CN116058725A - Anti-collision method, device, equipment and storage medium of cleaning robot - Google Patents

Abstract

The application relates to an anti-collision method, device, equipment and storage medium of a cleaning robot, and belongs to the technical field of intelligent robots, wherein the method comprises the following steps: respectively acquiring nearest obstacle point clouds from a cleaning robot in a plurality of target areas on a walking path of the cleaning robot; respectively calculating the distance from the corresponding nearest obstacle point cloud to the cleaning robot in the target areas, and comparing the distance from the nearest obstacle point cloud to the cleaning robot with a preset distance threshold value to obtain a comparison result; and determining the anti-collision action of the cleaning robot according to the comparison result. According to the method and the device, the target areas are divided, only the nearest obstacle point cloud in each target area is determined to be used for obstacle recognition, and the problems that the existing cleaning robot is slower in recognition process and incapable of recognizing obstacles in the advancing direction in time and accordingly collides furniture can be solved.

Description

Anti-collision method, device, equipment and storage medium of cleaning robot

technical field

The present application belongs to the technical field of intelligent robots, and in particular relates to an anti-collision method, device, equipment and storage medium of a cleaning robot.

Background technique

With the development of artificial intelligence, more and more intelligent robots are being put into use, bringing convenience to people's lives. In particular, the technological progress of home service robots has brought a lot of convenience to people's lives, and more and more consumers are using home service robot products.

Cleaning robot is one of the household service robots, which is a special robot serving human beings, mainly engaged in cleaning and cleaning of household hygiene. Cleaning robots are roughly divided into smart vacuum cleaners, smart sweepers, and smart sweepers that integrate suction and sweeping.

The current cleaning robot uses laser radar to identify obstacles in the direction of travel during the normal cleaning process, so as to avoid collisions with indoor furniture during the cleaning process. However, at present, there are a lot of laser point cloud data acquired by lidar scanning, the recognition algorithm is relatively complex, and the recognition speed is slow, which leads to insufficient timely recognition of obstacles in the direction of the cleaning robot, resulting in damage and crooked furniture. .

Therefore, it is necessary to improve the prior art to overcome the defects in the prior art.

Contents of the invention

The purpose of this application is to provide an anti-collision method, device, equipment and storage medium for a cleaning robot. The technical problem to be solved is: the cleaning robot cannot identify obstacles in the direction of travel in time, resulting in collisions with furniture.

In order to solve the above technical problems, the application adopts the following technical solutions:

In a first aspect, the present application provides an anti-collision method for a cleaning robot, including:

In multiple target areas on the cleaning robot’s walking path, respectively obtain point clouds of obstacles closest to the cleaning robot; the multiple target areas are obtained by dividing the cleaning robot within a 360° range with the cleaning robot as the center Multiple fan-shaped areas;

In the plurality of target areas, respectively calculate the distance from the corresponding nearest obstacle point cloud to the cleaning robot, and compare the distance from the nearest obstacle point cloud to the cleaning robot with a preset distance threshold to obtain a comparison result;

According to the comparison result, the anti-collision action of the cleaning robot is determined.

Optionally, according to the anti-collision method of the cleaning robot described in the first aspect of the present application, the preset distance threshold includes a first preset threshold, and the anti-collision action of the cleaning robot is determined according to the comparison result ,include:

If the comparison result is that the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to a first preset threshold, it is determined that the anti-collision action of the cleaning robot is deceleration operation.

Optionally, according to the anti-collision method for a cleaning robot described in the first aspect of the present application, the preset distance threshold further includes a second preset threshold, and the second preset threshold is smaller than the first preset threshold , the method also includes:

If the comparison result is that the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to a second preset threshold, then it is determined that the anti-collision obstacle action of the cleaning robot is to stop running.

Optionally, according to the anti-collision method of the cleaning robot described in the first aspect of the present application, in the plurality of target areas on the walking path of the cleaning robot, respectively acquiring point clouds of obstacles closest to the cleaning robot, including :

Get obstacle point cloud;

respectively projecting the obtained obstacle point cloud onto a pre-built two-dimensional grid map;

On the two-dimensional grid map, for each target area, respectively determine the obstacle point cloud in the grid closest to the center of the cleaning robot, which is the nearest obstacle point cloud in the corresponding target area .

Optionally, according to the anti-collision method of the cleaning robot described in the first aspect of the present application, in the plurality of target areas, calculating the distance from the corresponding closest laser point cloud to the cleaning robot includes:

In each of the target areas, respectively determine the distance from the center of the cleaning robot to the corresponding nearest obstacle point cloud;

The distance from the center of the cleaning robot to the corresponding nearest obstacle point cloud is subtracted from the distance from the center of the cleaning robot to the edge of the cleaning robot in the current target area to obtain the distance from the corresponding nearest obstacle point cloud to the cleaning robot .

In a second aspect, the present application also provides an anti-collision device for a cleaning robot, including:

The target area determination module is used to obtain the nearest obstacle point cloud from the cleaning robot in multiple target areas on the cleaning robot's walking path; the multiple target areas are centered on the cleaning robot, in Multiple fan-shaped areas divided within a 360° range;

The distance comparison module is used to calculate the distance from the corresponding nearest obstacle point cloud to the cleaning robot in the plurality of target areas, and compare the distance from the nearest obstacle point cloud to the cleaning robot with the preset distance Thresholds are compared to obtain the comparison result;

The anti-collision module determines the anti-collision action of the cleaning robot according to the comparison result.

Optionally, according to the anti-collision device of the cleaning robot described in the second aspect of the present application, the preset distance threshold includes a first preset threshold and a second preset threshold, and the second preset threshold is smaller than the The first preset threshold; the anti-collision module includes:

The first judging unit is configured to determine that the anti-collision action of the cleaning robot is deceleration operation if the comparison result is: the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to a first preset threshold.

The second judging unit is configured to determine that the anti-collision obstacle action of the cleaning robot is to stop running if the comparison result is: the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to a second preset threshold.

In a third aspect, the present application further provides a cleaning robot, including the anti-collision device described in any embodiment of the second aspect of the present application.

In a fourth aspect, the present application also provides an electronic device, including a processor and a memory, the memory stores a program, and when the program is executed by the processor, it is used to implement any embodiment of the first aspect of the present application The steps of the anti-collision method.

In the fifth aspect, the present application also provides a computer storage medium, on which a program is stored, and when the program is executed by a processor, it is used to realize the anti-collision described in any embodiment of the first aspect of the present application. method steps.

The technical solution provided by the present application has the following advantages: in multiple target areas on the cleaning robot’s walking path, obtain the point cloud of the nearest obstacle to the cleaning robot, and then calculate the corresponding nearest obstacles in the multiple target areas The distance from the object point cloud to the cleaning robot is compared with the preset distance threshold to determine the anti-collision action of the cleaning robot. This application divides multiple target areas, and for each target area, only the nearest obstacle point cloud is determined for obstacle identification, which makes the identification algorithm more convenient, greatly shortens the process of obstacle identification, improves the detection efficiency, and is useful for walking Obstacles in the direction can be detected in a more timely manner, effectively avoiding collisions.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or prior art. Obviously, the accompanying drawings in the following description These are some implementations of the present application. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.

FIG. 1 is a structure diagram of a cleaning robot anti-collision system provided by an embodiment of the present application;

Fig. 2 is a flow chart of the anti-collision method provided by one embodiment of the present application;

FIG. 3 is a schematic diagram of a target area provided by an embodiment of the present application;

Fig. 4 is a structural block diagram of an anti-collision device provided by an embodiment of the present application;

Fig. 5 is a structural block diagram of an electronic device provided by an embodiment of the present application.

Explanation of reference signs:

101-robot control device, 102-robot driving device, 103-lidar.

Detailed ways

The technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present application, not all of them. Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

The cleaning robot in this embodiment may be a sweeping robot, and may be applied in indoor environments where there are obstacles such as furniture. In the prior art, the sweeping robot's recognition of obstacles is not timely enough, and the recognition speed is slow, which causes the sweeping robot to collide with obstacles during the working process. If it collides with furniture, it is easy to cause damage to the furniture.

Aiming at the technical problems existing in the above-mentioned prior art, embodiments of the present application provide a collision avoidance method and device for a cleaning robot. Fig. 1 shows a structure diagram of an anti-collision system of a cleaning robot provided by an embodiment of the present application, and the structure of the anti-collision system can realize the anti-collision method and device of this embodiment.

As shown in FIG. 1 , the architecture of the anti-collision system includes: a robot control device 101 , a robot driving device 102 and a laser radar 103 .

The signal input end of the robot control device 101 is connected to the laser radar 103 , and the control output end of the robot control device 101 is connected to the robot drive device 102 .

The laser radar 103 emits laser light within a preset distance in the walking direction of the robot, scans obstacles, obtains point cloud data of obstacles, and sends them to the robot control device 101 .

The robot control device 101 respectively obtains point clouds of obstacles closest to the cleaning robot in multiple target areas on the cleaning robot's walking path; the multiple target areas are divided within a 360° range centered on the cleaning robot Multiple fan-shaped areas are obtained. In multiple target areas, respectively calculate the distance from the corresponding nearest obstacle point cloud to the cleaning robot, and compare the distance from the nearest obstacle point cloud to the cleaning robot with the preset distance threshold, and determine the distance of the cleaning robot according to the comparison results. anti-collision action, and output a driving command to the robot driving device 102, so as to drive the cleaning robot to perform the anti-collision action.

The specific implementation process of the robot control device 101 will be described in detail below.

Fig. 2 is a flowchart of a cleaning robot anti-collision method provided by an embodiment of the present application. The anti-collision method of this embodiment takes the robot control device 101 of the system architecture shown in Fig. 1 as the execution subject, and the system architecture shown in Fig. 1 is used below The robot control device 101 is the execution subject, and the anti-collision method of this embodiment is described. As shown in FIG. 1 , the anti-collision method for a cleaning robot in this embodiment at least includes:

S201: In multiple target areas on the walking path of the cleaning robot, respectively acquire point clouds of obstacles closest to the cleaning robot.

Specifically, FIG. 3 shows a schematic diagram of multiple target areas provided by an embodiment of the present application. As shown in FIG. 3 , the multiple target areas in this embodiment are centered on the cleaning robot and divided within a range of 360°. multiple fan-shaped areas.

In this embodiment, the laser radar scans the obstacles within the preset distance range in front of the cleaning robot's walking path, and obtains the obstacle point cloud of the preset distance range, and the robot control device in this embodiment processes the obstacle point cloud acquired by the laser radar. , to determine the nearest obstacle point cloud falling within each fan-shaped area.

Optionally, this embodiment determines the nearest obstacle point cloud, which can be implemented in the following manner:

Obtaining obstacle point clouds; respectively projecting the obtained obstacle point clouds onto pre-built two-dimensional grid maps; on the two-dimensional grid maps, for each of the target areas, respectively determine The obstacle point cloud in the grid closest to the center of the cleaning robot is the closest obstacle point cloud in the corresponding target area.

In this embodiment, a pre-built two-dimensional grid map is stored in the robot control device, and the laser radar sends the scanned obstacle point cloud to the robot control device in real time, and the robot control device projects the obstacle point cloud obtained in real time to the 2D grid map.

For the obstacle point cloud falling into the same target area, determine the distance between the grid of the obstacle point cloud obtained at different times and the center of the cleaning robot, and keep the obstacle point cloud in the grid closest to the center of the cleaning robot , which is the point cloud of the closest obstacle to the cleaning robot in the corresponding target area. Among them, the grid falling into the obstacle point cloud represents the location information of the obstacle.

The lidar in this embodiment acquires the obstacle point cloud and projects the obstacle point cloud to the two-dimensional grid map, both of which are relatively well-known technologies in the art, and will not be repeated here.

S202: In multiple target areas, respectively calculate the distances from the corresponding nearest obstacle point cloud to the cleaning robot, and compare the distances with a preset distance threshold to obtain a comparison result.

S203: Determine the anti-collision action of the cleaning robot according to the comparison result.

Specifically, the preset distance threshold in this embodiment may be pre-stored in the robot control device. The robot control device obtains the nearest obstacle point cloud falling into different target areas, and calculates the distance from the corresponding nearest obstacle point cloud to the cleaning robot, and then compares the calculated distance with the preset distance threshold to obtain the comparison result , according to the comparison result, the anti-collision action of the cleaning robot can be determined.

Optionally, this embodiment calculates the distance from the corresponding nearest obstacle point cloud to the cleaning robot, which can be implemented in the following manner:

In each of the target areas, the distance from the center of the cleaning robot to the corresponding nearest obstacle point cloud is determined respectively; the distance from the center of the cleaning robot to the corresponding nearest obstacle point cloud is subtracted from the center of the cleaning robot in the current target area to The distance from the edge of the cleaning robot is obtained to obtain the distance from the point cloud of the corresponding nearest obstacle to the cleaning robot.

As shown in Figure 3, for example, the cleaning robot is a sweeping robot with a circular structure. In the corresponding target area, the distance from the point cloud of the nearest obstacle to the center of the cleaning robot is m, and the distance from the center of the cleaning robot to the edge of the cleaning robot is m The distance is n, then the distance from the nearest obstacle point cloud to the cleaning robot in the target area is m-n.

For a circular sweeping robot, in each target area, the distance from the center of the cleaning robot to the edge of the cleaning robot is equal. Figure 3 is an example of the shape of the cleaning robot. In other embodiments, the cleaning robot may also other shapes such as triangle, pentagon, etc., then the distance from the center of the cleaning robot to the edge of the cleaning robot will be different. This embodiment does not limit the shape of the cleaning robot.

Optionally, the preset distance threshold in this embodiment includes a first preset threshold, and this embodiment determines the anti-collision action of the cleaning robot, which can be specifically implemented in the following manner:

If the comparison result is: the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to the first preset threshold, then it is determined that the anti-collision action of the cleaning robot is deceleration operation.

In this embodiment, a first preset threshold is set. For each target area, if the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to the first preset threshold, then the robot control device sends an instruction to slow down the operation to the robot. The driving device is used to control the deceleration operation of the cleaning robot.

Optionally, the preset distance threshold further includes a second preset threshold, and the second preset threshold is smaller than the first preset threshold. This embodiment determines the anti-collision action of the cleaning robot, which can be specifically implemented in the following manner:

If the comparison result is: the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to the second preset threshold, then it is determined that the anti-collision obstacle action of the cleaning robot is to stop running.

In this embodiment, the preset distance threshold also includes a second preset threshold. For each target area, if the distance from the point cloud of the nearest obstacle to the cleaning robot is less than or equal to the second preset threshold, then the robot control device issues a stop operation The instruction is given to the robot driving device to control the cleaning robot to stop running.

In addition, the robot control device controls the cleaning robot to stop running if it detects that the distance from the point cloud of the nearest obstacle in the corresponding target area to the cleaning robot is less than or equal to the second preset threshold during the process of controlling the cleaning robot to decelerate.

In this embodiment, if the comparison result is that the distance from the nearest obstacle point cloud corresponding to each target area to the cleaning robot is greater than the first preset threshold, the cleaning robot is controlled to continue to perform cleaning operations according to the planned route.

In this embodiment, as long as the distance between the nearest obstacle point cloud corresponding to a target area and the cleaning robot is less than or equal to the first preset threshold or the second preset threshold, the cleaning robot is controlled to perform corresponding anti-collision actions.

To sum up, the anti-collision method provided by this application obtains the point clouds of the closest obstacles to the cleaning robot in multiple target areas on the walking path of the cleaning robot, and then calculates the corresponding The distance from the nearest obstacle point cloud to the cleaning robot, and compare the corresponding distance with the preset distance threshold to determine the anti-collision action of the cleaning robot. This application divides multiple target areas, and for each target area, only the nearest obstacle point cloud is determined for obstacle identification, which makes the identification algorithm more convenient, greatly shortens the process of obstacle identification, improves the detection efficiency, and is useful for walking Obstacles in the direction can be detected in a more timely manner, effectively avoiding collisions.

An embodiment of the present application also provides an anti-collision device for a cleaning robot. FIG. 4 shows a structural block diagram of an anti-collision device provided by an embodiment of the present application. As shown in FIG. 4 , the anti-collision device includes:

The target area determination module is used to obtain the nearest obstacle point cloud from the cleaning robot in multiple target areas on the cleaning robot's walking path; the multiple target areas are centered on the cleaning robot, in Multiple fan-shaped areas divided within a 360° range;

The distance comparison module is used to calculate the distance from the corresponding nearest obstacle point cloud to the cleaning robot in the plurality of target areas, and compare the distance from the nearest obstacle point cloud to the cleaning robot with the preset distance Thresholds are compared to obtain the comparison result;

The anti-collision module determines the anti-collision action of the cleaning robot according to the comparison result.

Optionally, the preset distance threshold includes a first preset threshold and a second preset threshold, and the second preset threshold is smaller than the first preset threshold; the anti-collision module includes:

The first judging unit is configured to determine that the anti-collision action of the cleaning robot is deceleration operation if the comparison result is: the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to a first preset threshold.

The second judging unit is configured to determine that the anti-collision obstacle action of the cleaning robot is to stop running if the comparison result is: the distance from the nearest obstacle point cloud to the cleaning robot is less than or equal to a second preset threshold.

The anti-collision device of the cleaning robot provided in this embodiment belongs to the same idea as the corresponding embodiment of the anti-collision method of the cleaning robot, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.

It should be noted that the anti-collision device of the cleaning robot provided in the above-mentioned embodiments is only illustrated by the division of the above-mentioned functional modules. The internal structure of the anti-collision device of the robot is divided into different functional modules to complete all or part of the functions described above.

An embodiment of the present application also provides an electronic device. FIG. 5 is a structural block diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 5, the electronic device includes a processor and a memory, wherein:

The processor may include one or more processing cores, such as a 4-core processor, a 6-core processor, and the like. The processor can be implemented in at least one hardware form of DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-Programmable Gate Array, Field Programmable Gate Array), and PLA (Programmable Logic Array, programmable logic array).

Memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card), at least one disk storage device, memory device, or other volatile solid-state storage device.

A computer program is stored in the memory of this embodiment, and the computer program can run on the processor. When the processor executes the computer program, the anti-collision method of the cleaning robot of the present application or the cleaning robot described above can be realized. All or part of the implementation steps in the relevant embodiments of the anti-collision device, and/or other content described in the text.

Those skilled in the art can understand that FIG. 5 is only one possible implementation of the electronic device of the embodiment of the present application. In other implementations, more or fewer components may be included, or certain components may be combined, or different components may be included. , which is not limited in this embodiment.

The present application also provides a computer storage medium, on which a program is stored, and when the program is executed by a processor, it is used to implement the steps of the embodiment of the anti-collision method for a cleaning robot.

The embodiment of the present application also provides a cleaning robot, which includes an anti-collision device. For details of the anti-collision device, please refer to the specific content of the embodiment of the anti-collision device shown in FIG. 4 , which will not be repeated here.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be determined by the appended claims.

Claims (10)

1. An anti-collision method of a cleaning robot, comprising:

respectively acquiring nearest obstacle point clouds from a cleaning robot in a plurality of target areas on a walking path of the cleaning robot; the plurality of target areas are a plurality of sector areas which are obtained by dividing in a 360-degree range by taking the cleaning robot as a center;

respectively calculating the distance from the corresponding nearest obstacle point cloud to the cleaning robot in the target areas, and comparing the distance from the nearest obstacle point cloud to the cleaning robot with a preset distance threshold value to obtain a comparison result;

and determining the anti-collision action of the cleaning robot according to the comparison result.

2. The method according to claim 1, wherein the preset distance threshold comprises a first preset threshold, and the determining the anti-collision action of the cleaning robot according to the comparison result comprises:

if the comparison result is: and if the distance from the nearest obstacle point cloud to the cleaning robot is smaller than or equal to a first preset threshold value, determining that the anti-collision action of the cleaning robot operates as deceleration.

3. The method of claim 2, wherein the preset distance threshold further comprises a second preset threshold, and the second preset threshold is less than the first preset threshold, the method further comprising:

if the comparison result is: and if the distance from the nearest obstacle point cloud to the cleaning robot is smaller than or equal to a second preset threshold value, determining that the anti-collision obstacle action of the cleaning robot is stop operation.

4. A method according to any one of claims 1-3, characterized in that said respectively acquiring the closest obstacle point clouds from the cleaning robot in a plurality of target areas on the cleaning robot travel path comprises:

acquiring an obstacle point cloud;

respectively projecting the acquired obstacle point clouds onto a two-dimensional grid map constructed in advance;

and respectively determining the obstacle point cloud in the grid closest to the center of the cleaning robot for each target area on the two-dimensional grid map, namely the closest obstacle point cloud in the corresponding target area.

5. The method of claim 1, wherein the calculating the distance of the corresponding nearest laser point cloud to the cleaning robot within the plurality of target areas, respectively, comprises:

respectively determining the distance from the center of the cleaning robot to the corresponding nearest obstacle point cloud in each target area;

and subtracting the distance from the center of the cleaning robot to the edge of the cleaning robot in the current target area from the distance from the center of the cleaning robot to the corresponding nearest obstacle point cloud to obtain the distance from the corresponding nearest obstacle point cloud to the cleaning robot.

6. An anti-collision device of a cleaning robot, comprising:

the target area determining module is used for respectively acquiring nearest obstacle point clouds from the cleaning robot in a plurality of target areas on a walking path of the cleaning robot; the plurality of target areas are a plurality of sector areas which are obtained by dividing in a 360-degree range by taking the cleaning robot as a center;

the distance comparison module is used for respectively calculating the distance from the corresponding nearest obstacle point cloud to the cleaning robot in the target areas, and comparing the distance from the nearest obstacle point cloud to the cleaning robot with a preset distance threshold value to obtain a comparison result;

and the anti-collision module is used for determining the anti-collision action of the cleaning robot according to the comparison result.

7. The anti-collision device of claim 6, in which the preset distance threshold comprises a first preset threshold and a second preset threshold, and the second preset threshold is less than the first preset threshold; the anti-collision module includes:

and the first judging unit is used for determining that the anti-collision action of the cleaning robot is used as a deceleration operation if the comparison result shows that the distance from the nearest obstacle point cloud to the cleaning robot is smaller than or equal to a first preset threshold value.

And the second judging unit is used for determining that the anti-collision barrier action of the cleaning robot is stopped if the distance from the nearest barrier point cloud to the cleaning robot is smaller than or equal to a second preset threshold value as a result of the comparison.

8. A cleaning robot comprising the collision preventing apparatus according to any one of claims 6 or 7.

9. An electronic device comprising a processor and a memory, the memory storing a program that, when executed by the processor, is configured to implement the steps of the method of any of claims 1-6.

10. A computer storage medium, characterized in that it has stored thereon a program for implementing the steps of the method according to any of claims 1-6 when being executed by a processor.

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