WO2018192112A1

WO2018192112A1 - Clothing recognition method and apparatus, clothing care machine, and storage medium

Info

Publication number: WO2018192112A1
Application number: PCT/CN2017/092579
Authority: WO
Inventors: 赵毅; 胡方龙; 何灼文; 刘吴旭
Original assignee: 广州视源电子科技股份有限公司
Priority date: 2017-04-20
Filing date: 2017-07-12
Publication date: 2018-10-25
Also published as: CN107092886A

Abstract

A clothing recognition method and apparatus, a clothing care machine, and a storage medium. The method comprises: acquiring an image of a clothing care working area, and obtaining, from the image, image information of clothing to be treated (S110); performing grey processing on the image information, and performing clothing state comparison on the processing result and a preset gray determining model (S120); and determining the material and the wrinkle degree of the clothing according to the result of clothing state comparison (S130), so that the recognition of the material and the wrinkle degree of the clothing is achieved, reference can be provided during clothing care by the clothing care machine, and the user experience is improved.

Description

Clothing identification method, device, laundry care machine and storage medium

Technical field

The present invention relates to the field of clothing care technology, and in particular, to a clothing identification method, device, laundry care machine, and storage medium.

Background technique

When the user uses the clothes care machine to care for the clothes, the user judges the fabrics (cotton, chemical fiber, silk, hair) of the clothes to be treated, and manually selects the care level of the care machine to care for the clothes, wherein different care levels correspond to the clothes. Different setting parameters of the nursing machine, etc., wherein the setting parameters include power and power, and the amount of steam generated by the laundry care machine is also different.

In the prior art solution, the care level of the clothes care machine is usually selected by a label description on the clothes or a suggestion such as a care suggestion, but when the label description or the care suggestion on the clothes is missing, the user wears the fabric of the different clothes. There are many defects in the identification and judgment. For example, when the user discriminates the material identification of the clothes, the clothes are damaged and the service life is reduced, thereby reducing the user's experience of using the clothes care machine. In addition, the level of care is also related to the wrinkle state of the clothes, and therefore, the deviation of the wrinkle state recognition of the clothes may also degrade the user's experience of using the care machine.

Summary of the invention

The invention provides a clothing identification method, a device, a clothes care machine and a storage medium, so as to realize the identification of the clothing material and the clothing wrinkle level, and provide reference for the clothing care machine to care for the clothes, thereby improving the user experience.

In a first aspect, an embodiment of the present invention provides a method for identifying a garment, the method comprising:

Collecting an image of the care work area, and acquiring image information of the clothing to be treated from the image;

Performing gradation processing on the image information, and comparing the processing result with the preset gradation determination model for the clothing state;

The clothing material and the clothing wrinkle level are determined based on the results of the laundry state comparison.

Further, the image of the nursing work area is collected, and image information of the clothing to be treated is obtained from the image, specifically:

The images of the nursing work area are collected by the plurality of image capturing devices, and the corresponding plurality of images are integrated into the whole region to confirm whether the nursing work area has image information of the laundry to be treated and the position of the laundry to be treated.

Further, the image information is subjected to gradation processing, and the processing result is compared with the preset gradation determination model for clothing status, including:

Performing uniformity of the image information into a grid, and calculating a gray value of the grid according to each grid gray step;

The gray value is compared with a preset gray level determination model.

Further, the determining the clothing material and the clothing wrinkle level according to the result of the clothing state comparison, including:

Determining the material of the clothing according to the comparison result of the gray value and the preset gray level judgment model;

If the gray value is not unique, and the difference between the gray values is greater than the first preset threshold, determining that the clothing is in a wrinkle state, and comparing the difference with a preset wrinkle level list, The garment wrinkle rating is determined.

Further, the determining the clothing material and the clothing wrinkle level according to the result of the clothing state comparison After that, it also includes:

Generating an operating parameter curve according to the clothing material and the clothing wrinkle level;

Generating a control instruction according to the working parameter curve;

The care device is controlled to care for the garment to be treated according to the control instruction.

In a second aspect, an embodiment of the present invention provides a clothing identification device, where the device includes:

An image acquisition module, configured to collect an image of the care work area, and obtain image information of the clothing to be treated from the image;

a state comparison module, configured to perform grayscale processing on the image information, and compare the processing result with a preset grayscale determination model for clothing state;

The determining module is configured to determine the clothing material and the clothing wrinkle level according to the result of the clothing state comparison.

Further, the image acquisition module is specifically configured to:

Further, the state comparison module is specifically configured to:

The gray value is compared with a preset gray level determination model.

Further, the determining module is specifically configured to:

If the gray value is not unique, and the difference between the gray values is greater than the first preset threshold, determining that the clothing is in a wrinkle state, and comparing the difference with a preset wrinkle level list, Determine the said Clothing wrinkle rating.

Further, the device further includes:

a control module, configured to generate an operating parameter curve according to the clothing material and the clothing wrinkle level after determining the clothing material and the clothing wrinkle level according to the result of the clothing state comparison; generating a control according to the working parameter curve And instructing the care device to care for the garment to be treated according to the control instruction.

In a third aspect, an embodiment of the present invention further provides a laundry care machine, including:

One or more controllers;

a memory for storing one or more programs;

The one or more programs are executed by the one or more controllers such that the one or more controllers implement the method of any of claims 1-5.

In a fourth aspect, the embodiment of the present invention further provides a computer readable storage medium, wherein the computer program is stored, and the program is executed by the processor to implement a clothing identification method according to any one of the embodiments of the present invention. .

In the embodiment of the present invention, by collecting an image of the nursing work area, and acquiring image information of the clothing to be treated from the image, performing grayscale processing on the image information, and performing the processing result with the preset grayscale determination model. The state is compared, and the clothing material and the clothing wrinkle level are determined according to the result of the clothing state comparison. In order to realize the recognition of the clothing material and the clothing wrinkle level, it provides a reference for the clothing care machine to care for the clothes, thereby improving the user experience.

DRAWINGS

1 is a flow chart of a method for recognizing a garment in the first embodiment of the present invention;

2 is a flow chart of a method for recognizing a garment according to a second embodiment of the present invention;

3 is a flow chart of a method for recognizing a garment according to Embodiment 3 of the present invention;

4 is a schematic diagram showing an even division of an image information grid of a garment to be treated according to a third embodiment of the present invention;

Figure 5 is a schematic structural view of a clothing identification device in Embodiment 4 of the present invention;

Figure 6 is a block diagram showing the structure of a clothes care machine in accordance with a fifth embodiment of the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It should also be noted that, for ease of description, only some, but not all, of the structures related to the present invention are shown in the drawings.

Embodiment 1

1 is a flowchart of a method for recognizing a garment according to a first embodiment of the present invention. The present embodiment is applicable to a method for recognizing a garment. The method may be performed by the garment recognizing device in the embodiment of the present invention, and the device may have Software and / or hardware implementation. As shown in FIG. 1 , the method may specifically include the following steps:

S110. Collect an image of the nursing work area, and obtain image information of the clothing to be treated from the image.

Among them, the care of the laundry means washing, ironing or steam spraying of the treated laundry. The care work area is used to place the clothes to be treated. The image of the nursing work area is collected, and the image of the nursing work area includes image information of the clothing to be treated and image information of other working devices of the nursing work area, and image information of the clothing to be treated is obtained therefrom. The image information of the clothing to be treated may include: the color of the image Color, brightness, contrast, transparency, and saturation.

S120: Perform grayscale processing on the image information, and compare the processing result with the preset grayscale determination model for the laundry state.

Among them, the gray scale is the object represented by the black tone, that is, the black is used as the reference color, and the black of different saturation is used to display the image, and each gray object has a color from 0% (white) to 100% of the gray bar ( The brightness value of black). Specifically, when performing grayscale processing on the image information, the color value of each object represents a gray value before the object, and the usual representation of the grayscale is a percentage ranging from 0% to 100%, and the percentage is pure black. As a percentage of the benchmark, the higher the percentage, the darker the color, and the lower the percentage, the whiter the color.

Optionally, the material information of the clothing may be cotton, linen, fiber, polyester, spandex or silk, etc., wherein the preset gray level judgment model stores the material information of the clothing corresponding to different gray values. Optionally, the gray value is 60% for the fiber, the gray value is 100% for cotton, and the gray value is 30% for polyester. It should be noted that the preset gray scale judgment model is preset by the system, and is obtained by the developer through a large number of tests, and is related to the number of trials and the quality of the selected test clothes, and is not specifically limited herein. The laundry state includes a clothing material, a clothing wrinkle, and the like.

S130. Determine a clothing material and a clothing wrinkle level according to a result of the clothing state comparison.

Specifically, the clothing material and the clothing wrinkle state level are determined according to the comparison result of the laundry state. Optionally, the comparison result of the laundry state may be that the gray value of the image of the clothing to be treated is 60%, and the material of the clothing is determined to be fiber. . The pleat degree of the laundry is determined according to the comparison result of the laundry state. Alternatively, the pleat degree of the laundry state may be divided into 8 levels, the grading level of the 8th level is the highest, and the grading level of the 1st level is the lowest.

In the embodiment of the present invention, by collecting an image of the nursing work area, and acquiring image information of the clothing to be treated from the image, performing gray level processing on the image information, and determining the processing result and the preset gray level The broken model performs a clothing state comparison, and determines the clothing material and the clothing wrinkle level based on the result of the laundry state comparison. In order to realize the recognition of the clothing material and the clothing wrinkle level, it provides a reference for the clothing care machine to care for the clothes, thereby improving the user experience.

On the basis of the above technical solution, after determining the clothing material and the clothing wrinkle level according to the result of the clothing state comparison, the method further includes:

A. Generate an operating parameter curve according to the clothing material and the clothing wrinkle level.

Specifically, an operating parameter curve is generated according to the clothing material and the clothing wrinkle level, wherein the parameters included in the working parameter curve may be: steam temperature, steam injection amount, injection time, wind speed, air volume, and clothing to be treated Movement speed. The working parameter curve refers to the value of each parameter corresponding to a certain clothing material or a certain clothing wrinkle level.

B. Generate a control instruction according to the working parameter curve.

Wherein, a control command is generated according to the working parameter curve, and the control command refers to a fixed value of a desired control parameter determined in the control mode. Optionally, when the pleat degree is 6 levels, the control command may be: steam temperature is 70 ° C, steam injection amount is 200 gram, and injection time is 4 minutes; optionally, when the clothing material is cotton and linen, the steam temperature is At 50 ° C, the steam injection amount was 250 g and the injection duration was 3 minutes.

C. Control the care device to care for the clothing to be treated according to the control instruction.

Specifically, the care device includes a fan, a heat generating component, a steam generating component, and a motion device. The fan can be an AC fan, or a DC motor, a brushless motor, etc., rotating to drive the fan blade to form a gas flow on the clothes; the heat generating component can be a heat pump, a heating wire, an infrared heat, a PTC heating method, and can heat the air delivered by the fan. The steam generating component may be a pressure boiler, a pressureless boiler, a heating pipe to generate steam, and the moving device may be an AC fan, or a DC motor, a brushless motor, etc., and the hanger is used to make the clothes regularly move. The garment forms a tensile force during exercise. Control the said The care device takes care of the care clothing in accordance with the control parameters set in the control instructions.

By generating a control command for an operating parameter curve generated according to the clothing material and the clothing wrinkle level, and controlling the nursing device to care for the to-be-careed clothing according to the control instruction, different wrinkles for different clothing materials and clothes are realized. The targeted treatment of the care clothing is targeted, so that different clothing materials and clothing with different wrinkle levels are properly treated.

Embodiment 2

2 is a flowchart of a method for recognizing a garment according to a second embodiment of the present invention. On the basis of the above embodiment, the embodiment obtains an image of the nursing work area and obtains a garment to be treated from the image. The image information" was optimized. As shown in FIG. 2, the method may specifically include the following steps:

S210: Collect an image of the nursing work area by using a plurality of image collecting devices, and perform overall area fusion on the corresponding plurality of images to confirm whether the nursing work area has image information of the laundry to be treated and a position of the clothing to be treated.

Wherein, the image of the nursing work area is collected by a plurality of image collecting devices. Optionally, the image capturing device may be a camera, and the camera may be evenly installed in the upper, lower, left and right directions of the nursing work area. The corresponding multiple images are integrated into the overall region. The image fusion technology refers to image data processing and computer technology collected on the multi-source channel for the same target to maximize the extraction of favorable information in the respective channels. Finally, it is integrated into a high quality image. In this solution, the images acquired by the multi-source channel refer to images acquired by multiple image acquisition devices.

In the whole area fusion, it may be an identification of the acquired image contour, and according to the result of the integration of the whole area, it is confirmed whether the nursing work area has image information of the laundry to be treated and the position of the laundry to be treated.

S220: Perform grayscale processing on the image information, and compare the processing result with the preset grayscale determination model for the laundry state.

S230. Determine a clothing material and a clothing wrinkle level according to a result of the clothing state comparison.

In the embodiment of the present invention, the image of the nursing work area is collected by the plurality of image collecting devices, and the corresponding plurality of images are integrated into the whole area to confirm whether the image information of the clothing to be treated and the clothing to be treated are present in the nursing work area. position. The utilization and reliability of the image information are improved, the image information of the laundry to be treated and the position of the laundry to be treated are determined, and the basis for processing the image information of the nursing clothing is provided.

Embodiment 3

FIG. 3 is a flowchart of a method for recognizing a garment according to Embodiment 3 of the present invention. On the basis of the foregoing embodiment, this embodiment performs “gradation processing on the image information, and the processing result and the preset gray. The degree judgment model is optimized for the clothing state comparison. As shown in FIG. 3, the method may specifically include the following steps:

S310. Collect an image of the nursing work area, and obtain image information of the clothing to be treated from the image.

S320. Perform uniform halving of the image information, and calculate a gradation value of the grid according to each grid gray step.

Specifically, the image information is evenly divided into a grid. Referring to FIG. 4, FIG. 4 is a schematic diagram showing an even division of an image information grid of a garment to be treated in the embodiment. Among them, the number of meshes that are evenly divided is not specifically limited, and the more the number, the more accurate the calculated gray value is. The gray value of the grid is calculated according to each grid gray step. Optionally, the grid gray scale is used to score, and the gray value of the grid is calculated according to the score. It should be noted that due to possible contamination of the clothing to be treated, Or the problem of the number of meshes, which leads to the fact that the scores of the grayscale steps are not completely consistent. In this case, the difference can be reduced by calculating the average value multiple times.

S330. Compare the gray value with a preset gray level determination model.

Specifically, the gray value calculated after processing the image of the clothing to be treated is compared with a preset gray level judgment model, and for each gray value, the gray value is selected in the preset gray level judgment model. The information corresponding to the degree value, the information may be material information of the laundry and wrinkle level information of the laundry.

S340. Determine a clothing material and a clothing wrinkle level according to the result of the clothing state comparison.

In the embodiment of the present invention, the image information is uniformly halved, and the gray value of the grid is calculated according to each grid gray step, and the gray value and the preset gray level judgment model are performed. The comparison, in turn, determines the material of the clothes and the wrinkles of the clothes, and provides a reference for the care of the clothes by the clothes care machine.

Illustratively, determining the clothing material and the clothing wrinkle level according to the result of the laundry state comparison may include:

A. Determine the material of the clothing according to the comparison result of the gray value and the preset gray level judgment model.

The preset gradation judgment model stores a correspondence relationship between the gradation value and the clothing material, and according to the correspondence relationship, after determining the gradation value of the image of the certain clothing to be treated, determining the clothing material according to the correspondence relationship.

B. If the gray value is not unique, and the difference between the gray values is greater than the first preset threshold, determine that the clothing is in a wrinkle state, and then perform the difference and the preset wrinkle level list. In comparison, the garment wrinkle rating is determined.

Specifically, after the image of the clothing to be treated is subjected to gradation processing, the gradation value of the calculated image is not unique. Preferably, taking a 40*40 (1600) grid and the first preset threshold is 20%, if the calculated gray value is 50%, the number of grids is 1200, and the gray value is 90%. Number of grids The amount is 400, and the difference between the gray values is 30%, which is greater than the first preset threshold, and the laundry is determined to be in a wrinkled state. Illustratively, the greater the pleats, the higher the steam temperature required for care, the increased amount of steam, and the increased speed of the motor.

The laundry value level is determined by comparing the gray value difference with the preset wrinkle level list level, wherein the clothing wrinkle level list stores a correspondence between the difference between the gray levels and the wrinkle level. Optionally, the difference between the gray values is 10%, the wrinkle level is 1 level; the interpolation between the gray values is 20%, and the wrinkle level is 2; the difference between the gray values is 30%, the wrinkle rating is 3 and so on. It should be noted that the preset pleat rating list is obtained by the developer according to a large number of experiments, and there is a certain error within the allowable range.

Embodiment 4

FIG. 5 is a schematic structural diagram of a clothing recognizing device according to Embodiment 4 of the present invention, which is suitable for performing a method for recognizing a garment provided by an embodiment of the present invention. As shown in FIG. 5, the device may specifically include:

The image acquisition module 510 is configured to collect an image of the nursing work area, and obtain image information of the clothing to be treated from the image;

The state comparison module 520 is configured to perform grayscale processing on the image information, and compare the processing result with the preset grayscale determination model for the laundry state;

The determining module 530 is configured to determine the clothing material and the clothing wrinkle level according to the result of the laundry state comparison.

Further, the image acquisition module 510 is specifically configured to:

Collecting images of the nursing work area through multiple image acquisition devices, and performing corresponding multiple images The body region fusion confirms whether the care work area has image information of the laundry to be treated and the position of the laundry to be treated.

Further, the status comparison module 520 is specifically configured to:

The gray value is compared with a preset gray level determination model.

Further, the determining module 530 is specifically configured to:

Further, the device further includes:

A clothing identification apparatus provided by an embodiment of the present invention may perform the clothing identification method provided by any embodiment of the present invention, and has a function module and a beneficial effect of performing a response.

Embodiment 5

FIG. 6 is a structural block diagram of a laundry care machine according to a fifth embodiment of the present invention. As shown in FIG. 6, the laundry care machine provided by the embodiment includes a controller 61 and a memory 62. The clothing care The controller in the machine may be one or more. In FIG. 6, a controller 61 is taken as an example, and the controller 61 and the memory 62 in the laundry care machine may be connected by a bus or other means, in FIG. Connection is an example.

The clothing recognition device provided by the above embodiment is integrated in the controller 61 of the laundry care machine in this embodiment. Furthermore, the memory 62 in the laundry care machine is a computer readable storage medium that can be used to store one or more programs, which can be software programs, computer executable programs, and modules, such as clothing in embodiments of the present invention. The program instructions/modules corresponding to the identification method (for example, the modules in the identification device shown in FIG. 5 include: an image acquisition module 510, a state comparison module 520, and a determination module 530). The controller 61 executes various functional applications and data processing of the device by executing software programs, instructions, and modules stored in the memory 62, that is, implementing the clothing identifying method in the above method embodiments.

The memory 62 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the device, etc. (such as the above embodiment The preset gray scale judgment model and the preset fold degree rank list, etc.). Moreover, memory 62 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 62 may further include memory remotely located relative to controller 61, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

And, when one or more programs included in the above-described laundry care machine are executed by the one or more controllers 61, the program performs the following operations:

Collecting an image of the care work area, and acquiring image information of the clothing to be treated from the image; The image information is subjected to gradation processing, and the processing result is compared with the preset gradation determination model for the clothing state; and the clothing material and the clothing pleat degree are determined according to the result of the clothing state comparison. In addition, the embodiment of the present invention further provides a computer. The readable storage medium on which the computer program is stored, and the program is implemented by the control device to implement the clothing identification method provided in Embodiments 1 to 3 of the present invention, the method comprising: collecting an image of the nursing work area, and acquiring the image from the image Image information of the garment to be treated; grading the image information, and comparing the processing result with the preset gradation determination model for the clothing state; determining the clothing material and the clothing pleat level according to the result of the clothing state comparison.

Of course, for a complete clothing care machine, there are also various functional components such as a fan, a heat generating device, a steam generating device, a hanger moving device, and the like, and the care of the clothes is finally realized by controlling the cooperation of various functional components.

Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by software and necessary general hardware, and can also be implemented by hardware, but in many cases, the former is a better implementation. . Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk of a computer. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash (FLASH), hard disk or optical disk, etc., including a number of instructions to make a computer device (can be a personal computer) The server, or network device, etc.) performs the methods described in various embodiments of the present invention.

Note that the above are only the preferred embodiments of the present invention and the technical principles applied thereto. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various modifications, changes and substitutions may be made without departing from the scope of the invention. Therefore, though The present invention is described in detail by the above embodiments, but the present invention is not limited to the above embodiments, and other equivalent embodiments may be included without departing from the scope of the present invention. It is determined by the scope of the appended claims.

Claims

A method for identifying a garment, comprising:

Collecting an image of the care work area, and acquiring image information of the clothing to be treated from the image;

Performing gradation processing on the image information, and comparing the processing result with the preset gradation determination model for the clothing state;

The clothing material and the clothing wrinkle level are determined based on the results of the laundry state comparison.
The method according to claim 1, wherein the image of the care work area is collected, and image information of the clothing to be treated is obtained from the image, specifically:

The images of the nursing work area are collected by the plurality of image capturing devices, and the corresponding plurality of images are integrated into the whole region to confirm whether the nursing work area has image information of the laundry to be treated and the position of the laundry to be treated.
The method according to claim 1, wherein the grading processing the image information and comparing the processing result with the preset gradation determination model for clothing status comprises:

Performing uniformity of the image information into a grid, and calculating a gray value of the grid according to each grid gray step;

The gray value is compared with a preset gray level determination model.
The method according to claim 3, wherein the determining the clothing material and the clothing wrinkle level according to the result of the laundry state comparison comprises:

Determining the material of the clothing according to the comparison result of the gray value and the preset gray level judgment model;

If the gray value is not unique, and the difference between the gray values is greater than the first preset threshold, determining that the clothing is in a wrinkle state, and comparing the difference with a preset wrinkle level list, The garment wrinkle rating is determined.
The method of claim 1 wherein said knots are aligned according to a state of the garment After determining the clothing material and the clothing wrinkle level, it also includes:

Generating an operating parameter curve according to the clothing material and the clothing wrinkle level;

Generating a control instruction according to the working parameter curve;

The care device is controlled to care for the garment to be treated according to the control instruction.
A clothing identification device, comprising:

An image acquisition module, configured to collect an image of the care work area, and obtain image information of the clothing to be treated from the image;

a state comparison module, configured to perform grayscale processing on the image information, and compare the processing result with a preset grayscale determination model for clothing state;

The determining module is configured to determine the clothing material and the clothing wrinkle level according to the result of the clothing state comparison.
The device according to claim 6, wherein the image acquisition module is specifically configured to:

The images of the nursing work area are collected by the plurality of image capturing devices, and the corresponding plurality of images are integrated into the whole region to confirm whether the nursing work area has image information of the laundry to be treated and the position of the laundry to be treated.
The apparatus according to claim 6, wherein said state comparison module is specifically configured to:

Performing uniformity of the image information into a grid, and calculating a gray value of the grid according to each grid gray step;

The gray value is compared with a preset gray level determination model.
The device according to claim 8, wherein the determining module is specifically configured to:

Determining the material of the clothing according to the comparison result of the gray value and the preset gray level judgment model;

If the gray value is not unique, and the difference between the gray values is greater than the first preset threshold, determining that the clothing is in a wrinkle state, and comparing the difference with a preset wrinkle level list, Determine the said Clothing wrinkle rating.
The device according to claim 6, wherein the device further comprises:

a control module, configured to generate an operating parameter curve according to the clothing material and the clothing wrinkle level after determining the clothing material and the clothing wrinkle level according to the result of the clothing state comparison; generating a control according to the working parameter curve And instructing the care device to care for the garment to be treated according to the control instruction.
A laundry care machine, comprising:

One or more controllers;

a memory for storing one or more programs;

The one or more programs are executed by the one or more controllers such that the one or more controllers implement the method of any of claims 1-5.
A computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the method of any of claims 1-5.