the robot arm 602 is heavy, when the robot arm 602 is at a 90-degree angle position (refer to the robot arm position shown in fig. 8), the robot arm 602 may gradually move to a 0-degree angle position (refer to the robot arm position shown in fig. 6) due to gravity, that is, the robot arm may not be able to maintain at the 90-degree angle position. This certainly does not meet the design requirements of those skilled in the art. Therefore, in this usage scenario, a person skilled in the art can set the value of the moment according to actual requirements to perform gravity compensation on the robot arm 602 so as to maintain the current moving position of the robot arm 602.

Through the above embodiment, the interactive object can rotate the robot arm 602, so that the rotation angle of the robot arm 602 can be adjusted according to the wish of the interactive object, and the interactive experience of the interactive object is improved.

< robot >

As shown in fig. 6 to 10, for the robot 600 provided by the present invention to execute the robot feedback method according to the first aspect of the present invention, the robot 600 includes the robot body 601, the robot arm 602, and the rotation mechanism (not shown in the drawings) having the position sensor. The connection between the robot body 601, the robot arm 602 and the rotating mechanism with position sensor (not shown in the figure) can be realized by the prior art.

In some embodiments, the robot 600 further comprises a display module 603. The display module 603 may be a display. The display module 603 is configured to display feedback information of the robot.

< robot >

A third aspect of the present invention provides a robot, which may refer to the robot shown in fig. 6-10, and includes a robot body 601, a robot arm 602, a rotating mechanism (not shown in the figures) having a position sensor, a memory (not shown in the figures), and a processor (not shown in the figures), wherein the robot arm 602 and the robot body 601 are rotatably connected through the rotating mechanism (not shown in the figures), the memory (not shown in the figures) stores a computer program that can be run on the processor (not shown in the figures), and the computer program, when executed by the processor (not shown in the figures), implements the robot feedback method provided by the first aspect of the present invention.

< storage Medium >

A fourth aspect of the present invention provides a storage medium having computer program instructions prestored therein for performing the robot feedback method of the first aspect.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it: although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A robot feedback method is characterized by comprising:

and outputting feedback information according to the position information.

2. The robot feedback method according to claim 1, further comprising, after the step of outputting feedback information according to the position information:

acquiring first triggered information;

3. The robot feedback method of claim 2, further comprising, after the step of generating and storing target position information from the first triggered information:

acquiring second triggered information;

4. The robotic feedback method of claim 3, further comprising, prior to the step of obtaining second triggered information:

5. The robot feedback method according to claim 3, further comprising, after the step of rotating the robot arm in accordance with the second triggered information, the target position information, and a preset torque and stopping the rotation when the robot arm rotates to a position corresponding to the target position information:

the torque is adjusted to zero.

6. Robot characterized in that it is arranged to perform the robot feedback method of any of claims 1-5, the robot comprising the robot body, the robot arm and the turning mechanism with position sensor.

7. The robot of claim 6, further comprising a display module.

8. Robot, characterized in that it comprises a robot body, a robot arm, a rotation mechanism with a position sensor, a memory and a processor, the robot arm and the robot body being rotationally connected by the rotation mechanism, the memory having stored thereon a computer program executable on the processor, the computer program, when executed by the processor, implementing a robot feedback method according to any of claims 1 to 5.

9. Storage medium, characterized in that it has pre-stored therein computer program instructions for carrying out the robot feedback method of any one of claims 1 to 5.