Competitive racing car, intelligent control method and system thereof and computer readable storage medium

Abstract

According to the competitive racing car, the intelligent control method and system of the competitive racing car and the computer readable storage medium, the intelligent control method of the competitive racing car is improved, the competitive map is partitioned, the current position of the competitive racing car is detected, and the competitive racing car can be more accurately controlled. The working states of sensors of the competitive racing car in different partitions are controlled, and the pulse repetition frequency of the sensors is adjusted, so that the frequency of data collection is controlled, the swing state of a mechanical arm is intelligently controlled, and the competitive racing car can swing the mechanical arm more intelligently to make preparations for the competitive racing car to execute the striking action; therefore, on one hand, long-term overload data acquisition of the sensor can be avoided, data acquisition frequency is reduced, data processing pressure of the processor is reduced, and system jamming caused by overload data acquisition of the processor is avoided; on the other hand, the processor configuration of the competitive racing car can be properly reduced, and the manufacturing cost is reduced; in addition, by means of intelligent sensor control, the striking ability and the cruising ability of the competitive racing car can be both considered.

Description

Technical Field

[0001] The present invention relates to the field of competitive racing cars, and in particular to a competitive racing car and an intelligent control method and system thereof, and a computer-readable storage medium. Background Art

[0002] Competitive racing refers to a racing car with a mechanical arm / swinging arm, also known as a robot racing car or a fighting robot. Competitive racing cars usually appear in relatively closed arenas and can receive control instructions from users to complete actions such as moving and swinging mechanical arms / swinging arms to participate in competitive competitions. This field has made significant progress in recent years. Not only has the technology become increasingly mature, but it has also shown broad prospects in market applications, competitive activities, and scientific research exploration. With the rapid development of technologies such as artificial intelligence, machine vision, and motion control, the intelligence level of competitive racing cars has continued to improve. They are able to complete complex action combinations, precise strikes, and efficient defenses, showing amazing competitive abilities.

[0003] The existing intelligent control technology of competitive racing cars mainly focuses on maintaining the balance of competitive racing cars and how to improve the striking ability of competitive racing cars. Although the swing arm of a competitive racing car is used to achieve striking operations, there is no need to intervene too much in the control motor of the swing arm. Generally, the greater the power of the motor and the faster the speed, the stronger the striking ability of the competitive racing car. However, excessive motor load may cause damage to the power supply, chip or equipment; and because the competitive racing car has a limited power supply, if it continues to operate at a high load, the sensors and processors continue to process the collected data. Although its striking ability is improved, its endurance is reduced. It may even cause the system to freeze or crash during the competition due to processor overload, and lose its competitive ability.

[0004] In addition, due to the competitive nature of competitive racing cars, their lifespan is reduced. If higher hardware facilities are used, when an accident occurs during the competition, the hardware will be damaged and cannot be reused.

[0005] Therefore, there is an urgent need for an intelligent control method applied to competitive racing cars to improve the intelligence of competitive racing cars, reduce the manufacturing cost of competitive racing cars, and balance the striking ability and endurance of competitive racing cars. Summary of the invention

[0006] The present invention proposes a competitive racing car and an intelligent control method, system and computer-readable storage medium thereof, so as to solve the problems that the existing competitive racing cars have low intelligence and unbalanced striking capability and endurance.

[0007] In order to achieve the above object, the present invention provides an intelligent control method for competitive racing, the method comprising the following steps: S101 obtains the competitive map; S102 partitions the competition map; S103: obtaining the current position of the competitive car, and adjusting the control program of the competitive car according to the current position; S104 receives the striking instruction and controls the robot arm to execute the striking action.

[0008] Specifically, the step S101 of obtaining a competition map includes: Get pre-imported competitive maps, or collect them on-site with laser sensors or vision acquisition systems.

[0009] Specifically, the step S102 performs partition processing on the competition map, including: Obtain the center position O of the competition map, take the center position O as the center of a circle, and set R0 as the radius to set the first partition; An area with a width W from the edge of the competition map is set as a third partition; The remaining area of ​​the competitive map is set as a second partition.

[0010] Specifically, the step S103 acquires the current position of the competitive car, and adjusts the control program of the competitive car according to the current position, including: If the current position of the competitive racing car is in the first partition, starting a first control program; If the current position of the competitive racing car is in the second partition, starting a second control program; If the current position of the competitive racing car is in the third zone, starting a third control program; in, The first control program is: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a first working state, wherein the first working state includes setting the pulse repetition frequency of the ultrasonic sensor or the radar sensor to a first frequency F1; when the relative position of the competitive racing car and the target racing car is less than a first threshold, starting the mechanical arm swinging program and setting the mechanical arm to a swinging state; The second control program is as follows: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a second working state, wherein the second working state includes setting the pulse repetition frequency to a second frequency; when the relative position is less than a second threshold, starting the mechanical arm swing program and setting the mechanical arm to a swing state; the second threshold is less than the first threshold; The third control procedure is: not detecting the current position and speed of the target racing car, and setting the ultrasonic sensor or the radar sensor to a dormant state.

[0011] Specifically, the first frequency Calculated using the following formula: ; is the initial pulse repetition frequency, α and β are adjustment coefficients, v is the current speed of the racing car, is the reference speed of the competitive car, and Δv is the relative speed between the competitive car and the target car.

[0012] Specifically, the step S104 receives a striking instruction and controls the robot arm to perform a striking action, including: The current posture of the competitive car is obtained, the posture of the competitive car is adjusted to face the target car, and a striking action is performed.

[0013] Furthermore, the method further comprises: S105 monitors the mechanical arm of the target racing car, and adjusts the position of the competitive racing car according to the state of the mechanical arm of the target racing car.

[0014] On the other hand, the present invention also provides a competitive racing car, the competitive racing car comprising: A sensor module, used to collect position and speed information of the competitive racing car and the target racing car; Communication module, used to send and receive collected data and control instructions; The processor is used to execute the intelligent control method as described above.

[0015] On the other hand, the present invention also provides an intelligent control system applied to competitive racing cars, the system comprising a server, and the server executes the intelligent control method as described above.

[0016] On the other hand, the present invention further provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program is used to execute the intelligent control method as described above.

[0017] Compared with the problems existing in the prior art, the present invention provides a competitive racing car and its intelligent control method, system and computer-readable storage medium, which improves the intelligent control method of the competitive racing car, partitions the competitive map, detects the current position of the competitive racing car, controls the working state of the sensor of the competitive racing car when it is in different partitions, adjusts its pulse repetition frequency, thereby controlling the frequency of its data collection, and intelligently controls the swing state of the mechanical arm, so that the competitive racing car can swing the mechanical arm more intelligently to prepare for its execution of the striking action; in this way, on the one hand, it can avoid long-term overload of sensor data collection, reduce the frequency of data collection, reduce the pressure of the processor to process data, and avoid the processor overload processing of collected data to cause system jamming; on the other hand, it can appropriately reduce the processor configuration of the competitive racing car and reduce the manufacturing cost. In addition, intelligent sensor control can take into account the striking ability and endurance of the competitive racing car. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0019] Figure 1 is a flow chart of an intelligent control method applied to competitive racing; Figure 2 A schematic diagram of the structural module of a competitive racing car. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In order to explain the present invention in more detail, a competitive racing car and its intelligent control method, system and computer-readable storage medium provided by the present invention are specifically described below in combination with the drawings.

[0021] Competitive racing refers to a racing car with a mechanical arm / swinging arm, also known as a robot racing car or a fighting robot. Competitive racing cars usually appear in a relatively closed arena and can receive control instructions from the user to complete actions such as moving and swinging the mechanical arm / swinging arm. Competitive racing cars usually include a racing body with wheels, as well as various sensors and mechanical arms set on the body. By controlling the forward and reverse rotation of the corresponding motor, the competitive racing car can be controlled to complete operations such as moving forward, backward, turning, and controlling the mechanical arm to swing and hit.

[0022] like Figure 1As shown, the present invention provides an intelligent control method applied to a competitive racing car, the method comprising the following steps: S101 obtains the competitive map; S102 partitions the competition map; S103: obtaining the current position of the competitive car, and adjusting the control program of the competitive car according to the current position; S104 receives the striking instruction and controls the robot arm to execute the striking action.

[0023] It is understandable that traditional competitive racing cars do not include intelligent control systems and only achieve their movement through user control. However, as people's needs increase, traditional competitive racing cars have been unable to meet the requirements. People have begun to add processors and various sensors to competitive racing cars to improve their competitive capabilities.

[0024] In this embodiment, the position of the competitive racing car is detected and its control program is intelligently adjusted according to its position, thereby improving its intelligence while taking into account its endurance.

[0025] Specifically, the step S101 of obtaining a competition map includes: Get pre-imported competitive maps, or collect them on-site with laser sensors or vision acquisition systems.

[0026] It is understandable that when competing in a competition, the competitive cars are usually in a relatively closed area. The user controls the mechanical arm of his competitive car to perform operations such as backlogging and hitting other users' competitive cars, so that the other party's competitive car is damaged or unable to continue to move, in order to win the game. Usually, there are two competitive cars participating in the competition, but of course it is not limited to this. There are also competitions with multiple competitive cars fighting. In the competition, because the speed of the competitive cars is relatively fast, in order for the competitive cars to maximize their mobility, they usually fight in the middle area of ​​the competition area.

[0027] In this embodiment, by importing the competition map into the competition car in advance, it is possible to analyze the competition map in advance and divide the competition map into regions. When the competition car is in different regions, different control procedures are adopted.

[0028] In another embodiment, a laser sensor or a visual acquisition system may also be provided for the competitive car, so that after the competitive car arrives at the competition venue, the competition map can be scanned dynamically and in real time to improve the control accuracy.

[0029] Furthermore, the step S102 performs partition processing on the competition map, including: Obtain the center position O of the competition map, take the center position O as the center of a circle, and set R0 as the radius to set the first partition; An area with a width W from the edge of the competition map is set as a third partition; The remaining area of ​​the competitive map is set as a second partition.

[0030] It is understandable that the competitive map is usually rectangular or circular, and the method disclosed in this embodiment partitions it to achieve intelligent control of competitive racing. Specifically, the center position O of the competitive map is obtained. When the competitive map is circular or elliptical, the center position O can be the center of the circular or elliptical map; when the competitive map is rectangular, the center position O can be the intersection of the diagonals of the rectangular map; when the competitive map is other regular or irregular graphics, the center position O can be determined according to the characteristics of the graphics, such as extracting the maximum length of the map in the horizontal and vertical directions, making it equivalent to a circle or rectangle, and taking the center of the circular or rectangular area as the center position O.

[0031] As mentioned above, due to the high speed of the competitive car during the competition, in order for the competitive car to maximize its maneuverability, it usually fights in the middle area of ​​the competition area. Therefore, in this embodiment, a virtual circle is drawn with the above-mentioned center position O as the center and R0 as the radius, and it is used as the first partition. Among them, the radius R0 can be set as needed and is not specifically limited here; for example: the radius R0 can be set to 5-8 times the maximum length or maximum width of the competitive car, preferably 6 times the maximum length of the competitive car; or, the radius R0 is set to 0.3-0.6 times the maximum length or maximum width of the map area.

[0032] During the competition, since the edge of the competitive map is usually provided with enclosures to prevent the competitive car from flying out of the competitive field. Therefore, during the competition, when the user drives the competitive car to the edge area of ​​the competitive map, the mechanical arm of the competitive car is usually not operated. On the one hand, the mobility of the competitive car located in the edge area is poor and it is impossible to accurately hit other competitive cars. On the other hand, operating the mechanical arm in the edge area may cause the mechanical arm to be stuck in the enclosure, causing unnecessary damage. Therefore, in this embodiment, the area with a width of W from the edge of the competitive map is set as the third partition. Among them, the width W can be set as needed, and is not specifically limited here; for example: the width W can be twice the maximum length or maximum width of the competitive car; or the width W can be set to 0.05-0.1 times the maximum length or maximum width of the competitive map area. It can be understood that the third partition is the outermost area of ​​the competitive map, and its shape matches the outer contour line of the competitive map; when the competitive map is circular, its third partition is a circular ring; when the competitive map is rectangular, its third partition is a rectangular ring.

[0033] Based on the first and third partitions, the remaining area of ​​the competitive map is set as the second partition. It is understandable that when the competitive car is in the second partition, it is usually in a competitive preparation state or a car attitude adjustment state. The competitive car in this area needs to be ready to enter the competitive state at any time.

[0034] Furthermore, the step S103 of acquiring the current position of the competitive car and adjusting the control program of the competitive car according to the current position includes: If the current position of the competitive racing car is in the first partition, starting a first control program; If the current position of the competitive racing car is in the second partition, starting a second control program; If the current position of the competitive racing car is in the third zone, starting a third control program; in, The first control program is: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a first working state, wherein the first working state includes setting the pulse repetition frequency of the ultrasonic sensor or the radar sensor to a first frequency F1; when the relative position of the competitive racing car and the target racing car is less than a first threshold, starting the mechanical arm swinging program and setting the mechanical arm to a swinging state; The second control program is as follows: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a second working state, wherein the second working state includes setting the pulse repetition frequency to a second frequency; when the relative position is less than a second threshold, starting the mechanical arm swing program and setting the mechanical arm to a swing state; the second threshold is less than the first threshold; The third control procedure is: setting the ultrasonic sensor or the radar sensor to a dormant state and not detecting the target racing car.

[0035] It is understandable that, in the present embodiment, by for different partitions, each sensor on the competitive car is intelligently controlled to avoid unnecessary data collection, and the processing load of the processor is too high. As mentioned above, when the competitive car is in the first partition, because it is in a combat state, it is necessary to keep the timeliness of its sensor data collection, to improve its maneuverability, reduce the data processing delay caused by the untimely sampling of the sensor, and then cause the mechanical arm to be unable to enter the swing state in time. When the user controls the mechanical arm of the competitive car to perform the striking action, it is usually necessary for the mechanical arm to enter the swing state first, and the centrifugal force when the mechanical arm swings is used to improve its striking force. However, if when receiving the striking instruction of the user, the competitive car first performs the swinging mechanical arm, and then performs the striking action, it may cause the striking action to be untimely and unable to hit the target car; and if the striking action is directly performed, its striking force is insufficient and cannot cause damage to the target car.

[0036] Therefore, in the present embodiment, by detecting the current position of the competitive car, if it is in the first partition, the ultrasonic sensor or radar sensor on the competitive car is set to the first working state, and the pulse repetition frequency of the sensor is increased. Further, since the user's competitive car and the other party's target car are both in a high-speed motion state, if only the speed of the user's competitive car is used as a benchmark for intelligent control, there is a problem of low control accuracy, and the main reason for the low accuracy is that the other party's target car moves fast, so that the relative speed of both parties is fast. Therefore, in this process, the current position and speed of the target car are detected at the same time; based on the position and speed information of both parties, the pulse repetition frequency is dynamically adjusted to improve the timeliness of the sensor to obtain data; and when the relative position of the competitive car and the target car is less than the first threshold, the mechanical arm swing program is started, and the mechanical arm is set to a swing state, so that the mechanical arm enters a ready state for executing a striking action, and can quickly execute a striking action when receiving a striking instruction, and accurately strike the target car. The detection of the position and speed of the competitive car and the target car, as well as the relative speed between the two, can be achieved through distance sensors, laser rangefinders, or 3D structured light technologies, combined with data fusion algorithms or differential algorithms.

[0037] When the competitive car is in the second partition, it does not need too high timeliness because it is in the competitive preparation state or the state of adjusting the car's posture. If the sensor maintains the pulse repetition frequency in the first partition for data collection, it will cause the amount of collected data to be too large, increase the computing pressure of the processor, and cause the system to freeze or crash in severe cases. Therefore, in this embodiment, when the competitive car is in the second partition, the ultrasonic sensor or the radar sensor is set to the second working state; the pulse repetition frequency is set to the second frequency, and the second frequency can be the initial pulse repetition frequency of the ultrasonic sensor or the radar sensor; when the relative position is less than the second threshold, the mechanical arm swing program is started, and the mechanical arm is set to the swing state; the second threshold is less than the first threshold. It can be understood that the competitive car in the second partition appropriately reduces the pulse repetition frequency of its sensor; and when the relative position of the two is less than the second threshold, it means that the opponent's target car is closer to the user's competitive vehicle, and the mechanical arm needs to be set to the swing state to enter the strike preparation.

[0038] When the racing car is in the third zone, striking operations are usually not performed. Therefore, the pulse repetition frequency of the sensor can be reduced to a minimum, or directly set to sleep, so that the sensor and processor can maximize the "rest" and maintain the best condition of the racing car.

[0039] Furthermore, in order to enable the sensor to collect data more timely when the competitive car is in the first zone, the pulse repetition frequency of the ultrasonic sensor or the radar sensor is set to the first frequency , the first frequency Calculated using the following formula: ; is the initial pulse repetition frequency, α and β are adjustment coefficients, v is the current speed of the racing car, is the reference speed of the competitive car, and Δv is the relative speed between the competitive car and the target car.

[0040] It is understandable that the reference speed may be the average speed of the competitive car over a period of time, or the average of the maximum speed and the minimum speed of the competitive car; the first frequency The first frequency is adjusted dynamically according to the speed of the competitive car and the target car. The larger it is, the smaller the interval between sensor data collection and the more timely the data collection.

[0041] In order to further improve the competitive ability of the competitive car, the S104 receives a striking instruction and controls the mechanical arm to perform a striking action, further including: obtaining the current posture of the competitive car, adjusting the posture of the competitive car to face the target car, and performing a striking action.

[0042] It is understandable that usually the mechanical arm can only move forward and backward in one direction; if the striking action of the mechanical arm is to accurately hit the target, it is necessary to adjust the vehicle posture of the competitive car or the posture of the gimbal where the mechanical arm is located. However, during the competition, the user may be unable to correctly adjust the correct orientation of the competitive car or the gimbal due to being in a highly nervous state. In this embodiment, the specific orientation of the target car can be obtained by analyzing the data collected by the sensor on the competitive car, and the posture of the competitive car can be adjusted so that the competitive car faces the target car. In this way, when the user issues a strike command, the mechanical arm can accurately hit the target car.

[0043] The posture in the above embodiment is only for the position and orientation of the competitive car, but is not limited to this. In order to improve the competitive ability, the competitive car will be designed with reference to the robot to set the parts similar to the joints, so that the competitive car can adjust the posture of the whole car, such as leaning forward, leaning back, etc., to improve its striking ability and evasion ability. For this type of competitive car, the method of this embodiment is applied, and the posture of the competitive car can be adjusted while performing the striking action, for example, when the mechanical arm performs the striking action forward, the competitive car is leaned forward to maximize its striking force.

[0044] Furthermore, the method further comprises: S105 monitors the mechanical arm of the target racing car, and adjusts the position of the competitive racing car according to the state of the mechanical arm of the target racing car.

[0045] It is understandable that various sensors and visual acquisition systems can be provided in the competitive racing car, which can analyze the state of the target racing car through image recognition technology based on the collected data. When the target racing car is detected and is performing a striking action, the competitive racing car is adjusted in time to perform an evasive operation to prevent the mechanical arm of the target racing car from hitting the vital parts of the competitive racing car.

[0046] In order to achieve the purpose of the present invention, Figure 2 As shown, the present invention also provides a competitive racing car, the competitive racing car comprising: A sensor module, used to collect position and speed information of the competitive racing car and the target racing car; Communication module, used to send and receive collected data and control instructions; The processor is used to execute the intelligent control method as described above.

[0047] In order to achieve the purpose of the present invention, the present invention also provides an intelligent control system applied to competitive racing cars, the system includes a server, and the server executes the intelligent control method as described above.

[0048] In order to achieve the purpose of the present invention, the present invention also provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program is used to execute the intelligent control method as described above.

[0049] Through the description of the above implementation modes, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general hardware, and of course by hardware, but in many cases the former is a better implementation mode. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, hard disk or optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control method applied to competitive racing, characterized in that: The method comprises the following steps: S101 obtains the competitive map; S102 partitions the competition map; S103: obtaining the current position of the competitive car, and adjusting the control program of the competitive car according to the current position; S104 receives the striking instruction and controls the robot arm to execute the striking action.

2. The intelligent control method according to claim 1, characterized in that: The step S101 of obtaining a competition map includes: Get pre-imported competitive maps, or collect them on-site with laser sensors or vision acquisition systems.

3. The intelligent control method according to claim 1, characterized in that: The step S102 performs partition processing on the competition map, including: Obtain the center position O of the competition map, take the center position O as the center of a circle, and set R0 as the radius to set the first partition; An area with a width W from the edge of the competition map is set as a third partition; The remaining area of ​​the competitive map is set as a second partition.

4. The intelligent control method according to claim 1, characterized in that: The step S103 acquires the current position of the competitive car, and adjusts the control program of the competitive car according to the current position, including: If the current position of the competitive racing car is in the first partition, starting a first control program; If the current position of the competitive racing car is located in the second partition, starting a second control program; If the current position of the competitive racing car is in the third zone, starting a third control program; in, The first control program is: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a first working state, wherein the first working state includes setting the pulse repetition frequency of the ultrasonic sensor or the radar sensor to a first frequency F1; when the relative position of the competitive racing car and the target racing car is less than a first threshold, starting the mechanical arm swinging program and setting the mechanical arm to a swinging state; The second control program is as follows: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a second working state, wherein the second working state includes setting the pulse repetition frequency to a second frequency; when the relative position is less than a second threshold, starting the mechanical arm swing program and setting the mechanical arm to a swing state; the second threshold is less than the first threshold; The third control procedure is: setting the ultrasonic sensor or the radar sensor to a dormant state and not detecting the target racing car.

5. The intelligent control method according to claim 4, characterized in that: The first frequency Calculated using the following formula: ； is the initial pulse repetition frequency, α and β are adjustment coefficients, v is the current speed of the racing car, is the reference speed of the competitive car, and Δv is the relative speed between the competitive car and the target car.

6. The intelligent control method according to claim 4, characterized in that: The step S104 receives the striking instruction and controls the robot arm to perform the striking action, including: The current posture of the competitive car is obtained, the posture of the competitive car is adjusted to face the target car, and a striking action is performed.

7. The intelligent control method according to claim 4, characterized in that: The method further comprises: S105 monitors the mechanical arm of the target racing car, and adjusts the position of the competitive racing car according to the state of the mechanical arm of the target racing car.

8. A competitive racing car, characterized in that: The competitive racing car comprises: A sensor module, used to collect position and speed information of the competitive racing car and the target racing car; Communication module, used to send and receive collected data and control instructions; A processor, configured to execute the intelligent control method according to any one of claims 1 to 7.

9. An intelligent control system applied to competitive racing cars, the system comprising a server, the server executing the intelligent control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program is used to execute the intelligent control method according to any one of claims 1 to 7.

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