Control method, system and device without live hot water inlet temperature sensor

Abstract

The application discloses a control method, system and device for a domestic hot water inlet temperature sensor-free gas wall-hung stove, which comprises the following steps: starting a domestic water inlet temperature setting unit before starting the gas wall-hung stove, acquiring a current collected temperature, and recording the current collected temperature as the domestic water inlet temperature; acquiring T 设 and T 出 ; starting a domestic hot water heating mode when it is detected that the water flow is greater than 2.5 L / min and T 出 <T 设 ; if T 温差 >T1, running in a maximum power mode for fast preheating until T 温差 ≤T1, running in a PID program mode to adjust the power until the stove is turned off and the device is stopped after the user turns off the water. The control method can greatly improve the heating performance of the domestic hot water of the device by using the setting unit to virtually replace the domestic water inlet temperature before starting the gas wall-hung stove without a domestic hot water inlet temperature sensor, and then running the device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, in particular to a control method, system and device without a domestic hot water inlet temperature sensor suitable for gas water heaters and gas wall-hanging furnaces. BACKGROUND

[0002] The gas equipment mainly providing hot water for household users in the market is a gas water heater and a gas wall-hanging furnace. The gas water heater refers to a gas appliance that uses gas as fuel and heats cold water flowing through a heat exchanger by combustion to achieve the purpose of preparing hot water. The gas wall-hanging furnace is a gas appliance that uses gas as fuel for heating and has both heating and domestic hot water functions.

[0003] Currently, there are two main ways to control the heating of domestic hot water for water heaters, hot water furnaces and other equipment.

[0004] The first way is without a domestic hot water inlet temperature sensor. In this control method, the initial value of the fire size is a fixed set value when the device is just ignited, and then the current outlet water temperature is repeatedly collected and compared with the target temperature. The fire size is adjusted through the internal PID mode until the outlet water temperature stabilizes at the target value. Since the initial value of the fire size is fixed when the device is just ignited in this control method, the device cannot adaptively select the appropriate initial fire size, resulting in a large difference in the heating speed of the water due to different inlet water temperatures, which makes the outlet water temperature fluctuate in different seasons, affecting the user experience.

[0005] The second way is with a domestic hot water inlet temperature sensor. This control method adds a domestic water inlet temperature sensor based on the above control method. When the device starts the domestic hot water function, the heat absorbed by the water during heating is calculated based on the collected domestic water inlet temperature, domestic water flow and target temperature, and the initial value of the fire size is determined. Then the current outlet water temperature is repeatedly collected and compared with the target temperature, and the fire size is adjusted through PID until the outlet water temperature stabilizes at the target value. The above method improves the control logic and greatly improves the heating performance of domestic water due to the addition of a domestic water inlet temperature sensor in hardware.

[0006] However, since some old users still use water heaters / hot water furnaces without a domestic hot water inlet temperature sensor in the gas equipment they use, they cannot adopt the second control method. In order to avoid the cost of installing an inlet temperature sensor, the control method needs to be improved, but there is no control scheme in the current traditional technology to solve the above problem. SUMMARY

[0007] In order to overcome the shortcomings of the prior art, one of the purposes of the present application is to provide a control method without a domestic hot water inlet temperature sensor, which solves the above-mentioned traditional problems and still improves the heating performance of the domestic hot water of the gas water heater / gas wall-hanging stove without installing a domestic hot water inlet temperature sensor.

[0008] The second purpose of the present application is to provide a control system using the control method without a domestic hot water inlet temperature sensor.

[0009] The third purpose of the present application is to provide a control device using the control method without a domestic hot water inlet temperature sensor.

[0010] One of the purposes of the present application is achieved by the following technical solutions:

[0011] A control method without a domestic hot water inlet temperature sensor, comprising the following steps:

[0012] S1: before starting the gas wall-hanging stove, starting the domestic water inlet temperature setting unit, acquiring the current collected temperature, and recording the current collected temperature as the domestic water inlet temperature T 进 ;

[0013] S2: acquiring the target temperature T 设 , acquiring the real-time domestic water outlet temperature T 出 feedback by the domestic water outlet temperature sensor;

[0014] S3: when detecting that the water flow is greater than 2.5L / min, and T 出 <T 设 , starting the domestic hot water heating mode; if T 温差 =T 设 -T 出 >T1, running in the maximum power mode, performing fast preheating, until T 温差 ≤T1, running the PID program mode, adjusting the fire size to stabilize the outlet temperature within the target temperature range, until the user turns off the water and the stove is turned off; wherein T1 is a preset temperature difference threshold.

[0015] Preferably, in step S1, the operation steps of the domestic water inlet temperature acquisition unit are:

[0016] Enter the setting interface, select the setting time period, select the acquisition mode, record the collected temperature as the domestic water inlet temperature in the current setting time period, save the parameters, and exit the setting.

[0017] Preferably, the setting time period is divided into day and night; the acquisition mode is divided into manual input mode and actual automatic acquisition mode.

[0018] Preferably, the preset temperature difference threshold T1 is 4-8℃ in step S3.

[0019] Preferably, T1=5℃.

[0020] Preferably, in step S3, the specific operation steps in the step of adjusting the fire size in the PID program mode are as follows:

[0021] The current water flow Q is collected, Pn and H are calculated according to the formula Pn=c×(Q / 60)×△t and H=z×(Pn / Pmax)×Hmax, and the fire size is adjusted according to the calculated H, Pn and PID program mode, so that the outlet water temperature is stabilized in the target temperature range until the user turns off the water and the fire is extinguished and the machine is stopped.

[0022] Wherein, H is the initial fire size value, Pn is the power required for the outlet water temperature to reach the target temperature, Q is the water flow, △t is the temperature rise between the outlet water temperature and the target temperature, c is the specific heat capacity of water, Pmax is the maximum power of the stove, Hmax is the fire value corresponding to the maximum power of the stove, and z is a fixed coefficient.

[0023] Preferably, z=1.1.

[0024] Preferably, the specific operation of the PID program mode is as follows:

[0025] S30: When the water flow Q<4.5L / min, set the PID parameter value to the first group of parameters, and adjust the fire size by using the PID algorithm of the first group of parameters;

[0026] S31: When the water flow 4.5L / min≤Q≤6.5L / min, set the PID parameter value to the second group of parameters, and adjust the fire size by using the PID algorithm of the second group of parameters;

[0027] S32: When the water flow Q>6.5L / min, set the PID parameter value to the third group of parameters, and adjust the fire size by using the PID algorithm of the third group of parameters.

[0028] The second object of the application is achieved by using the following technical scheme:

[0029] A control system without a domestic hot water inlet temperature sensor, comprising:

[0030] An inlet water temperature resetting module, configured to start a domestic water inlet temperature setting unit before starting the gas wall-hanging stove, acquire the current collected temperature, and record the current collected temperature as the domestic water inlet temperature T 进 ;

[0031] A data acquisition module, configured to acquire a target temperature T 设acquire real-time domestic water outlet temperature T fed back by a domestic water outlet temperature sensor 出 ;

[0032] a judging and executing module, which is used for starting a domestic hot water heating mode when it is detected that the water flow is greater than 2.5 L / min and T 出 <T 设 ; if T 温差 =T 设 -T 出 >T1, running in a maximum power fire mode to perform fast preheating until T 温差 ≤T1, running a PID program mode to adjust the fire size so as to stabilize the outlet temperature in a target temperature range until the user turns off the water and the fire is extinguished to stop; wherein T1 is a preset temperature difference threshold.

[0033] The third object of the present application is achieved by using the following technical scheme:

[0034] A control device comprises a storage device and a processor, the storage device stores a program for realizing the control method; the processor loads the program stored in the storage device and executes the steps of the control method.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] The control method can greatly improve the heating performance of the gas water heater / gas wall-hanging stove for domestic hot water without adding a domestic water inlet temperature sensor and other hardware costs and improvement costs, and can achieve the same effect. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 The control flow chart before the device is started in the control method without a domestic hot water inlet temperature sensor of the present application;

[0038] Figure 2 The control flow chart after the device is started in the control method without a domestic hot water inlet temperature sensor of the present application. DETAILED DESCRIPTION

[0039] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In the description of this invention, it should be understood that when an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be intermediate elements present. Conversely, when an element is referred to as being "directly" connected to another element, there are no intermediate elements.

[0042] Example 1

[0043] like Figure 1 and Figure 2 As shown, a control method without a domestic hot water inlet temperature sensor is applicable to gas-fired water heaters and gas-fired heating water boilers (wall-hung boilers). This method improves the heating performance of domestic hot water in gas water heaters / gas-fired wall-hung boilers even without a domestic hot water inlet temperature sensor. The following control method uses a gas-fired wall-hung boiler as an example and includes the following steps:

[0044] S1: Before starting the gas-fired wall-hung boiler, activate the domestic water inlet temperature setting unit to acquire the currently collected temperature and record it as the domestic water inlet temperature T. 进 After saving the parameters, exit the settings.

[0045] In one embodiment, the operation steps of the domestic water inlet temperature acquisition unit are as follows:

[0046] Enter the settings interface, select the set time period, select the collection mode, record the collected temperature as the domestic water inlet temperature within the current set time period, save the parameters, and exit the settings.

[0047] The time period is divided into day and night to avoid the large temperature difference between day and night in winter, which affects the temperature collected in day and night and affects the effect of the subsequent heating program. The collection mode is divided into manual input mode and actual automatic collection mode. When the manual input mode is selected, the manual set temperature is manually input, and the manual set temperature is recorded as the domestic water inlet temperature in the current set time period. When the actual automatic collection mode is selected, the tap is opened, and the water flows through the wall-mounted boiler. At this time, the wall-mounted boiler is not ignited, and the wall-mounted boiler detects that there is water flow at present. At the same time, the domestic water outlet temperature sensor is used to collect the domestic water outlet temperature every 10 seconds. When the same temperature is collected for five times in succession or the temperature difference is not more than 2°C, the current domestic water outlet temperature is recorded as the domestic water inlet temperature in the current set time period, that is, the domestic water outlet temperature at this time is the domestic water inlet temperature.

[0048] In other embodiments, the domestic water inlet temperature collection unit can also be applied to the case where the domestic hot water inlet temperature sensor fails, so as to re-collect and define the domestic water inlet temperature, so that the device can still operate normally without waiting for technical personnel to repair, and the heating performance of the domestic hot water of the device can be maintained at a good control performance.

[0049] S2: Obtain target temperature T 设 , that is, the domestic water outlet temperature set threshold, obtain the real-time domestic water outlet temperature T 出 feedback by the domestic water outlet temperature sensor;

[0050] S3: When the gas wall-mounted boiler detects that the water flow is greater than 2.5 L / min, and T 出 <T 设 , that is, the starting condition of the domestic hot water is reached, start the domestic hot water heating mode, that is, ignite the wall-mounted boiler; if there is no demand for domestic hot water, that is, the water flow is not greater than 2.5 L / min, then turn off the fire and stop the machine;

[0051] If T 温差 =T 设 -T 出 >T1, run in the maximum power mode to perform rapid preheating until T 温差 ≤T1, run in the PID program mode to adjust the fire size so that the outlet temperature is stable within the target temperature range (that is, the fluctuation temperature difference between T 出 and T 设 is small, such as ±0.5°C, ±1°C, ±1.5°C, ±2°C, etc.), until the user turns off the water and the fire is extinguished and the machine is stopped; wherein T1 is a preset temperature difference threshold. Optionally, the preset temperature difference threshold T1 is 4°C-8°C; in this embodiment, the preset temperature difference threshold T1 is 5°C.

[0052] In one embodiment, in the step of adjusting the size of the fire in the PID program mode, the specific operation steps are as follows:

[0053] The current water flow Q is collected, the power Pn required for the water temperature to reach the target temperature and the initial fire size value H are calculated according to the formula Pn = c x (Q / 60) x Δt and H = z x (Pn / Pmax) x Hmax, and the fire size is adjusted according to the initial fire size value H, the power Pn and the PID program mode, so that the outlet water temperature is stabilized within the target temperature range until the user turns off the water and the fire is extinguished.

[0054] In the formula, H is the initial fire size value, with the unit of J / s; Pn is the power required for the outlet water temperature to reach the target temperature, with the unit of J / s; c is the specific heat capacity of water, with the unit of J / (kg.℃); Δt is the temperature rise between the outlet water temperature and the target temperature, i.e. Δt = |T 设 -T 出 |, with the unit of K; Q is the water flow, with the unit of L / min; Pmax is the maximum power of the stove, with the unit of J / s; Hmax is the fire value corresponding to the maximum power of the stove, with the unit of J / s; z is a fixed coefficient, which is set by the fixed system according to the model and the region, and in this embodiment, z = 1.1; the maximum value of H is Hmax, and if H exceeds Hmax, it is set to Hmax, i.e. H 最大 = Hmax.

[0055] In other embodiments, in order to improve the heating stability, the program can adaptively select the parameter value of the corresponding PID according to the current water flow (the program has set and debugged three groups of parameters in advance), corresponding to different water flow ranges, and then adjust the fire size through the PID algorithm, so that the outlet water temperature is finally stabilized within the target temperature range until the user turns off the water and the fire is extinguished. Specifically, in the step of adaptively selecting the parameter value of the corresponding PID according to the current water flow, the specific operation steps are as follows:

[0056] S30: When the water flow Q < 4.5 L / min, the parameter value of the PID is set to the first group of parameters, and the PID algorithm with the first group of parameters is used to adjust the fire size;

[0057] S31: When the water flow 4.5 L / min ≤ Q ≤ 6.5 L / min, the parameter value of the PID is set to the second group of parameters, and the PID algorithm with the second group of parameters is used to adjust the fire size;

[0058] S32: When the water flow Q > 6.5 L / min, the parameter value of the PID is set to the third group of parameters, and the PID algorithm with the third group of parameters is used to adjust the fire size;

[0059] S33: After adjusting the fire size, the outlet water temperature is finally stabilized in the target temperature range until the user turns off the water and the fire is extinguished. If the flow rate changes, the corresponding PID parameter value is selected again.

[0060] In this embodiment, the PID parameter values in the first group of parameter groups, the second group of parameter groups, and the third group of parameter groups are already set during program installation. The PID parameter values are repeatedly debugged according to the heating time of different water flow rates during development, and the obtained adjustment curve is not described here.

[0061] The above control method can greatly improve the heating performance of the gas water heater / gas wall-hanging stove for domestic hot water without a domestic hot water inlet temperature sensor. The control method uses a setting unit to virtually replace the domestic water inlet temperature before the gas wall-hanging stove starts, and then uses the domestic water inlet temperature, the target temperature, the outlet water temperature, the water flow rate, and the control mode to operate the device. This can achieve the same effect without adding hardware costs and improvement costs such as a domestic water inlet temperature sensor.

[0062] Embodiment 2

[0063] A control system without a domestic hot water inlet temperature sensor, comprising:

[0064] An inlet temperature resetting module is configured to start a domestic water inlet temperature setting unit before the gas wall-hanging stove starts, acquire the current collected temperature, and record the current collected temperature as the domestic water inlet temperature T 进 ;

[0065] A data acquisition module is configured to acquire a target temperature T 设 , and acquire a real-time domestic water outlet temperature T 出 feedback by a domestic water outlet temperature sensor.

[0066] A judgment and execution module is configured to start a domestic hot water heating mode when it is detected that the water flow rate is greater than 2.5 L / min and T 出 <T 设 ; if T 温差 =T 设 -T 出 >T1, a maximum power fire mode is run for fast preheating until T 温差 ≤T1, a PID program mode is run to adjust the fire size so that the outlet water temperature is stabilized in the target temperature range until the user turns off the water and the fire is extinguished. Wherein, T1 is a preset temperature difference threshold.

[0067] The control system of the hot water inlet temperature sensor without life of the application is realized by the hot water inlet temperature resetting module, the data acquisition module and the judgment and execution module, so that the device can still improve the heating performance of the gas water heater / gas wall-hanging stove in the case of the hot water inlet temperature sensor.

[0068] Embodiment 3

[0069] A control device comprises a storage device and a processor, the storage device stores a program for realizing the control method; the processor loads the program stored in the storage device and executes the steps of the control method.

[0070] Further, it should be understood that, since the setting of each module is only for illustrating the functional units of the system of the application, the physical device corresponding to the module can be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of the software and the hardware. Therefore, the number of each module in the figure is only illustrative.

[0071] The technical features of the above-mentioned embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0072] The above-mentioned embodiments only express several embodiments of the application, the description is more specific and detailed, but it cannot be understood as the limitation of the scope of the patent. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which belong to the protection scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A control method of a hot water supply device without a water inlet temperature sensor, characterized by, The method comprises the following steps: S1: before the gas wall-hanging stove is started, a domestic water inlet temperature setting unit is started, a current collected temperature is acquired, and the current collected temperature is recorded as a domestic water inlet temperature T 进 ; The operation steps of the domestic water inlet temperature acquisition unit are as follows: In the setting interface, a setting time period is selected, an acquisition mode is selected, the acquired temperature is recorded as the domestic water inlet temperature in the current setting time period, parameters are saved, and then the setting is exited; the setting time period is divided into day and night; the acquisition mode is divided into a manual input mode and an actual automatic acquisition mode; when the manual input mode is selected, a manual setting temperature is manually input, and the manual setting temperature is recorded as the domestic water inlet temperature in the current setting time period; when the actual automatic acquisition mode is selected, a tap is opened, water flows through the wall-hanging stove, the wall-hanging stove is not ignited at this time, the wall-hanging stove detects that there is current water flow, a domestic water outlet temperature sensor is used, the domestic water outlet temperature is acquired every 10 seconds, when the same temperature is acquired for five times in succession or the temperature difference is less than 2 DEG C, the current domestic water outlet temperature is recorded as the domestic water inlet temperature in the current setting time period, that is, the domestic water outlet temperature at this time is the domestic water inlet temperature; S2: obtaining a target temperature T 设 , obtaining a real-time domestic water outlet temperature T 出 feedback by a domestic water outlet temperature sensor S3: When the water flow is detected to be greater than 2.5 L / min, and T 出 <T 设 = T 温差 = T 设 -T 出 >T1, the domestic hot water heating mode is started; if T 温差 ≤T1, the PID program mode is run to adjust the fire size so that the outlet water temperature is stabilized within the target temperature range until the user turns off the water and the fire is extinguished to stop; wherein T1 is a preset temperature difference threshold. In the step of adjusting the size of the fire in the running PID program mode, the specific operation steps are as follows: The current water flow Q is acquired, Pn and H are calculated according to the formula Pn = c x (Q / 60) x △t and H = z x (Pn / Pmax) x Hmax, the size of the fire is adjusted according to the calculated H, Pn and the PID program mode, so that the outlet temperature is stabilized in the range of the target temperature, and the fire is extinguished and the machine is stopped until the user turns off the water; H is an initial fire size value, Pn is the power required for the outlet temperature to reach the target temperature, Q is the water flow, △t is the temperature rise between the outlet temperature and the target temperature, c is the specific heat capacity of water, Pmax is the maximum power of the stove, Hmax is the fire value corresponding to the maximum power of the stove, and z is a fixed coefficient; z = 1.1; The specific operation of the PID program mode is as follows: S30: when the water flow Q is less than 4.5 L / min, the parameter value of the PID is set to the first group of parameters, and the PID algorithm of the first group of parameters is used to adjust the size of the fire; S31: when the water flow 4.5 L / min≤Q≤6.5 L / min, the parameter value of the PID is set to the second group of parameters, and the PID algorithm of the second group of parameters is used to adjust the size of the fire; S32: when the water flow Q is greater than 6.5 L / min, the parameter value of the PID is set to the third group of parameters, and the PID algorithm of the third group of parameters is used to adjust the size of the fire.

2. The control method of hot water supply without a live water temperature sensor according to claim 1, characterized by, In step S3, the preset temperature difference threshold T1 is 4 DEG C-8 DEG C.

3. The control method of hot water supply without a water inlet temperature sensor according to claim 2, characterized by, T1=5℃。 4. A control system for a domestic hot water supply without a water inlet temperature sensor, characterised in that, The method comprises the following steps: The water inlet temperature resetting module is used to start the domestic water inlet temperature setting unit before the gas wall-hanging stove is started, acquire the current collected temperature, and record the current collected temperature as the domestic water inlet temperature T 进 ; The operation steps of the domestic water inlet temperature acquisition unit are as follows: The setting interface is entered, a setting time period is selected, a collection mode is selected, the collected temperature is recorded as the domestic water inlet temperature in the current setting time period, parameters are saved, and the setting is exited; the setting time period is divided into day and night; the collection mode is divided into a manual input mode and an actual automatic collection mode; when the manual input mode is selected, a manual setting temperature is manually input, and the manual setting temperature is recorded as the domestic water inlet temperature in the current setting time period; when the actual automatic collection mode is selected, a tap is opened, water flows through the wall-hanging stove, the wall-hanging stove is not ignited at this time, the wall-hanging stove detects that there is current water flow, a domestic water outlet temperature sensor is used, the domestic water outlet temperature is collected every 10 s, when the same temperature is collected for five times in succession or the temperature difference is less than 2 ℃, the current domestic water outlet temperature is recorded as the domestic water inlet temperature in the current setting time period, that is, the domestic water outlet temperature at this time is the domestic water inlet temperature; A data acquisition module is configured to acquire a target temperature T 设 , and acquire a real-time domestic water outlet temperature T 出 feedback by a domestic water outlet temperature sensor. A judging and executing module is configured to start a domestic hot water heating mode when it is detected that the water flow is greater than 2.5 L / min and T 出 <T 设 = T 温差 = T 设 -T 出 >T1, run in a maximum power fire mode for fast preheating until T 温差 ≤T1, then run in a PID program mode to adjust the fire size so that the outlet water temperature is stabilized in a target temperature range, and then turn off the fire and stop the machine after the user turns off the water; wherein T1 is a preset temperature difference threshold. In the step of adjusting the size of the fire in the PID program mode, the specific operation steps are as follows: The current water flow Q is collected, Pn and H are calculated according to the formula Pn=c×(Q / 60)×△t and H=z×(Pn / Pmax)×Hmax, the size of the fire is adjusted according to the calculated H, Pn and the PID program mode, so that the outlet temperature is stabilized in the range of the target temperature, and the fire is extinguished and the machine is stopped until the user turns off the water; Wherein, H is the initial fire size value, Pn is the power required for the outlet temperature to reach the target temperature, Q is the water flow, △t is the temperature rise between the outlet temperature and the target temperature, c is the specific heat capacity of water, Pmax is the maximum power of the stove, Hmax is the fire value corresponding to the maximum power of the stove, and z is a fixed coefficient; z=1.1; The specific operation of the PID program mode is as follows: S30: when the water flow Q is less than 4.5 L / min, the parameter value of the PID is set to the first group of parameters, and the PID algorithm of the first group of parameters is used to adjust the size of the fire; S31: when the water flow 4.5 L / min≤Q≤6.5 L / min, the parameter value of the PID is set to the second group of parameters, and the PID algorithm of the second group of parameters is used to adjust the size of the fire; S32: when the water flow Q is greater than 6.5 L / min, the parameter value of the PID is set to the third group of parameters, and the PID algorithm of the third group of parameters is used to adjust the size of the fire.

5. A control device characterized by comprising: The control method comprises a storage device and a processor, the storage device stores a program for implementing the control method according to any one of claims 1-3; and the processor loads the program stored in the storage device and executes the steps of the control method according to any one of claims 1-3.

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