A molten steel detection method and system

Abstract

The present invention provides a molten steel detection method and system. The method includes: the ladle station receives the ladle arrival signal and opens the platform detection hole; collect the liquid level height of the molten steel; obtain a molten steel detection instruction, where the molten steel detection instruction includes at least one of the following: temperature measurement, sampling, and oxygen determination action instructions; perform detection on the molten steel according to the molten steel detection instruction, and disassemble and assemble the barrel probe of the lance device; the ladle leaves and the platform detection hole is closed. The solution provided by the present invention can meet the requirements of short operation cycles for temperature measurement, sampling, and oxygen determination, and can also quickly respond to temperature measurement, sampling, and oxygen determination instructions and immediately execute actions.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and particularly to a molten steel detection method and system. Background Art

[0002] In the metallurgical process, it is necessary to detect hot metal or molten steel, and detection is required in the hot metal / molten steel at the tapping plant, converters, electric furnaces, LF furnaces, RH furnaces, continuous casting tundishes, and VD furnaces. The general detection items include temperature measurement, sampling, and oxygen determination. The common temperature measurement, sampling, and oxygen determination robot system installs a lance device at the end of the robot. The robot moves to the probe box to insert the probe, installs the specified probe, and then performs temperature measurement / sampling / oxygen determination operations. However, at some workstations affected by the production sequence, the above operation method may have too long a cycle and may affect normal production. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a molten steel detection method and system to solve the problem of inconvenient molten steel detection in the prior art.

[0004] To achieve the above purpose and other related purposes, the present invention provides a molten steel detection method, including:

[0005] The ladle station receives the ladle arrival signal and opens the platform detection hole;

[0006] Collect the liquid level height of the molten steel;

[0007] Obtain a molten steel detection instruction, where the molten steel detection instruction includes at least one of the following: a temperature measurement, sampling, or oxygen determination action instruction;

[0008] Detect the molten steel according to the molten steel detection instruction, and disassemble and assemble the probe of the lance device barrel; the ladle leaves and the platform detection hole is closed.

[0009] Optionally, the ladle station has three layers. The first layer is for the ladle car to travel, the second layer is for manual temperature measurement, sampling, and oxygen determination operations, and the third layer is for placing the temperature measurement and sampling robot system; after the ladle arrives at the ladle station, start the detection hole device on the third layer platform and open the detection hole.

[0010] Optionally, the step of disassembling and assembling the probe of the lance device barrel according to the molten steel detection instruction includes: when the probe on the lance device barrel is in a used or empty state and the lance device is not executing the molten steel detection instruction, disassemble and / or assemble the probe of the lance device barrel.

[0011] Optionally, record the disassembly and assembly of the barrel probe of the sampling gun device, and determine whether the barrel probe of the sampling gun device has been used and the barrel of the sampling gun device is not in use. If not, disassemble the probe from the barrel of the sampling gun device; if it is in use, after completing the molten steel detection instruction, disassemble the probe from the barrel of the sampling gun device.

[0012] Optionally, when there is no previously used probe and the probe of the barrel of the sampling gun device is in an empty state, then determine whether the barrel of the sampling gun device is in use and ensure that the number of probes in the probe box is normal. If it is determined that the barrel of the sampling gun device is not in use at this time, perform the probe installation action. If it is in the process of executing the molten steel detection instruction, after completing the molten steel detection instruction, install the probe on the barrel of the sampling gun device.

[0013] A molten steel detection system, comprising:

[0014] A sampling gun device, the end of which is provided with a detachably connected probe and is used to perform molten steel detection actions, and the molten steel detection actions at least include one of the following: temperature measurement, sampling, and oxygen determination actions;

[0015] A robot, used to perform probe disassembly and assembly actions;

[0016] A detection hole device, used to open or close the detection hole;

[0017] A control module, the sampling gun device, the robot, the detection hole device are signal-connected to the control module.

[0018] Optionally, it further includes:

[0019] A safety guardrail, used to separate the robot operation area and the worker operation area, improving the safety of on-site operators;

[0020] A remote monitoring system, used to monitor the working state of the system, judge the current operation state according to the monitoring image and decide the next work operation;

[0021] An emergency avoidance device, used to handle emergency situations, with emergency stop buttons arranged at multiple points. When the system responds to the emergency stop requirement, all actions are terminated;

[0022] An alarm display light, including an audible and visual alarm and a status light column. The audible and visual alarm indicates that the system is in operation, and the status light column shows the execution status of the current temperature measurement / sampling / oxygen determination action.

[0023] Optionally, the detection module further includes a molten steel liquid level height detection sensor, a temperature measurement / oxygen determination instrument, and a ladle in-place sensor;

[0024] The molten steel level detection sensor collects the height of the molten steel level in the ladle and transmits the height of the molten steel level to the control module to guide the descending depth of the barrel of the measuring gun device;

[0025] The temperature measurement / oxygen determination instrument includes a temperature measurement / oxygen determination connector, a temperature measurement / oxygen determination instrument, a transmission cable, and a field display screen. The temperature measurement / oxygen determination connector is installed at the end of the barrel of the measuring gun device to obtain the molten steel temperature or oxygen content signal, and the molten steel temperature or oxygen content signal is sent to the temperature measurement / oxygen determination instrument through the transmission cable;

[0026] The ladle in-place sensor detects the arrival signal of the ladle and transmits the in-place signal to the control module.

[0027] An electronic device, comprising:

[0028] One or more processors; and one or more machine-readable media storing instructions thereon, which when executed by the one or more processors cause the electronic device to perform one or more of the methods.

[0029] A machine-readable medium, characterized in that instructions are stored thereon, which when executed by one or more processors cause the device to perform one or more of the methods.

[0030] As described above, the molten steel detection method and system of the present invention have the following beneficial effects:

[0031] It can meet the requirements of short operation cycles for temperature measurement, sampling, and oxygen determination, and can also quickly respond to temperature measurement, sampling, and oxygen determination instructions and immediately execute actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It shows a schematic diagram of the molten steel detection method according to an embodiment of the present invention.

[0033] Figure 2 It shows a schematic diagram of the molten steel detection system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The following specific examples illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0035] It should be noted that the illustrations provided in this embodiment only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the layout type of its components may also be more complex. The structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essence. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear description and are not used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope of implementation of the present invention.

[0036] Please refer to Figure 1 , the present invention provides a molten steel detection method, including:

[0037] S1: The ladle station receives the ladle arrival signal, opens the platform detection hole, and collects the liquid level height of the molten steel;

[0038] S2: Obtain a molten steel detection instruction, where the molten steel detection instruction includes at least one of the following: temperature measurement, sampling, and oxygen determination action instructions;

[0039] S3: Detect the molten steel according to the molten steel detection instruction, and disassemble and assemble the barrel probe of the lance device;

[0040] S4: The ladle leaves, and the platform detection hole is closed. It can meet the requirements of short operation cycles for temperature measurement, sampling, and oxygen determination, and can also quickly respond to temperature measurement, sampling, and oxygen determination instructions and immediately execute actions.

[0041] In some implementation processes, the ladle station has three floors. The first floor is for the ladle car to travel, the second floor is for manual temperature measurement, sampling, and oxygen determination operations, and the third floor is for placing the temperature measurement and sampling robot system. After the ladle arrives at the ladle station, the detection hole device on the third floor platform is started to open the detection hole. For example, the ladle is located at the argon blowing station of the refining furnace. The argon blowing station has a total of three floors of platforms. The first floor is for the ladle car to travel, the second floor is for manual temperature measurement, sampling, and oxygen determination operations, and the third floor is for placing the temperature measurement and sampling robot system. After the ladle arrives at the station, the detection hole device on the third floor platform is started to open the detection hole to prepare for the subsequent insertion of the measuring lance into the molten steel. The detection module senses the height of the molten steel surface in the ladle and transmits the height information to the main PLC of the system. After receiving the molten steel surface height and the temperature measurement / sampling / oxygen determination instructions, the main PLC controls the corresponding measuring lance to enter the molten steel for temperature measurement / sampling / oxygen determination actions. The dynamic stroke of the measuring lance movement is guided by the height obtained by the molten steel surface height detection module, and the dynamic stroke is the molten steel surface height plus 300 mm. The detection module selects a binocular vision sensor. After the ladle arrives at the station, it notifies the vision system to start the camera to collect the image of the molten steel surface in the ladle in real time. Through automatic exposure and adaptive threshold segmentation, the edge of the slag seam formed between the slag and the molten steel is obtained. According to the position and edge strength of the slag seam, the appropriate edge texture is intelligently analyzed, and the binocular camera vision system is used to identify and match the same type of edge texture to obtain its coordinates in the camera coordinate system. Through calibration conversion, its coordinates in the ladle coordinate system are obtained, so as to measure the height of the molten steel surface in the ladle.

[0042] In some implementation processes, the steps of disassembling and assembling the barrel probe of the measuring lance device according to the molten steel detection instruction include: when the probe on the barrel of the measuring lance device is in the used or empty state, the barrel of the measuring lance device disassembles and / or assembles the probe. Collect the records of the disassembly and assembly of the barrel probe of the measuring lance device, and judge whether the barrel probe of the measuring lance device has been used and the barrel of the measuring lance device is not in the use process. If not, the robot disassembles the probe of the barrel of the measuring lance device; if it is determined that the probe is in the use process during the execution of the molten steel detection instruction, after the completion of the molten steel detection instruction, the robot disassembles the probe of the barrel of the measuring lance device. When there is no used probe and the probe of the barrel of the measuring lance device is in the empty state, then judge whether the barrel of the measuring lance device is executing the molten steel detection instruction and determine that the number of probes in the probe box is normal. If it is judged at this time that the barrel of the measuring lance device is not executing the molten steel detection instruction, the probe installation action is performed. If it is executing the molten steel detection instruction, after the completion of the molten steel detection instruction, the barrel of the measuring lance device installs the probe. For example, in S3,

[0043] S31: According to the record of the operation process by the main PLC of the system, it is detected that a certain probe has been used;

[0044] S32: At this time, it is judged whether the barrel of the measuring gun device is in the process of temperature measurement / sampling / oxygen determination. If not, it jumps to S33. If so, it jumps to S34;

[0045] S33: The robot performs the action of removing the probe. After the action is completed, it jumps to S35;

[0046] S34: Wait for the measuring gun to complete the temperature measurement / sampling / oxygen determination action, and then jump to S33;

[0047] S35: According to the record of the operation process by the main PLC of the system, there is no used probe and the probe of a certain measuring gun device barrel is empty;

[0048] S36: At this time, it is judged whether the barrel of the measuring gun device is in the process of temperature measurement / sampling / oxygen determination and the number of probes in the probe box does not alarm;

[0049] S37: If it is not in the process of temperature measurement and oxygen determination at this time, it jumps to S38. If the barrel of the measuring gun device is in motion at this time, it jumps to S39;

[0050] S38: The robot performs the action of installing the probe. After the action is completed, it jumps to S31;

[0051] S39: Wait for the barrel of the measuring gun device to complete the temperature measurement / sampling / oxygen determination action of the measuring gun device barrel, and then jump to S38.

[0052] Please refer to Figure 2 , The present invention provides a molten steel detection system, including:

[0053] A measuring gun device 4, the end of the measuring gun device 4 is provided with a detachably connected probe, and is used to perform molten steel detection actions, and the molten steel detection actions at least include one of the following: temperature measurement, sampling, oxygen determination actions;

[0054] A robot 6, used to perform the actions of removing and installing the probe;

[0055] A detection hole device 2, used to realize automatic opening and closing control of the detection hole;

[0056] A control module 9, the measuring gun device, the robot, the detection hole device are signal-connected to the control module. When the ladle 1 reaches the measurement position, the detection hole device 2 opens the detection hole. The robot, according to the detection action requirements, replaces the corresponding probe 3 on the measuring gun device 4. The measuring gun device 4 passes through the detection hole to perform detection actions on the ladle 1 to complete the temperature measurement / sampling / oxygen determination actions. It can meet the requirements of short operation cycles for temperature measurement, sampling, and oxygen determination, and can also quickly respond to temperature measurement, sampling, and oxygen determination instructions and immediately execute actions.

[0057] In some implementation processes, the molten steel detection system further includes: a probe storage box 7, used to store various probes 3 in batches;

[0058] The probe recycling box 8 is used to store the used probes in a classified manner.

[0059] The molten steel detection system further includes:

[0060] A safety guardrail is used to separate the robot operation area from the worker operation area, improving the safety of on-site operators;

[0061] A remote monitoring system is used to monitor the working state of the system, judge the current operation state according to the monitoring images and decide the next working operation;

[0062] An emergency accident avoidance device is used to handle emergency states. Emergency stop buttons are arranged at multiple points. When the system responds to the emergency stop requirement, all actions are terminated;

[0063] An alarm display lamp includes an audible and visual alarm and a status lamp post. The audible and visual alarm indicates that the system is in operation, and the status lamp post shows the execution status of the current temperature measurement / sampling / oxygen determination action.

[0064] Optionally, the detection module 5 further includes a temperature measurement / oxygen determination instrument and a ladle in-place sensor;

[0065] The temperature measurement / oxygen determination instrument for the barrel of the lance device includes a temperature measurement / oxygen determination connector, a temperature measurement / oxygen determination instrument, a transmission cable and a field display screen. The temperature measurement / oxygen determination connector is installed at the end of the barrel of the lance device to obtain the molten steel temperature or oxygen content signal, and the molten steel temperature or oxygen content signal is sent to the temperature measurement / oxygen determination instrument through the transmission cable;

[0066] The ladle in-place sensor detects the arrival signal of the ladle and transmits the in-place signal to the control module.

[0067] In this embodiment, the probe storage box stores various probes in batches. After receiving the temperature measurement, oxygen determination or sampling signal from the upper control system, the probe storage box automatically selects the corresponding probes to the robot connection point. The probe storage box supports the statistics of the working times of each probe, which can be set and modified manually; it has the function of warning when the remaining amount of the probe is too low. The storage quantity of the temperature measurement guns is not less than 40, the storage quantity of the samplers is not less than 25, and the oxygen determination tubes are not less than 15. In this embodiment, the probe recycling box is used to store the used probes in a classified manner, and the sampling probes are placed in chronological order so that the workers can distinguish which sampling the different probes correspond to.

[0068] In this embodiment, the detection hole automatic control device is used to realize the automatic opening and closing control of the detection hole, and open and close the detection hole according to the working time sequence to provide space for the lance to perform the temperature measurement, sampling and oxygen determination actions.

[0069] In this embodiment, the detection module mainly includes a molten steel liquid level height detection sensor system, a temperature measurement / oxygen determination instrument, and a molten steel in-place sensor.

[0070] 1) Molten steel liquid level detection sensor system

[0071] It consists of a molten steel liquid level detection sensor and a protective device. By installing the sensor and the protective device at a suitable position, the height of the ladle liquid level is collected, and the height information is transmitted to the PLC in the operating system to guide the lowering depth of the measuring gun device.

[0072] 2) Temperature / oxygen measuring instrument

[0073] The temperature / oxygen measuring instrument consists of a temperature / oxygen connector, a temperature / oxygen instrument, a transmission cable and a field display screen. The temperature / oxygen connector is installed at the end of the temperature / oxygen gun barrel to obtain the molten steel temperature or oxygen content signal. The signal is sent to the temperature / oxygen measuring instrument in the operation room through the transmission cable, and the instrument returns the processed temperature / oxygen content to the system PLC.

[0074] 3) Ladle in-place sensor

[0075] The ladle in-place sensor is equipped on-site to detect the position status of the ladle in real time and transmit the in-place signal to the system PLC for interlocking with the system. At the same time, the system also has the function of releasing this interlock to deal with special situations or the occurrence of interlock equipment failures.

[0076] In this embodiment, the electrical control system consists of a PLC controller, a user operation console and a field operation box. The PLC controller in the PLC control cabinet is the main PLC of the system and is the core control unit of the entire temperature measurement and sampling robot system; the operation console consists of an industrial computer system and a display. The industrial computer system is configured with a user operation interface, a PLC programming software, etc.; the field operation box is placed on the operation platform for simple system operation control. The system architecture is as Figure 2 shown. The main PLC controller of the system receives signals from the user operation console, the field operation box and the main PLC of the argon blowing station, and exchanges data and issues control instructions with the robot control cabinet, the probe storage box, the probe recovery box, the measuring gun device, the detection module and the detection hole device. The system is configured with manual / automatic operation modes and remote / local operation modes; it monitors the operation of each parameter of the system in real time, has a fault alarm and diagnosis function; has a one-key reset function when the probe is stuck during disassembly and assembly; has an operation record and an alarm record function.

[0077] An embodiment of the present invention provides an electronic device, including: one or more processors; and one or more machine-readable media storing instructions thereon, which, when executed by the one or more processors, cause the electronic device to execute one or more of the methods. The present invention can be used in numerous general-purpose or special-purpose computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on.

[0078] An embodiment of the present invention also provides one or more machine-readable media storing instructions thereon, which, when executed by one or more processors, cause the device to execute one or more of the methods. The present invention can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present invention can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0079] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for detecting molten steel, characterized in that, Including: The ladle station receives the signal of the ladle arriving at the station and opens the inspection hole on the platform; Collect the liquid level height of the molten steel; Obtain the molten steel detection instruction, where the molten steel detection instruction includes at least one of the following: temperature measurement, sampling, and oxygen determination action instructions; Detect the molten steel according to the molten steel detection instruction, and disassemble and assemble the barrel probe of the lance device; The ladle leaves and the inspection hole on the platform closes; On the third floor of the ladle station, the first floor is for the ladle car to travel, the second floor is for manual temperature measurement, sampling, and oxygen determination operations, and the third floor is for placing the temperature measurement and sampling robot system; after the ladle arrives at the ladle station, start the inspection hole device on the third floor platform and open the inspection hole; Through the inspection hole, the temperature measurement and sampling robot system placed on the third floor directly detects the molten steel in the ladle below; Among them, the determination of the liquid level height includes: By collecting the image of the molten steel surface in the ladle in real time, obtaining the edge of the slag seam formed between the slag and the molten steel through segmentation, obtaining the edge texture according to the position and edge strength of the slag gap, and obtaining the coordinates of the edge texture in the camera coordinate system by identifying and matching the same type of edge texture; through calibration conversion, obtaining the coordinates of the edge texture in the ladle coordinate system, so as to measure the liquid level height in the ladle.

2. The molten steel detection method according to claim 1, characterized in that, The steps of disassembling and assembling the barrel probe of the lance device according to the molten steel detection instruction include: when the probe on the barrel of the lance device is in a used or empty state and the lance device is not executing the molten steel detection instruction, the barrel of the lance device disassembles and / or installs the probe.

3. The molten steel detection method according to claim 2, characterized in that, Collect the record of disassembling and assembling the barrel probe of the lance device, judge whether the barrel probe of the lance device has been used and the barrel of the lance device is not in the use process. If not, the barrel of the lance device disassembles the probe; if it is in the use process, after completing the molten steel detection instruction, the barrel of the lance device disassembles the probe.

4. The molten steel detection method according to claim 2 or 3, characterized in that When there is no used probe and the probe on the barrel of the lance device is in an empty state, then judge whether the barrel of the lance device is in the use process and determine that the number of probes in the probe box is normal. If it is judged that the barrel of the lance device is not in the use process at this time, the probe installation action is executed. If it is executing the molten steel detection instruction, after completing the molten steel detection instruction, the barrel of the lance device installs the probe.

5. A molten steel detection system, characterized in that, Including: A lance device, the end of the lance device is provided with a detachably connected probe and is used to execute molten steel detection actions, and the molten steel detection actions include at least one of the following: temperature measurement, sampling, and oxygen determination actions; A robot, used to execute the probe disassembly and installation actions; An inspection hole device, used to open or close the inspection hole; A control module, the lance device, the robot, the inspection hole device are signal-connected to the control module; On the third floor of the ladle station, the first floor is for the ladle car to travel, the second floor is for manual temperature measurement, sampling, and oxygen determination operations, and the third floor is for placing the temperature measurement and sampling robot system; after the ladle arrives at the ladle station, start the inspection hole device on the third floor platform and open the inspection hole; Through the inspection hole, the temperature measurement and sampling robot system placed on the third floor directly detects the molten steel in the ladle below; Among them, the determination of the liquid level height includes: By collecting the image of the molten steel surface in the ladle in real time, obtaining the edge of the slag seam formed between the slag and the molten steel through segmentation, obtaining the edge texture according to the position and edge strength of the slag gap, and obtaining the coordinates of the edge texture in the camera coordinate system by identifying and matching the same type of edge texture; obtaining the coordinates of the edge texture in the ladle coordinate system through calibration conversion, so as to measure the liquid level height in the ladle.

6. The molten steel detection system according to claim 5, characterized in that, It also includes: A safety guardrail, which is used to separate the robot action area and the worker operation area to improve the safety of on-site operators; A remote monitoring system, which is used to monitor the working state of the system, judge the current operation state according to the monitoring image and decide the next working operation; An emergency avoidance device, which is used to handle emergency situations, and emergency stop buttons are arranged at multiple points. When the system responds to the emergency stop requirement, all actions are terminated; An alarm display light, including an audible and visual alarm and a status light column. The audible and visual alarm prompts that the system is in operation, and the status light column displays the execution status of the current temperature measurement / sampling / oxygen determination action.

7. The molten steel detection system according to claim 5, characterized in that, It also includes a detection module, and the detection module also includes a molten steel liquid level height detection sensor, a temperature measurement / oxygen determination instrument, and a ladle in-place sensor; By collecting the ladle liquid level height with the molten steel liquid level height detection sensor and transmitting the ladle liquid level height to the control module to guide the descending depth of the barrel of the measuring gun device; The temperature measurement / oxygen determination instrument includes a temperature measurement / oxygen determination connector, a temperature measurement / oxygen determination instrument, a transmission cable, and a field display screen. The temperature measurement / oxygen determination connector is installed at the end of the barrel of the measuring gun device to obtain the molten steel temperature or oxygen content signal, and the molten steel temperature or oxygen content signal is sent to the temperature measurement / oxygen determination instrument through the transmission cable; The ladle in-place sensor detects the arrival signal of the ladle and transmits the in-place signal to the control module.

8. An electronic device, characterized in that, It includes: One or more processors; And One or more machine-readable media storing instructions, which when executed by the one or more processors cause the electronic device to perform the method according to any one of claims 1-4.

9. A machine-readable medium, characterized in that, Storing instructions thereon, which when executed by one or more processors cause the device to perform the method according to any one of claims 1-4.

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