CN117918108A - Lawn mower control method, system, storage medium and lawn mower - Google Patents

Abstract

The application discloses a mower control method, a mower control system, a storage medium and a mower, wherein the mower control method comprises the following steps: determining task target basic information according to a target task when the target task is received; acquiring a current working mode to determine a strategy preference weight; generating a first mowing strategy according to the task target basic information and the strategy preference weight; acquiring current scene information, and determining a target mowing strategy according to geographic information and barrier information in the current scene information and the first mowing strategy; and determining mowing work plan information according to the target mowing strategy and sending the mowing work plan information to the target mower. By reasonably generating mowing work plan information by combining the work mode, the target task and the current scene information, the technical effect of reasonably generating a mower control method according to the actual scene information is achieved.

Description

Lawn mower control method, system, storage medium and lawn mower

Technical Field

The present application relates to the field of fuel cells, and in particular to a lawn mower control method, system, storage medium and lawn mower.

Background technique

The heavy and repetitive tasks of outdoor lawn mowing at home will undoubtedly increase people's burden by using traditional handheld lawn mowers. The working environment of automatic lawn mowers is different from that of automatic sweepers working indoors. Automatic lawn mowers may accidentally enter flower beds or even accidentally injure pedestrians or animals. At present, lawn mowers are mainly used for lawn mowing and weeding of large flat lawns, golf courses, park lawns, green belts, etc. Existing lawn mowers require manual on-site supervision throughout the operation, which is time-consuming and labor-intensive and does not meet the requirements of modern development. The existing automatic path planning method has high requirements for hardware computing speed. Direct application to lawn mowers will lead to a significant increase in the cost of lawn mowers, affecting the widespread use of lawn mowers.

Therefore, how to intelligently generate a lawn mower control method based on the actual application scenario of the lawn mower has become a technical problem that needs to be solved urgently.

Summary of the invention

In order to intelligently generate a lawn mower control method according to the actual application scenario of the lawn mower, the present application provides a lawn mower control method, system, storage medium and lawn mower.

In the first aspect, the present application provides a lawn mower control method using the following technical solution:

A lawn mower control method, comprising:

When receiving a target task, determining task target basic information according to the target task;

Obtaining a current working mode, and determining a strategy preference weight according to the current working mode;

Generate a first mowing strategy according to the task target basic information and the strategy preference weight;

Acquire current scene information, and determine a target mowing strategy based on geographic information and obstacle information in the current scene information and the first mowing strategy;

Mowing work plan information is determined according to the target mowing strategy and the mowing work plan information is sent to the target mower.

Optionally, the step of obtaining the current working mode and determining the policy preference weight according to the current working mode includes:

Acquire a current working mode, and match a target tag set in a preset mode tag set according to the current working mode;

Determine specific tag content information according to the target tag set;

The policy preference weight is determined according to the specific tag content information.

Optionally, the step of determining the policy preference weight according to the specific tag content information includes:

Get preset standard content rules;

Determine the offset state of each type of data according to the specific tag content information and the preset standard content rule;

The policy preference weight is determined according to the deviation status of each type of data.

Optionally, the step of generating a first mowing strategy according to the task target basic information and the strategy preference weight includes:

Determine the target work content and work requirement information based on the task target basic information;

Determine a default element set and a change element set based on the policy preference weights;

Determine target work requirement information according to the set of change elements combined with the work requirement information;

A first mowing strategy is generated according to the target work requirement information and the target work content.

Optionally, the step of determining target work requirement information according to the change factor set in combination with the work requirement information includes:

Obtaining preference setting information corresponding to each element in the change element set;

Obtaining classification information from the job requirement information;

The classification information is updated according to the classification corresponding to the preference setting information to determine the target work requirement information.

Optionally, the step of acquiring current scene information and determining a target mowing strategy according to geographic information and obstacle information in the current scene information combined with the first mowing strategy includes:

Acquire current scene information, and determine geographic information, obstacle information, and information of a waiting working area in the current scene information;

generating a working route according to the geographic information and the obstacle information;

Determine the workload information to be processed according to the area to be worked and the work route;

A target mowing strategy is determined according to the workload information to be processed and the first mowing strategy.

Optionally, the step of determining a target mowing strategy according to the workload information to be processed and the first mowing strategy includes:

In the first mowing strategy, a corresponding target workload is obtained and used as an update condition;

Determining whether an update is required according to the update condition and the workload information to be processed;

If not, combining the first mowing strategy with the working route to generate a target mowing strategy;

If yes, then the first mowing strategy is updated according to the update condition in combination with the working route to determine a target mowing strategy.

In a second aspect, the present application provides a lawn mower control system, the lawn mower control system comprising:

A basic information module is used to determine the basic information of the task target according to the target task when receiving the target task;

A working mode module, used to obtain the current working mode and determine the strategy preference weight according to the current working mode;

A first mowing strategy module, used for generating a first mowing strategy according to the task target basic information and the strategy preference weight;

A target mowing strategy module, used to obtain current scene information, and determine a target mowing strategy based on geographic information and obstacle information in the current scene information in combination with the first mowing strategy;

The mowing work plan information module is used to determine the mowing work plan information according to the target mowing strategy and send the mowing work plan information to the target mower.

In a third aspect, the present application provides a lawn mower, the device comprising: a memory, a processor, and the processor executes the method described above when running computer instructions stored in the memory.

In a fourth aspect, the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enable the computer to execute the method described above.

In summary, the present application includes the following beneficial technical effects:

The present application determines the basic information of the task target according to the target task upon receiving the target task; obtains the current working mode to determine the strategy preference weight; generates the first mowing strategy according to the basic information of the task target and the strategy preference weight; obtains the current scene information, and determines the target mowing strategy according to the geographic information and obstacle information in the current scene information combined with the first mowing strategy; determines the mowing work plan information according to the target mowing strategy and sends it to the target mower. By combining the working mode, the target task and the current scene information to reasonably generate the mowing work plan information, the technical effect of reasonably generating the mower control method according to the actual scene information is achieved.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a lawn mower in the hardware operating environment of an embodiment of the present application.

FIG. 2 is a flow chart of a first embodiment of a lawn mower control method of the present application.

FIG. 3 is a structural block diagram of a first embodiment of a lawn mower control system of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below through the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

Refer to Figure 1, which is a schematic diagram of the structure of a lawn mower in the hardware operating environment involved in the embodiment of the present application.

As shown in FIG1 , the lawn mower may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

Those skilled in the art will appreciate that the structure shown in FIG. 1 does not limit the lawn mower, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a lawn mower control program.

In the lawn mower shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the present application can be set in the lawn mower, and the lawn mower calls the lawn mower control program stored in the memory 1005 through the processor 1001, and executes the lawn mower control method provided in the embodiment of the present application.

An embodiment of the present application provides a lawn mower control method. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of the lawn mower control method of the present application.

In this embodiment, the lawn mower control method includes the following steps:

Step S10: When the target task is received, the task target basic information is determined according to the target task.

It should be noted that a lawn mower is also called a weeder, a lawn mower, a lawn trimmer, etc. A lawn mower is a mechanical tool used to trim lawns, vegetation, etc. It consists of a cutter disc, an engine, a running wheel, a running mechanism, a blade, an armrest, and a control part. The cutter disc is mounted on the running wheel, the engine is mounted on the cutter disc, and the blade is mounted on the output shaft of the engine. The blade uses the high-speed rotation of the engine to increase the speed a lot, saving the working time of the weeding workers and reducing a lot of human resources. Develop agricultural mechanization, improve work efficiency, and improve agricultural production efficiency.

It is understandable that the execution subject in this embodiment is a lawn mower, which has a network communication function and can support data interaction with the cloud system of the lawn mower background. In addition to the basic functions of the lawn mower, this embodiment also involves a positioning sensor and an image sensor.

In a specific implementation, determining the basic information of the task target according to the target task is performed by obtaining the task content corresponding to the target task when the target task is received, and parsing the data packet related to the task content to determine the task target and the basic information of the task target.

It should be noted that the basic information of the task objective is the specific task area, work content, work restrictions and work notes in the current work task.

In a specific implementation, the target task may be received by receiving task-related instructions through a preset receiving port, or may be passively acquired by manual task entry by a backend manager.

Step S20: Obtain the current working mode, and determine the strategy preference weight according to the current working mode.

It should be noted that the working modes of the execution subject of this embodiment include: normal working mode, energy-saving working mode, high-performance working mode and special working mode. The special working mode can be customized by the back-end administrator to set the performance of the lawn mower. The energy-saving working mode refers to a working mode generated by the lawn mower for the purpose of reducing energy consumption. Similarly, the high-performance working mode in this embodiment refers to a working mode defined by emphasizing the work completion effect and ignoring energy consumption.

In a specific implementation, determining the strategy preference weight according to the current working mode refers to determining the strategy preference weight according to the mode effect corresponding to the current working mode, wherein the significance of obtaining the strategy preference weight is that the strategy details of the specific strategy in the subsequently generated mowing strategy can be adjusted according to the strategy preference weight.

Furthermore, in order to reasonably determine the policy preference weight, the current working mode is obtained, and the step of determining the policy preference weight according to the current working mode includes: obtaining the current working mode, matching the target tag set in the preset mode tag set according to the current working mode; determining the specific tag content information according to the target tag set; and determining the policy preference weight according to the specific tag content information.

It can be understood that the preset mode label set in this embodiment refers to a set of pre-set mode types and label contents and their corresponding mapping relationships. For example, in mode A, the corresponding label contents include a, b, and c. Therefore, by establishing a preset mode label set, after determining the current working mode, the target label set can be determined by matching the preset mode label set according to the current working mode.

In a specific implementation, determining the policy preference weight according to the specific tag content means determining the content tendency according to the content information in the specific tag content, and generating the policy preference weight corresponding to each type of content in combination with the preset weight change conditions.

It should be noted that the step of determining the policy preference weight based on the specific label content information includes: obtaining preset standard content rules; determining the offset state of each type of data based on the specific label content information and the preset standard content rules; and determining the policy preference weight based on the offset state of each type of data.

In a specific implementation, the offset state of each type of data is determined by obtaining preset standard content rules in combination with specific label content information, which means first determining the information details in the specific label content information, then determining the content standard through preset standard content rules, and determining the offset state based on the information details and the content standard.

It should be noted that the deviation state refers to the deviation between specific information levels, which will eventually be presented in a digital way. For example, by setting the corresponding content level to the deviation degree, the deviation coefficient is further determined, and the deviation coefficient is used as a representation of the deviation state in a digital way.

Step S30: generating a first mowing strategy according to the task target basic information and the strategy preference weight.

It should be noted that the first mowing strategy generated according to the target basic information and the strategy preference weight is a task instruction for the entire mowing task, which includes the specific content of the mowing work, the mowing route, and the mowing restriction conditions.

In a specific implementation, the first mowing strategy is generated according to the basic information and the strategy preference weights by determining the mowing restriction conditions and the mowing route according to the basic information, and determining the specific mowing work content according to the strategy preference weights.

Furthermore, in order to reasonably generate the first mowing strategy, the step of generating the first mowing strategy according to the basic information of the task goal and the policy preference weight includes: determining the target work content and work requirement information according to the basic information of the task goal; determining the default element set and the change element set according to the policy preference weight; determining the target work requirement information according to the change element set combined with the work requirement information; generating the first mowing strategy according to the target work requirement information and the target work content. In this embodiment, the particularity of different element sets is determined by determining the default element set and the change element set according to the policy preference weight, wherein the default element set refers to the elements that have not changed, and the change element set refers to the set of factors that have changed and need to change the corresponding policy factors. The target work requirement information is determined by updating the change element set combined with the work requirement information. The technical effect of reasonably determining the first mowing strategy according to the policy preference weight is achieved.

It should be noted that the step of determining the target work requirement information based on the change element set combined with the work requirement information includes: obtaining the preference setting information corresponding to each element in the change element set; obtaining the classification information in the work requirement information; and updating the classification information according to the classification corresponding to the preference setting information to determine the target work requirement information.

Step S40: obtaining current scene information, and determining a target mowing strategy based on the geographic information and obstacle information in the current scene information and the first mowing strategy.

It should be noted that the steps of obtaining current scene information and determining a target mowing strategy based on geographic information and obstacle information in the current scene information in combination with the first mowing strategy include: obtaining current scene information, determining geographic information, obstacle information and information of an area to be worked on in the previous scene information; generating a work route based on the geographic information and obstacle information; determining information of workload to be processed based on the area to be worked on and the work route; and determining the target mowing strategy based on the workload information to be processed and the first mowing strategy.

In a specific implementation, the step of determining a target mowing strategy based on the workload information to be processed and the first mowing strategy includes: obtaining the corresponding target workload in the first mowing strategy and using it as an update condition; judging whether an update is required based on the update condition and the workload information to be processed; if not, combining the first mowing strategy with the working route to generate a target mowing strategy; if so, updating the first mowing strategy based on the update condition and the working route to determine the target mowing strategy.

It should be noted that in the first mowing strategy, the target workload is obtained and determined as an update condition, and the update condition is used to determine whether the workload to be processed needs to be updated. In this embodiment, in order to facilitate the accuracy of the target mower processing data, the workload can be analyzed in the form of data. For example: the workload to be processed of the target mower is represented by energy consumption. For example: through the work on the target area, the corresponding workload to be processed can be represented by the energy consumption of the current mower. It can be seen that the greater the energy consumption of the target mower, the greater the corresponding workload.

In order to adapt to different models of lawn mowers in different scenarios, in this embodiment, it is necessary to first determine the energy type of the lawn mower and the corresponding working power of the lawn mower to achieve the technical effect of determining the workload to be processed through data.

Step S50: determining mowing work plan information according to the target mowing strategy and sending the mowing work plan information to the target mower.

It should be noted that a corresponding action instruction is generated according to the target mowing strategy, and the action instruction is sent to the target mower in the form of a data packet so that the target mower works according to the corresponding action instruction.

In the specific implementation, after the target mowing strategy is sent to the target mower, the task progress of the target mower will be monitored in real time, and it will be continuously confirmed whether the current behavior of the target mower matches the target mowing strategy. If the behavior of the target mower does not match due to other abnormal factors, the situation will be sent to the preset background management port to determine whether active behavior correction is required. If a correction instruction is received from the preset background management port, the current behavior of the target mower will be corrected in real time according to the correction instruction. In order to quickly correct the behavior of the target mower after receiving the instruction in actual work, the active correction instruction can be directly set. By generating an expected behavior action set according to the target mowing strategy and comparing it with the behavior action of the current target mower, the target mower is actively corrected in real time according to the expected behavior action set after the comparison is abnormal.

This embodiment determines the basic information of the task target according to the target task when receiving the target task; obtains the current working mode to determine the strategy preference weight; generates the first mowing strategy according to the basic information of the task target and the strategy preference weight; obtains the current scene information, and determines the target mowing strategy according to the geographic information and obstacle information in the current scene information combined with the first mowing strategy; determines the mowing work plan information according to the target mowing strategy and sends it to the target mower. By combining the working mode, the target task and the current scene information to reasonably generate the mowing work plan information, the technical effect of reasonably generating the mower control method according to the actual scene information is achieved.

In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which a lawn mower control program is stored. When the lawn mower control program is executed by a processor, the steps of the lawn mower control method as described above are implemented.

Refer to FIG. 3 , which is a structural block diagram of a first embodiment of a lawn mower control system of the present application.

As shown in FIG3 , the lawn mower control system proposed in the embodiment of the present application includes:

The basic information module 10 is used to determine the basic information of the task target according to the target task when receiving the target task;

The working mode module 20 is used to obtain the current working mode and determine the strategy preference weight according to the current working mode;

A first mowing strategy module 30, for generating a first mowing strategy according to task target basic information and strategy preference weights;

A target mowing strategy module 40 is used to obtain current scene information, and determine a target mowing strategy based on geographic information and obstacle information in the current scene information in combination with a first mowing strategy;

The mowing work plan information module 50 is used to determine the mowing work plan information according to the target mowing strategy and send the mowing work plan information to the target mower.

It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present application. In specific applications, technicians in this field can make settings as needed, and the present application does not impose any restrictions on this.

This embodiment determines the basic information of the task target according to the target task when receiving the target task; obtains the current working mode to determine the strategy preference weight; generates the first mowing strategy according to the basic information of the task target and the strategy preference weight; obtains the current scene information, and determines the target mowing strategy according to the geographic information and obstacle information in the current scene information combined with the first mowing strategy; determines the mowing work plan information according to the target mowing strategy and sends it to the target mower. By combining the working mode, the target task and the current scene information to reasonably generate the mowing work plan information, the technical effect of reasonably generating the mower control method according to the actual scene information is achieved.

In one embodiment, the working mode module 20 is also used to obtain the current working mode, match the target tag set in the preset mode tag set according to the current working mode; determine the specific tag content information according to the target tag set; and determine the policy preference weight according to the specific tag content information.

In one embodiment, the working mode module 20 is further used to obtain preset standard content rules; determine the offset state of each type of data according to the specific tag content information and the preset standard content rules; and determine the policy preference weight according to the offset state of each type of data.

In one embodiment, the first mowing strategy module 30 is further used to determine the target work content and work requirement information according to the task target basic information; determine the default element set and the change element set according to the strategy preference weight; determine the target work requirement information according to the change element set combined with the work requirement information; and generate the first mowing strategy according to the target work requirement information and the target work content.

In one embodiment, the first mowing strategy module 30 is further used to obtain preference setting information corresponding to each element in the change element set; obtain classification information in the work requirement information; and update the classification information according to the classification corresponding to the preference setting information to determine the target work requirement information.

In one embodiment, the target mowing strategy module 40 is further used to obtain current scene information, determine geographic information, obstacle information and information of the area to be worked in the current scene information; generate a work route based on the geographic information and obstacle information; determine the workload information to be processed based on the area to be worked and the work route; and determine the target mowing strategy based on the workload information to be processed and the first mowing strategy.

In one embodiment, the target mowing strategy module 40 is further used to obtain the corresponding target workload in the first mowing strategy and use it as an update condition; determine whether an update is required based on the update condition and the workload information to be processed; if not, combine the first mowing strategy with the working route to generate a target mowing strategy; if so, update the first mowing strategy based on the update condition and the working route to determine the target mowing strategy.

It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present application. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the present embodiment, and there is no limitation here.

In addition, for technical details not fully described in this embodiment, please refer to the lawn mower control method provided in any embodiment of the present application, and will not be repeated here.

In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM)/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application.

The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims (10)

1. A lawn mower control method, comprising: When receiving a target task, determining task target basic information according to the target task; Obtaining a current working mode, and determining a strategy preference weight according to the current working mode; Generate a first mowing strategy according to the task target basic information and the strategy preference weight; Acquire current scene information, and determine a target mowing strategy based on geographic information and obstacle information in the current scene information and the first mowing strategy; Mowing work plan information is determined according to the target mowing strategy and the mowing work plan information is sent to the target mower. 2. The lawn mower control method according to claim 1, characterized in that the step of obtaining the current working mode and determining the strategy preference weight according to the current working mode comprises: Acquire a current working mode, and match a target tag set in a preset mode tag set according to the current working mode; Determine specific tag content information according to the target tag set; The policy preference weight is determined according to the specific tag content information. 3. The lawn mower control method according to claim 2, characterized in that the step of determining the strategy preference weight according to the specific tag content information comprises: Get preset standard content rules; Determine the offset state of each type of data according to the specific tag content information and the preset standard content rule; The policy preference weight is determined according to the deviation status of each type of data. 4. The lawn mower control method according to claim 1, characterized in that the step of generating the first mowing strategy according to the task target basic information and the strategy preference weight comprises: Determine the target work content and work requirement information based on the task target basic information; Determining a default element set and a change element set based on the policy preference weights; Determine target work requirement information according to the set of change elements combined with the work requirement information; A first mowing strategy is generated according to the target work requirement information and the target work content. 5. The lawn mower control method according to claim 4, characterized in that the step of determining the target work requirement information according to the set of change elements combined with the work requirement information comprises: Obtaining preference setting information corresponding to each element in the change element set; Obtaining classification information from the job requirement information; The classification information is updated according to the classification corresponding to the preference setting information to determine the target work requirement information. 6. The lawn mower control method according to claim 1, characterized in that the step of acquiring current scene information and determining a target mowing strategy based on geographic information and obstacle information in the current scene information combined with the first mowing strategy comprises: Acquire current scene information, and determine geographic information, obstacle information, and information of a waiting working area in the current scene information; generating a working route according to the geographic information and the obstacle information; Determine the workload information to be processed according to the area to be worked and the work route; A target mowing strategy is determined according to the workload information to be processed and the first mowing strategy. 7. The lawn mower control method according to claim 1, characterized in that the step of determining a target mowing strategy according to the workload information to be processed and the first mowing strategy comprises: In the first mowing strategy, a corresponding target workload is obtained and used as an update condition; Determining whether an update is required according to the update condition and the workload information to be processed; If not, combining the first mowing strategy with the working route to generate a target mowing strategy; If yes, then the first mowing strategy is updated according to the update condition in combination with the working route to determine a target mowing strategy. 8. A lawn mower control system, characterized in that the lawn mower control system comprises: A basic information module is used to determine the basic information of the task target according to the target task when receiving the target task; A working mode module, used to obtain the current working mode and determine the strategy preference weight according to the current working mode; A first mowing strategy module, used for generating a first mowing strategy according to the task target basic information and the strategy preference weight; A target mowing strategy module, used to obtain current scene information, and determine a target mowing strategy based on geographic information and obstacle information in the current scene information in combination with the first mowing strategy; The mowing work plan information module is used to determine the mowing work plan information according to the target mowing strategy and send the mowing work plan information to the target mower. 9. A lawn mower, characterized in that the device comprises: a memory and a processor, and when the processor runs the computer instructions stored in the memory, the processor executes the method according to any one of claims 1 to 7. 10 . A computer-readable storage medium, comprising instructions, which, when executed on a computer, enable the computer to execute the method according to claim 1 .