Tower crane tilt monitoring system, method and storage medium

Abstract

The application discloses a tower crane side inclination monitoring system, method and storage medium. The tower crane side inclination monitoring system comprises a processing device, a laser emitting device arranged at a first position of a top end area of a tower body and a laser receiving device arranged at a second position of a bottom end area of the tower body, wherein the processing device is used for calculating a side inclination angle of the tower body according to a laser receiving position offset distance of the laser receiving device and a distance between the first position and the second position. According to the scheme of the application, the side inclination offset degree (laser receiving position offset distance) of the tower body before and after side inclination is reflected through the interaction between the laser emitting device and the laser receiving device arranged at the top and bottom ends of the tower body of the tower crane, and the side inclination angle of the tower body is calculated based on the side inclination offset degree and the height difference between the upper and lower arrangement positions, so that the measurement accuracy of the side inclination angle of the tower body can be effectively improved, and the control performance of the tower crane and the safety performance of the tower crane are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tower cranes, and particularly relates to a tower crane side inclination monitoring system and method and a storage medium. BACKGROUND

[0002] In the fields of industry, production and construction, a tower crane is often used in high-altitude operations. The tower crane is a rotary crane with a movable arm mounted on the upper part of a high tower. It has a large working range and is mainly used for vertical transportation of materials and installation of components in the process of high-altitude hoisting of multi-story and high-rise buildings. It mainly consists of three parts, i.e., a metal structure, a working mechanism and an electrical system. The metal structure includes a base, a tower body (standard section), a boom, a counterweight, a balance arm (carrying a counterweight), a luffing trolley and a hook, a jacking mechanism, a cab, an attachment rod and the like. The working mechanism includes four parts, i.e., hoisting, luffing, rotating and walking. The electrical system includes a motor, a controller, a power distribution frame, a connection line, a signal and lighting device and the like.

[0003] Due to the high working position, variable amplitude, rotation and lifting of the tower crane, there is a certain safety risk in operation. For example, during hoisting operations, different hoisting weights and different positions of the hook on the boom will cause different degrees of inclination of the tower body. If extreme weather and geological factors such as settlement and surface cracking are encountered, or the limit of hoisting is exceeded, the hook is mis-hooked on other buildings, etc., the tower crane is prone to side overturning accidents.

[0004] Therefore, the side inclination degree of the tower crane is one of the important indicators affecting the safe operation of the tower crane. In the prior art, the side inclination degree of the tower crane is generally monitored by an inclinometer, and in some cases, a gyroscope is also used. However, the inclinometer and the gyroscope are limited by their own conditions, i.e., they need to be fixed at a certain position of the tower body. Therefore, the inclination (side inclination degree) that can be detected is only the inclination angle at this position, which cannot completely represent the side inclination of the tower body. Therefore, the side inclination monitoring scheme based on the inclinometer and the gyroscope is not accurate and stable enough.

[0005] In view of the above defects and deficiencies, it is urgent for technical personnel in the field to improve and solve them technically. SUMMARY

[0006] Therefore, the present application aims to provide a tower crane side inclination monitoring system and method and a storage medium, which can more accurately monitor the side inclination degree of the tower body of the tower crane, thereby improving the control performance and safety performance of the tower crane.

[0007] In a first aspect, the embodiment of the application provides a tower crane side tilt monitoring system, which comprises a processing device, a laser emitting device arranged at a first position of a top end region of a tower body, and a laser receiving device arranged at a second position of a bottom end region of the tower body, wherein the processing device is configured to calculate a side tilt angle of the tower body according to a laser receiving position offset distance of the laser receiving device and a distance between the first position and the second position.

[0008] Further, a non-emitting end of the laser emitting device is upwardly mounted at a bottom side of the top end of the tower body.

[0009] Further, the non-emitting end of the laser emitting device is mounted at the bottom side of the top end of the tower body through a damping device.

[0010] Further, a counterweight is arranged on the laser emitting device.

[0011] Further, the distance between the first position and the second position is a distance between a mounting connection of the laser emitting device and the tower body and a laser receiving surface of the laser receiving device.

[0012] Further, a wind shield is arranged around the laser emitting device.

[0013] Further, the laser receiving device is a laser receiving array group, and a laser receiving surface of the laser receiving array group comprises a plurality of laser receiving points arranged at intervals.

[0014] Further, the arrangement structure of the plurality of laser receiving points satisfies the following condition: when laser is emitted to the laser receiving array group, the plurality of laser receiving points can be covered.

[0015] Further, the plurality is four.

[0016] Further, the laser receiving position offset distance is calculated according to a distance between two laser receiving positions before and after the side tilt, and coordinates of the two laser receiving positions are average values of coordinates of the covered plurality of laser receiving points.

[0017] In a second aspect, the embodiment of the application provides a tower crane side tilt monitoring method, which comprises the following steps: controlling a laser emitting device arranged at a first position of a top end region of a tower body to emit laser downward; determining a laser receiving position offset distance according to laser receiving position information fed back by a laser receiving device arranged at a second position of a bottom end region of the tower body; and calculating a side tilt angle of the tower body according to the laser receiving position offset distance and a distance between the first position and the second position.

[0018] Further, the laser receiving device is a laser receiving array, a laser receiving surface of the laser receiving array includes a plurality of laser receiving points arranged at intervals; and the laser receiving position offset distance is specifically determined according to the laser receiving position information fed back by the laser receiving device located at the second position in the bottom end area of the tower body, that is, coordinates of the first laser receiving position and coordinates of the second laser receiving position are determined according to the laser receiving position information fed back by the laser receiving device located at the second position in the bottom end area of the tower body, and a distance between the coordinates of the first laser receiving position and the coordinates of the second laser receiving position is determined as the laser receiving position offset distance.

[0019] In a third aspect, a computer storage medium storing a computer program is provided, and the computer program is executed by a processor to implement the tower tilt monitoring method in any one of the preceding aspects.

[0020] After the technical solutions of the embodiments of the present application are adopted, the interaction between the laser emitting device and the laser receiving device arranged at the top and bottom ends of the tower body reflects the side tilt offset degree (laser receiving position offset distance) of the tower body before and after the side tilt, and the side tilt angle of the tower body is calculated based on the side tilt offset degree and the height difference between the top and bottom (the distance between the first position in the top end area and the second position in the ground area), which can effectively improve the measurement accuracy of the side tilt angle of the tower body, thereby improving the control performance and safety performance of the tower crane.

[0021] In some more specific solutions based on the above, a damping device is also used for the installation between the laser emitting device and the bottom side of the top end of the tower body, which can ensure that the laser emitting device emits laser downward as much as possible in a manner perpendicular to the horizontal plane, and prevent the laser emitting device from swinging with the tower body, so that the measurement accuracy can be further improved and the interference can be reduced; in addition, in order to further improve the measurement accuracy and reduce the interference, a wind shield can be arranged around the laser emitting device, or a counterweight can be arranged on the laser emitting device. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A flowchart of the tower tilt monitoring method provided by the embodiments of the present application is shown;

[0023] Figure 2 A framework diagram of the processing device in the tower tilt monitoring system provided by the embodiments of the present application is shown;

[0024] Figure 3 An arrangement structure diagram of the laser emitting device in the tower tilt monitoring system provided by the embodiments of the present application is shown;

[0025] Figure 4 A receiving surface arrangement diagram of one implementation of the laser receiving device in the tower tilt monitoring system provided by the embodiments of the present application is shown.

[0026] Figure 5 The tower crane side inclination monitoring system provided by the embodiment of the present application is illustrated by the schematic diagram of the tower body change before and after side inclination;

[0027] Figure 6 For Figure 4 The schematic diagram of the laser receiving position offset before and after side inclination of the laser receiving device.

[0028] Reference signs:

[0029] 1 tower body

[0030] 10 tower body top end

[0031] 2 laser emitting device

[0032] 21 damping device

[0033] 22 wind shield

[0034] 23 laser

[0035] 3 laser receiving device

[0036] 31 laser receiving point DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other at will.

[0038] The following will be described with reference to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 . Considering that the embodiments of the present application provide a system, i.e., a tower crane side inclination monitoring system, and a method, i.e., a tower crane side inclination monitoring method, for the convenience of understanding and description, the following will be described according to the needs.

[0039] In conjunction with Figures 2 to 6As shown, the tower crane side inclination monitoring system provided by the embodiments of the present application can include a processing device, a laser emitting device 2 arranged at a first position of a top end region of the tower body 1, and a laser receiving device 3 arranged at a second position of a bottom end region of the tower body 1, wherein the laser emitting device 2 is configured to emit laser 23 (laser beam) downward from a high place, and the laser receiving device 3 is configured to receive the laser 23 emitted by the laser emitting device 2. During operation, the laser emitting device 2 emits laser 23 at a certain period, and correspondingly, the laser receiving device 3 performs receiving operation. If the tower body 1 inclines, the laser receiving position of the laser receiving device 3 will be offset before and after the inclination, i.e., a laser receiving position offset distance is generated. The processing device can include a first calculation unit, a second calculation unit and a third calculation unit, wherein the first calculation unit can be configured to calculate the laser receiving positions before and after the inclination according to the feedback of the laser receiving device 3, the second calculation unit can be configured to calculate the laser receiving position offset distance according to the two laser receiving positions before and after the inclination, and the third calculation unit can be configured to calculate the inclination angle of the tower body according to the laser receiving position offset distance and the distance between the first position and the second position.

[0040] In summary of the above and the prior art, in the prior art, the inclination degree of the tower crane is generally monitored by an inclination meter, and in some cases, a gyroscope is also used. However, the inclination meter and the gyroscope are limited by their own conditions, i.e., they need to be fixed at a certain position of the tower body, and thus the inclination (inclination degree) that can be detected is only the inclination angle of this position, which cannot completely represent the inclination of the tower body. Therefore, the inclination monitoring scheme based on the inclination meter and the gyroscope is not accurate and stable enough. After the scheme of the above embodiments is adopted, the laser transmitting and receiving devices arranged at the top end region and the bottom end region of the tower body are used to measure the relevant data, which can almost reflect the inclination of the whole tower body. Moreover, the laser transmitting and receiving devices are used to measure the offset before and after the inclination, which is more accurate and stable than the inclination meter and the gyroscope. Therefore, the scheme of the present application can more accurately monitor the inclination degree of the tower body of the tower crane as a whole, thereby improving the control performance and safety performance of the tower crane.

[0041] On this basis, in specific implementation, the tower crane side tilt monitoring system can be further optimized, for example, in order to facilitate the interaction between the laser emitting device 2 and the laser receiving device 3, the laser emitting device 2 can be installed in the following manner: the non-emitting end of the laser emitting device 2 is upwardly installed at the bottom side of the top end of the tower body 1, that is, the side of the top end inside which faces downward, that is, at the position close to the top of the hollow tower body; in this manner, the distance between the first position and the second position can be the distance between the installation connection of the laser emitting device 2 and the tower body 1 and the laser receiving surface of the laser receiving device 3, of course, in other cases, it is not limited thereto. In order to ensure that the laser emitting device 2 can emit laser 23 downward in a manner perpendicular to the horizontal plane as much as possible, a damping device 21 can be arranged at the installation connection of the laser emitting device 2 above the tower body 1 (that is, the non-emitting end thereof), which can prevent the laser emitting device 2 from swinging with the vibration of the tower body 1, further improving the measurement accuracy and reducing interference. In addition, a wind shield 22 can be arranged around the laser emitting device 2, which can prevent the laser emitting device 2 from swinging with the wind, and / or a corresponding counterweight can be arranged on the laser emitting device 2, which can ensure that the emitting end always irradiates downward in a manner perpendicular to the horizontal plane under the action of gravity, thereby further improving the measurement accuracy and reducing interference.

[0042] In addition, on the basis of the above embodiments and various specific implementation manners, in combination with Figure 4 As shown in the figure, the laser receiving device 3 can adopt a laser receiving array group, in specific implementation, the laser receiving array group is arranged directly below the hollow tower body 1 for receiving the laser signal, and the array group includes a plurality of laser receiving points 31 arranged at intervals, after adopting this scheme, the laser receiving device 3 can capture the laser 23 more accurately. Further, considering that the interval size will affect the detection accuracy, the smaller the interval, the higher the detection accuracy, the layout of each laser receiving point can be further optimized, for example, the layout can satisfy that when the laser 23 irradiates on the array group, at least a plurality of laser receiving points are covered, preferably, the plurality can be four. After adopting this manner, the processing device can calculate the laser receiving position according to the feedback of the laser receiving condition of the laser receiving device 3 (such as the coordinates of the laser receiving points covered by the laser 23), then calculate the laser receiving position offset distance according to the laser receiving position under different states (before and after the side tilt state), and finally calculate the side tilt angle of the tower body 1 according to the laser receiving position offset distance and the height difference.

[0043] In combination with Figure 1 The embodiment of the present application further provides a tower crane side tilt monitoring method, the method comprises the following steps:

[0044] S101, control the laser emitting device to emit laser downward; specifically, control the laser emitting device 2 located at the first position of the top end region of the tower body 1 to emit laser 23 downward.

[0045] S102, determine the laser irradiation receiving position offset distance; specifically, determine the laser receiving position offset distance according to the laser receiving position information fed back by the laser receiving device located at the second position of the tower body bottom end area; in specific implementation, the coordinates of the first laser receiving position (corresponding to the pre-heeling) and the coordinates of the second laser receiving position (corresponding to the post-heeling) can be determined according to the laser receiving position information fed back by the laser receiving device located at the second position of the tower body bottom end area, and then the distance between the coordinates of the first laser receiving position and the coordinates of the second laser receiving position is calculated and determined as the laser receiving position offset distance.

[0046] S103, calculate the heeling angle of the tower body; specifically, calculate the heeling angle of the tower body according to the aforementioned laser receiving position offset distance and the distance between the aforementioned first position and the aforementioned second position. Other descriptions and extensions of the tower crane heeling monitoring method can be referred to the related descriptions of the aforementioned system embodiments, in addition, since the aforementioned tower crane heeling monitoring system has the aforementioned various technical effects, the tower crane heeling monitoring method also has corresponding technical effects, which will not be described here.

[0047] In order to better understand the tower crane heeling monitoring system and method of the foregoing embodiments, the following will be described in combination with the drawings and specific conditions:

[0048] Combining Figure 4 As shown in the figure, after the arrangement of the laser receiving device 3 is completed, the coordinates of each laser receiving point 31 are known, and after the laser receiving device 3 receives the laser 23 emitted from the laser emitting device 2 each time, it will feed back the coordinates of each (4) laser receiving point covered by the laser 23 to the processing device, and the processing device can calculate the laser receiving position p(x, y) according to the following formula:

[0049]

[0050] Among them, is the average value of the x-axis coordinates of the 4 laser receiving points covered by the laser 23, is the average value of the y-axis coordinates of the 4 laser receiving points covered by the laser 23.

[0051] Combining Figure 5 and Figure 6As shown, when the tower body tilts, the top will generally be displaced in the horizontal projection, so when the tower body tilts, the receiving position of the emitted laser 23 of the laser emitting device 2 on the laser receiving device 3 will also be displaced, i.e. from the normal o point to the a point, and the tilt angle is β. The processing device can calculate the laser receiving position o(x, y) before tilting and the laser receiving position a(x, y) after tilting according to the above formula ① before and after tilting, and further calculate the laser receiving position offset distance, i.e. the distance s between the o point and the a point, and the calculation formula is as follows:

[0052]

[0053] Wherein, x a and y a are the coordinate values of the a point, and x0 and y0 are the coordinate values of the o point.

[0054] Then the processing device calculates the tilt angle β of the tower body 1 according to the following formula:

[0055]

[0056] Wherein, h is the distance from the laser emitting device 2 to the laser receiving device 3, and the value of h is determined after the equipment is installed and can be measured.

[0057] Thus, the tilt angle of the tower body 1 can be obtained through the above steps and formulas ①, ② and ③. In addition, in order to prevent other light from affecting the photosensitive plate of the laser receiving device 3, the laser output signal can be identified by using a communication header.

[0058] In specific implementation, the processing device in the above system can be built into a control unit by using a PLC (Programmable Logic Controller), a soft PLC or a single-chip microcomputer, and each detector can be connected through a corresponding I / O, and each controlled object can be connected through a corresponding output driving circuit, and the logic execution of the control unit can be realized by configuring a corresponding program or code.

[0059] The embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program can realize the method of the above embodiment or the function realized by the processing device in the above system when executed by a processor. Since the method and the function of the above embodiment have the above technical effects, the computer storage medium also has corresponding technical effects, which will not be described here.

[0060] It should be noted that in the description of the present application and its embodiments, the orientation or positional relationship indicated by terms such as "top", "bottom", "height" and the like is based on the orientation or positional relationship shown in the drawings or the general description in the actual field conditions, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

[0061] In the present application and its embodiments, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect", "fix" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected, or it can be communicated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] In the present application and its embodiments, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0063] The above disclosure provides many different implementations or examples for implementing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of the specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to the same reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0064] Note that a computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0065] A computer-readable signal medium can include a computer-readable storage medium, which can be any tangible medium that stores computer-readable program code. In addition, a computer-readable signal medium can include any computer-readable medium that transmits computer-readable program code over a computer-readable signal. Computer-readable storage media and computer-readable signal media can be distinct from one another. A computer-readable storage medium can be a tangible medium that stores computer-readable program code. A computer-readable signal medium can transmit computer-readable program code over a computer-readable signal.

[0066] In addition, program code embodied on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0067] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). These network connections are

[0068] The above-described specific embodiments have further detailed the purposes, technical solutions and beneficial effects of the present application, and it should be understood that the above-described is only a specific embodiment of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A tower crane tilt monitoring system, characterized in that, The system includes a processing device, a laser emitting device located at a first position in the top region of the tower body, and a laser receiving device located at a second position in the bottom region of the tower body. The processing device is used to calculate the tilt angle of the tower body based on the laser receiving position offset distance of the laser receiving device and the distance between the first position and the second position. The non-emitting end of the laser emitting device is installed upwards on the bottom side of the top of the tower; the laser emitting device is equipped with a counterweight so that the emitting end always faces downwards under the action of gravity and irradiates in a manner perpendicular to the horizontal plane; The distance between the first position and the second position is the distance between the installation connection point of the laser emitting device and the tower body and the laser receiving surface of the laser receiving device.

2. The tower crane tilt monitoring system as described in claim 1, characterized in that, The non-emitting end of the laser emitting device is installed on the bottom side of the top of the tower body through a damping device.

3. The tower crane tilt monitoring system as described in claim 1, characterized in that, The laser emitting device is surrounded by a windproof cover.

4. The tower crane tilt monitoring system as described in any one of claims 1 to 3, characterized in that, The laser receiving device is a laser receiving array, and the laser receiving surface of the laser receiving array includes multiple laser receiving points arranged at intervals.

5. The tower crane tilt monitoring system as described in claim 4, characterized in that, The arrangement of multiple laser receiving points satisfies the following condition: when the laser is emitted onto the laser receiving array, it can cover multiple laser receiving points.

6. The tower crane tilt monitoring system as described in claim 5, characterized in that, The number of "multiple" refers to four.

7. The tower crane tilt monitoring system as described in claim 5, characterized in that, The offset distance of the laser receiving position is calculated based on the distance between the two laser receiving positions before and after tilting, and the coordinates of the two laser receiving positions are the average of the coordinates of the multiple laser receiving points covered.

8. A method for monitoring the tilt of a tower crane, characterized in that, include: The laser emitting device located at the first position in the top area of ​​the tower body emits a laser downwards, and the non-emitting end of the laser emitting device is installed upwards on the bottom side of the top of the tower body; the laser emitting device is equipped with a counterweight so that the emitting end always faces downwards and irradiates in a way that is perpendicular to the horizontal plane under the action of gravity; The offset distance of the laser receiving position is determined based on the laser receiving position information fed back by the laser receiving device located at the second position in the bottom area of ​​the tower. The tilt angle of the tower is calculated based on the offset distance of the laser receiving position and the distance between the first position and the second position. The distance between the first position and the second position is the distance between the installation connection point of the laser emitting device and the tower body and the laser receiving surface of the laser receiving device.

9. The tower crane tilt monitoring method as described in claim 8, characterized in that, The laser receiving device is a laser receiving array, and the laser receiving surface of the laser receiving array includes multiple laser receiving points arranged at intervals; the determination of the laser receiving position offset distance based on the laser receiving position information fed back by the laser receiving device located at the second position in the bottom area of ​​the tower body is specifically as follows: The coordinates of the first laser receiving position and the coordinates of the second laser receiving position are determined based on the laser receiving position information fed back by the laser receiving device located at the second position in the bottom area of ​​the tower. The distance between the coordinates of the first laser receiving position and the coordinates of the second laser receiving position is defined as the laser receiving position offset distance.

10. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in claim 8 or 9.

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