A robot and an emotion cultivation method and system thereof, and a storage medium

Abstract

The application provides a robot and an emotion cultivation method and system thereof, and a storage medium. The robot emotion cultivation method comprises the following steps: obtaining a start-up instruction, reading stored historical emotion data, the historical emotion data comprising a historical emotion type of each historical start-up; obtaining a first proportion of each historical emotion type in the historical emotion data, performing a weight random operation according to the first proportion, selecting a start-up emotion type from the historical emotion types, displaying a start-up picture according to the start-up emotion type, and interacting with a user in the start-up emotion type. The application improves the user's interest in use and use enthusiasm.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots, specifically to a robot and its emotion cultivation method and system, and storage medium. Background Technology

[0002] With the development of technology, intelligent robots have been widely used in people's lives. The appearance, intelligence level, response patterns, and feedback patterns of intelligent robots are generally set at the factory, making robots in the same batch identical. However, intelligent robots are designed for diverse users, and unchanging responses may not appeal to all users and could reduce their enthusiasm for using them. Summary of the Invention

[0003] The technical problem this invention aims to solve is that unchanging responses or feedback from intelligent robots may not be liked by all users and may reduce user enthusiasm. In view of the above-mentioned defects of the prior art, this invention provides a robot and its emotion cultivation method and system, as well as a storage medium, to enhance user interest and enthusiasm.

[0004] The technical solution adopted by this invention to solve its technical problem is: to provide a method for cultivating robot emotions, comprising the following steps:

[0005] Obtain the power-on command and read the stored historical sentiment data, which includes the historical sentiment type for each previous power-on.

[0006] Obtain the first proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the first proportion, select the startup emotion type from the historical emotion types, display the startup screen based on the startup emotion type, and interact with the user based on the startup emotion type.

[0007] The technical solution adopted by this invention to solve its technical problem is: to provide a robot emotion cultivation system, comprising the following steps:

[0008] The acquisition module is used to acquire the power-on command and read the stored historical emotion data, which includes the historical emotion type for each power-on.

[0009] The interaction module is used to obtain the proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the proportion, select the startup emotion type from the historical emotion types, display the startup screen based on the startup emotion type, and interact with the user based on the startup emotion type.

[0010] The technical solution adopted by the present invention to solve its technical problem is: to provide a robot, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the processor performs the steps of the method described above.

[0011] The technical solution adopted by the present invention to solve its technical problem is: to provide a storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor performs the steps of the method described above.

[0012] The beneficial effect of this invention is that, compared with the prior art, this invention reads the stored historical emotion data after obtaining the power-on command, obtains the first proportion of each historical emotion type in the historical emotion data, performs a weighted random operation according to the first proportion, selects the power-on emotion type from the historical emotion types, displays the power-on screen according to the power-on emotion type, and interacts with the user according to the power-on emotion type. This enables the intelligent robot to power on and interact with the user in different emotion types, which helps to cultivate the intelligent robot to power on in the emotion type desired by the user. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] in:

[0015] Figure 1 This is a flowchart illustrating the first embodiment of the robot emotion cultivation method provided by the present invention;

[0016] Figure 2 This is a flowchart illustrating the second embodiment of the robot emotion cultivation method provided by the present invention;

[0017] Figure 3 This is a flowchart illustrating the third embodiment of the robot emotion cultivation method provided by the present invention;

[0018] Figure 4 This is a flowchart illustrating the fourth embodiment of the robot emotion cultivation method provided by the present invention;

[0019] Figure 5 This is a schematic diagram of an embodiment of the robot emotion cultivation system provided by the present invention;

[0020] Figure 6 This is a schematic diagram of the structure of an embodiment of the robot provided by the present invention;

[0021] Figure 7 This is a schematic diagram of an embodiment of the storage medium provided by the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the robot emotion cultivation method provided by the present invention. The robot emotion cultivation method provided by the present invention includes the following steps:

[0024] S101: Obtain the power-on command and read the stored historical sentiment data, which includes the historical sentiment type for each previous power-on.

[0025] In a specific implementation scenario, the intelligent robot receives a power-on command input by the user. This command can include triggering a power button, connecting to a power source, or inputting the command via a remote control or a pre-connected mobile terminal. After receiving the power-on command, the intelligent robot reads stored historical emotion data, which includes the emotion type at each previous power-on. For example, if this is the fourth power-on for the intelligent robot, the emotion types at the previous three power-ons were happy, joyful, and sad, respectively. In this implementation scenario, the intelligent robot records the emotion type at each power-on, thus allowing it to access historical data from all previous power-ons upon a new power-on.

[0026] S102: Obtain the first proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the first proportion, select the boot-up emotion type from the historical emotion types, display the boot-up screen based on the boot-up emotion type, and interact with the user based on the boot-up emotion type.

[0027] In a specific implementation scenario, after acquiring historical emotion data, the first percentage of each historical emotion type is obtained. For example, if the historical emotion types during the previous three boots were happy, happy, and sad, then the first percentage of happy emotion would be 66.67%, and the first percentage of sad emotion would be 33.33%. In this implementation scenario, historical emotion types include all emotion types supported by the user-preset intelligent robot. Even if some emotion types have not appeared during boot, they will still be calculated. For example, the first percentage of calm emotion is 0%, and the first percentage of angry emotion is 0%. The number of historical emotion types is set by the user. It can be a broad category like angry, happy, sad, calm, etc., or a more detailed category like happy level 1, happy level 2, happy level 3, sad level 1, sad level 2, etc., or even a combination of different proportions like 30% happy + 70% calm, 50% happy + 50% angry, etc.

[0028] In this implementation scenario, the intelligent robot supports the following emotion types: angry, happy, sad, and calm. Based on the first percentage of each historical emotion type obtained above, a weighted random operation is performed to select the startup emotion type from the historical emotion types. Specifically, the weight of each historical emotion type is obtained based on the first percentage. Users can pre-set weight percentage conditions. The weight corresponding to the first percentage of each historical emotion type is used as the weight of the historical emotion type. A weighted random algorithm is executed; for example, if the weight of emotion A is 99 and the weight of emotion B is 1, then there is a 99% probability that emotion A will be selected as the startup emotion type.

[0029] In this implementation scenario, the first percentage is directly proportional to the weight. That is, the higher the first percentage of a certain historical emotion type, the greater its corresponding weight. Thus, if the intelligent robot is powered on with a certain emotion type more times, the probability of it being powered on with that emotion type in subsequent power-ons is greater.

[0030] In this implementation scenario, at least one corresponding startup screen is set for each startup emotion type. The system starts with the startup screen corresponding to the selected startup emotion type from the historical emotion types and interacts with the user according to that emotion type. For example, if the startup emotion type is "happy," the system interacts with the user in a happy emotional state. Different interactive feedback for different emotional states can be pre-set for the intelligent robot. For example, being patted on the head when angry can provide feedback such as comforting actions and images, while being patted on the head when happy can provide feedback such as encouraging actions and images.

[0031] As described above, in this embodiment, after obtaining the power-on command, the stored historical emotion data is read, the first proportion of each historical emotion type in the historical emotion data is obtained, a weighted random operation is performed according to the first proportion, the power-on emotion type is selected from the historical emotion types, the power-on screen is displayed according to the power-on emotion type, and the robot interacts with the user according to the power-on emotion type. This enables the intelligent robot to power on and interact with the user in different emotion types, which helps to cultivate the intelligent robot to power on in the emotion type desired by the user.

[0032] Please see Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the robot emotion cultivation method provided by the present invention. The robot emotion cultivation method provided by the present invention includes the following steps:

[0033] S201: Obtain the power-on command and read the stored historical sentiment data, which includes the historical sentiment type for each previous power-on.

[0034] S202: Obtain the first proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the first proportion, select the boot-up emotion type from the historical emotion types, and display the boot-up screen based on the boot-up emotion type.

[0035] In a specific implementation scenario, steps S201-S202 are basically the same as the corresponding steps S101-S102 in the first embodiment of the robot emotion cultivation method provided by the present invention, and will not be described again here.

[0036] S203: Obtain the user's current interaction operation and current emotion type, obtain the cumulative number of interaction operations under the current emotion type, unlock preset interaction content based on the cumulative number of interactions, and interact with the user through the preset interaction content.

[0037] In a specific implementation scenario, the system acquires the user's current interactive action, such as patting the shoulder, touching the head, or patting the stomach, and obtains the current emotion type at the time of the interaction. This current emotion type is the emotional type of the intelligent robot at the moment the interactive action is performed. After the intelligent robot powers on with its startup emotion type, it interacts with the user using that startup emotion type. The user's actions may change the intelligent robot's emotion type from the startup emotion type to other emotion types. For example, if the startup emotion type is "happy," and the user subsequently does not perform any interactive action on the intelligent robot for a long period, the intelligent robot's emotion type will change to "sad," meaning the intelligent robot's current emotion type is "sad."

[0038] Since the emotional type of an intelligent robot can change, when a user is detected performing an interactive operation, the current emotional type of the intelligent robot is obtained, and the cumulative number of interactive operations under the current emotional type is also obtained. For example, if the current emotional type is sadness and the current interactive operation is a head pat, then the number of times the intelligent robot was patted on the head while in a sad emotional state in previous operating states is counted, for example, 9 times, then the current count is added to 10 times.

[0039] In this implementation scenario, the user sets a threshold for the number of interactions for each emotion type, along with a preset interaction content to be unlocked for each threshold. For example, in a sad emotion state, patting the head 10 times unlocks a hug, patting the head 15 times unlocks a jump, and patting the head 20 times unlocks dancing. After unlocking the preset interaction content, the user interacts with the user through that content. The specific number and value of the threshold and the preset interaction content can be set by the user.

[0040] In this implementation scenario, after the current interaction is completed, the number of times the user is patted on the head in a sad emotional state is 10, and the preset interaction content that can be unlocked is a hug, so a hug operation is performed on the user.

[0041] As described above, in this embodiment, users can pre-set level thresholds and their corresponding preset interactive content, obtain the user's current interactive operation and current emotion type, obtain the cumulative number of interactive operations under the current emotion type, unlock preset interactive content based on the cumulative number of operations, and interact with the user through preset interactive content, which can effectively enhance the user's enjoyment and enthusiasm for using the service.

[0042] Please see Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the robot emotion cultivation method provided by the present invention. The robot emotion cultivation method provided by the present invention includes the following steps:

[0043] S301: Obtain the power-on command and read the stored historical sentiment data, which includes the historical sentiment type for each previous power-on.

[0044] S302: Obtain the first proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the first proportion, select the boot emotion type from the historical emotion types, and display the boot screen based on the boot emotion type.

[0045] In a specific implementation scenario, steps S301-S302 are basically the same as the corresponding steps S101-S102 in the first embodiment of the robot emotion cultivation method provided by the present invention, and will not be described again here.

[0046] S303: Obtain historical data of the current emotion type. The historical data includes the number of times each current emotion type appears in the running state of the intelligent robot. Obtain the second proportion of each startup emotion type in the historical data.

[0047] In a specific implementation scenario, the frequency of each emotion type occurring in the intelligent robot's operating state is recorded as historical data. The frequency of the current emotion type is then calculated, and its proportion among all emotion types is determined. For example, if the intelligent robot experiences happiness 20 times, sadness 10 times, calmness 10 times, and anger 10 times in all operating states, then the current emotion type (sadness) has a proportion of 20%.

[0048] S304: Obtain the interaction emotion type corresponding to the interaction operation, obtain the second and third proportions of the interaction emotion type in the historical type data, and obtain the replacement probability of the interaction emotion type replacing the current emotion type based on the second and third proportions.

[0049] In a specific implementation scenario, the interaction emotion type corresponding to the interaction operation is obtained. For example, if the interaction operation is "patting the head" and the interaction emotion type is "happy," then a third proportion is obtained using a method similar to obtaining the second proportion, and the third proportion is 40%. The replacement probability of the current emotion type is obtained based on the second proportion and the third proportion. The greater the third proportion is compared to the second proportion, the higher the replacement probability. For example, in this embodiment, the probability of the current emotion type being replaced by "happy" is relatively high. That is to say, the more times a certain emotion type appears, the greater the probability that it can replace other emotion types, which can realize the emotion training of intelligent robots.

[0050] As described above, this embodiment obtains historical data of the current emotion type, including the number of times each current emotion type appears in the intelligent robot's operating state. It also obtains the second proportion of the current emotion type in the historical data, the interactive emotion type corresponding to the interactive operation, the second and third proportions of the interactive emotion type in the historical data, and the replacement probability of the interactive emotion type replacing the current emotion type based on the second and third proportions. This enables the cultivation of the intelligent robot's emotions, effectively enhancing the user's enjoyment and enthusiasm for use.

[0051] Please see Figure 4 , Figure 4This is a flowchart illustrating the fourth embodiment of the robot emotion cultivation method provided by the present invention. The robot emotion cultivation method provided by the present invention includes the following steps:

[0052] S401: Obtain the power-on command and read the stored historical sentiment data, which includes the historical sentiment type for each previous power-on.

[0053] S402: Obtain the first proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the first proportion, select the boot emotion type from the historical emotion types, and display the boot screen based on the boot emotion type.

[0054] In a specific implementation scenario, steps S401-S402 are basically the same as the corresponding steps S101-S102 in the first embodiment of the robot emotion cultivation method provided by the present invention, and will not be described again here.

[0055] S403: Obtain historical data of the current emotion type. The historical data includes the number of times each current emotion type appears in the operation state of the intelligent robot. Obtain the interaction emotion type corresponding to the interaction operation. Obtain the third proportion of the interaction emotion type in the historical data.

[0056] In a specific implementation scenario, step S403 is basically the same as the corresponding content of steps S303-S304 in the third embodiment of the robot emotion cultivation method provided by the present invention, and will not be described again here.

[0057] S404: Obtain the current operation area corresponding to the interactive operation, obtain the historical interaction data after each current operation area has been interactive, the historical interaction data includes the current emotion change type after each interactive operation, and obtain the fourth proportion of each current emotion change type in the historical interaction data.

[0058] In a specific implementation scenario, the current operation area corresponding to the interactive operation is obtained, such as the head, shoulders, abdomen, limbs, etc. The specific division of the operation area can be set by the user. Historical interaction data is obtained for each current operation area after the interactive operation is performed. The historical interaction data includes the current emotion change type after each interactive operation. For example, if the current operation area is the top of the head, and the interactive operation is "patting the head," after the "patting the head" operation is performed, the emotion changes from sad to happy 10 times, from sad to sad 5 times, and from sad to calm 5 times. Therefore, the fourth emotion change from sad to happy accounts for 50%, which is far higher than the current proportion of other emotion change types.

[0059] S405: Obtain the target emotion type that appears after the interaction based on the fourth and second proportions.

[0060] In a specific implementation scenario, the target emotion type after an interaction is obtained based on the fourth and second proportions. The weight of each current emotion type can be modified according to the third and fourth proportions, and the target emotion type is obtained through a weighted random algorithm. For example, if the third proportion for happiness is 40%, and the fourth proportion for sadness to transform into happiness is 50%, then a higher weight is assigned to happiness, and the target emotion type is selected randomly, increasing the probability of happiness as the target emotion type.

[0061] Furthermore, it can cultivate a habit in robots that makes them happy when patted on the head.

[0062] As described above, this embodiment obtains the current operation area corresponding to the interactive operation, obtains the historical interaction data after the interactive operation is performed on each current operation area, and the historical interaction data includes the current emotion change type after each interactive operation. It also obtains the fourth proportion of each current emotion change type in the historical interaction data. Based on the fourth proportion and the third proportion, it obtains the target emotion type that appears after the interactive operation, which can cultivate the interactive operation preference of the intelligent robot, effectively improve the user's interest in using the robot, and increase the user's enthusiasm for using the robot.

[0063] Please see Figure 5 , Figure 5 This is a schematic diagram of an embodiment of the robot emotion training system provided by the present invention. The robot emotion training system 10 includes: an acquisition module 11 and an interaction module 12.

[0064] The acquisition module 11 is used to acquire the power-on command and read the stored historical emotion data, which includes the historical emotion type for each power-on. The interaction module 12 is used to acquire the proportion of each historical emotion type in the historical emotion data, perform a weighted random operation based on the proportion, select the power-on emotion type from the historical emotion types, display the power-on screen based on the power-on emotion type, and interact with the user based on the power-on emotion type.

[0065] The interactive module 12 is used to set the weight of each historical emotion type according to the first proportion, wherein the first proportion is proportional to the weight.

[0066] The interaction module 12 is used to obtain the user's current interaction operation and current emotion type, obtain the cumulative number of interaction operations under the current emotion type, unlock preset interaction content based on the cumulative number of operations, and interact with the user through the preset interaction content.

[0067] Interaction module 12 is used to obtain at least one level number threshold preset by the user. Each level number threshold corresponds to different preset interactive content. The module obtains the level number threshold that the cumulative number of times meets and unlocks the preset interactive content corresponding to the level number threshold.

[0068] The interaction module 12 is used to obtain historical type data of the current emotion type. The historical type data includes the number of times each current emotion type appears in the running state of the intelligent robot. The second proportion of the current emotion type in the historical type data is obtained. The interaction emotion type corresponding to the interaction operation is obtained. The third proportion of the interaction emotion type in the historical type data is obtained. The replacement probability of the interaction emotion type replacing the current emotion type is obtained based on the second proportion and the third proportion.

[0069] Interaction module 12 is used to obtain the current operation area corresponding to the interaction operation, obtain the historical interaction data after the interaction operation is performed on each current operation area, the historical interaction data includes the current emotion change type after each interaction operation, obtain the fourth proportion of each current emotion change type in the historical interaction data, and obtain the target emotion type that appears after the interaction operation based on the fourth proportion and the third proportion.

[0070] The interactive module 12 is used to modify the weight of each current emotion type according to the third and fourth proportions, and obtain the target emotion type through a weight random algorithm.

[0071] As described above, in this embodiment, after receiving the power-on command, the robot emotion training system reads the stored historical emotion data, obtains the first proportion of each historical emotion type in the historical emotion data, performs a weighted random operation based on the first proportion, selects the power-on emotion type from the historical emotion types, displays the power-on screen based on the power-on emotion type, and interacts with the user based on the power-on emotion type. This enables the intelligent robot to power on and interact with the user using different emotion types, which helps to train the intelligent robot to power on using the emotion type desired by the user.

[0072] Please see Figure 6 , Figure 6 This is a schematic diagram of an embodiment of the robot provided by the present invention. The robot 20 includes a processor 21 and a memory 22. The processor 21 is coupled to the memory 22. The memory 22 stores a computer program, which the processor 21 executes during operation to achieve the following: Figures 1-4 The method is shown above. For detailed instructions, please refer to the above; they will not be repeated here.

[0073] Please see Figure 7 , Figure 7 This is a schematic diagram of an embodiment of the storage medium provided by the present invention. The storage medium 30 stores at least one computer program 31, which is executed by a processor to achieve, for example... Figures 1-4 The method shown is detailed above and will not be repeated here. In one embodiment, the computer-readable storage medium 30 may be a storage chip in a terminal, a hard disk, or other readable and writable storage tools such as a portable hard disk, USB flash drive, or optical disc, or it may be a server, etc.

[0074] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method of robot emotional cultivation, characterized by, The method comprises the following steps: obtaining a boot instruction, reading stored historical emotion data, wherein the historical emotion data comprises a historical emotion type of each historical boot; obtaining a first proportion of each historical emotion type in the historical emotion data, performing a weight random operation according to the first proportion, selecting a boot emotion type from the historical emotion type, displaying a boot screen according to the boot emotion type, and interacting with a user in the boot emotion type; the step of interacting with the user in the boot emotion type comprises: obtaining historical type data of a current emotion type, the historical type data comprising a number of occurrences of each current emotion type in a running state of the intelligent robot, obtaining an interaction emotion type corresponding to an interaction operation, and obtaining a third proportion of the interaction emotion type in the historical type data; obtaining a current operation area corresponding to the interaction operation, obtaining historical interaction data of each current operation area after the interaction operation, the historical interaction data comprising a current emotion change type after each interaction operation, and obtaining a fourth proportion of each current emotion change type in the historical interaction data; obtaining a target emotion type appearing after the interaction operation according to the fourth proportion and the third proportion, wherein the target emotion type is an emotion type exhibited by the intelligent robot after the interaction operation. 2.The robot emotion cultivation method of claim 1, wherein, Before the step of performing the weight random operation according to the first proportion, the method comprises: setting a weight of each historical emotion type according to the first proportion, wherein the first proportion is proportional to the weight.

3. A robot emotional cultivation system, characterized by, The system comprises: an obtaining module configured to obtain a boot instruction and read stored historical emotion data, wherein the historical emotion data comprises a historical emotion type of each historical boot; an interaction module configured to obtain a proportion of each historical emotion type in the historical emotion data, perform a weight random operation according to the proportion, select a boot emotion type from the historical emotion type, display a boot screen according to the boot emotion type, and interact with a user in the boot emotion type; the step of interacting with the user in the boot emotion type comprises: obtaining historical type data of a current emotion type, the historical type data comprising a number of occurrences of each current emotion type in a running state of the intelligent robot, obtaining an interaction emotion type corresponding to an interaction operation, and obtaining a third proportion of the interaction emotion type in the historical type data; obtaining a current operation area corresponding to the interaction operation, obtaining historical interaction data of each current operation area after the interaction operation, the historical interaction data comprising a current emotion change type after each interaction operation, and obtaining a fourth proportion of each current emotion change type in the historical interaction data; obtaining a target emotion type appearing after the interaction operation according to the fourth proportion and the third proportion, wherein the target emotion type is an emotion type exhibited by the intelligent robot after the interaction operation.

4. A storage medium, characterized by The computer program is stored in the storage and executed by the processor, so that the processor performs the steps of the method according to any one of claims 1 to 2.

5. A robot, characterized in that A computer program product comprising a memory storing a computer program, and a processor, which, when executing the computer program, causes the processor to perform the steps of the method according to any one of claims 1 to 2.

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