Control method and device for concealed door handles

Abstract

This invention discloses a control method and apparatus for a concealed door handle. The method includes: controlling entry into a predetermined mode; and in the predetermined mode, controlling the concealed door handle to operate in a retraction-forward impact mode until a preset exit condition is met; wherein, the retraction position is not fixed each time. For example, the retraction position is determined by the running time of the previous forward operation. This invention has comprehensive advantages in terms of cost, ice-breaking effect, and impact on motor lifespan.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control method and device for concealed door handles. Background Technology

[0002] Concealed door handles, also known as recessed door handles or non-protruding door handles, are an innovation in modern automotive design, designed to provide smooth lines and a clean look to vehicles. They are typically opened by touch or slight pressure and offer a more streamlined appearance compared to traditional door handles, helping to reduce wind resistance and improve the vehicle's overall aerodynamic performance. However, in cold climates, concealed door handles can become unusable due to icing, creating a demand for ice-breaking technologies. Currently, the two main ice-breaking solutions in the industry are structural ice breaking and software ice breaking.

[0003] Structural icebreaking solutions primarily rely on the addition of auxiliary devices for de-icing. The advantage of this approach lies in its directness and effectiveness in physical de-icing. By installing devices such as heating elements and mechanical ice scrapers, structural icebreaking can directly heat or scrape away the iced door handles, quickly restoring them to normal use. However, this solution significantly increases vehicle manufacturing costs.

[0004] Software-based ice-breaking solutions rely on the vehicle's electronic systems and software control. They break the ice on the door handle by forcefully impacting it from the rearmost position using a drive motor. The advantage of this approach is that it requires no additional physical devices, thus not increasing the vehicle's manufacturing costs. However, due to limitations in vehicle components and structure, software-based ice-breaking may be less efficient than structural ice-breaking. Furthermore, using a forceful impact from the rearmost position can lead to premature aging of the motor, affecting its lifespan, and the ice-breaking efficiency is also relatively low. Summary of the Invention

[0005] This invention provides a control method and device for concealed door handles, which has comprehensive advantages in terms of cost, ice-breaking effect, and impact on motor life.

[0006] An embodiment of the present invention provides a control method for a concealed door handle, comprising: controlling entry into a predetermined mode; and in the predetermined mode, controlling the concealed door handle to operate in a retraction-forward impact mode until a preset exit condition is met; wherein, the retraction position is not fixed each time it retracts.

[0007] Specifically, when the motor current of the motor used to drive the movement of the concealed door handle is greater than a preset first current threshold, the predetermined mode is entered.

[0008] The preset exit condition is satisfied when at least one of the following is met: the concealed door handle moves to the fully extended position; and the number of positive impacts reaches a preset impact number threshold.

[0009] Specifically, during a forward impact, when the motor current of the motor used to drive the movement of the concealed door handle exceeds a preset second current threshold, the door handle is controlled to stop moving.

[0010] In the retraction-forward impact operation mode, the retraction position is determined by the running time of the previous forward operation, so that the retraction position is not fixed.

[0011] The position of the rollback is controlled by controlling the running time of the rollback operation, and the running time of the rollback operation is a preset proportion of the running time of the previous forward operation.

[0012] The running time of the rollback operation is not less than the preset minimum running time.

[0013] In the event of a forward impact, the motor used to drive the hidden door handle is controlled to operate at maximum output power.

[0014] Among them, the first current threshold, the second current threshold, and / or the number of impacts threshold are related to the ambient temperature.

[0015] The step of controlling the concealed door handle to operate in a retracting-forward impact mode includes: controlling the concealed door handle to retract from a first position to a second position, wherein the first position is the position that triggers entry into the predetermined mode; controlling the concealed door handle to impact forward from the second position and stop at a third position; controlling the concealed door handle to retract from the third position to a fourth position and impact forward from the fourth position, and so on, until the concealed door handle reaches the fully extended position or the number of forward impacts reaches a preset impact number threshold; wherein the third position is further away from the fully retracted position of the concealed door handle compared to the second position.

[0016] An embodiment of the present invention provides a control device for a concealed door handle, comprising: a door handle position detection module for detecting the position of the concealed door handle; a motor drive module for driving the motor of the concealed door handle to move the concealed door handle; a pattern recognition module for controlling entry into a preset mode; and a motor motion control module connected to the door handle position detection module, the motor drive module, and the state detection module, for controlling the door handle to operate in a retraction-forward impact mode when entering the preset mode, until a preset exit condition is met; wherein, in the retraction-forward impact mode, the retraction position is determined by the time of the previous forward movement.

[0017] A computer device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the embodiment of the present invention.

[0018] An embodiment of the present invention provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the method described in the embodiment of the present invention.

[0019] A computer program product according to an embodiment of the present invention includes a computer program / instructions that, when executed by a processor, implement the steps of the method described in the embodiment of the present invention.

[0020] Beneficial effects of the embodiments of the present invention:

[0021] In this embodiment, the door handle operates in a retracting-forward impact mode within a predetermined pattern, wherein the retraction position is not fixed each time. This allows the door handle to impact the ice layer from different positions instead of always impacting from the fully retracted position. This method requires no additional components, thus offering a cost advantage over mechanical ice-breaking methods. Furthermore, this method has less impact on motor lifespan and provides better ice-breaking performance compared to impacting from the fully retracted position. Therefore, this embodiment offers comprehensive advantages in terms of cost, ice-breaking effect, and impact on motor lifespan. Attached Figure Description

[0022] Other details and advantages of the invention will become apparent from the detailed description provided below. It should be understood that the following drawings are merely illustrative and should not be considered as limiting the invention. A detailed description will be given below with reference to the drawings, in which:

[0023] Figure 1 This is a flowchart illustrating an embodiment of the control method for a concealed door handle according to the present invention;

[0024] Figure 2 This is a schematic diagram of an embodiment of the control device for a concealed door handle of the present invention;

[0025] Figure 3 This is a schematic diagram of the ice-breaking process according to an embodiment of the present invention. Detailed Implementation

[0026] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0027] 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 one or more of that feature. Furthermore, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0028] This invention provides a control scheme for concealed door handles, such as an ice-breaking scheme for concealed door handles. This scheme offers comprehensive advantages in terms of cost, ice-breaking effect, and impact on motor lifespan by controlling the door handle's retraction and forward impact operation. Specifically, in this ice-breaking scheme, the door handle does not simply start its forward impact from the fully retracted position each time. Instead, it can impact from different positions, for example, the retraction position can be determined based on the running time of the previous forward operation. This means that if the previous impact fails to completely break the ice layer, the door handle can restart its impact at a position closer to the ice layer, instead of returning to the fully retracted position. This method can be implemented by adding software control to the existing components of the door handle, thus eliminating the need for additional hardware components or complex mechanical structures for ice breaking. Compared to traditional mechanical ice-breaking methods, this reduces manufacturing and maintenance costs, offering a cost advantage. Furthermore, since the door handle does not always start from the fully retracted position, the motor's running time and load are optimized, thereby reducing motor wear and extending its service life. In addition, since the door handle can start impacting the ice from different positions, for example, if the first impact is unsuccessful, the door handle can start impacting again from a position closer to the ice, which can achieve a better ice-breaking effect compared to the traditional fixed-position impact method.

[0029] like Figure 1 The diagram shown is a flowchart illustrating an embodiment of the control method for a concealed door handle according to the present invention. The method includes:

[0030] Step S10: Control the system to enter the predetermined mode.

[0031] The control method of this embodiment can have multiple operating modes, such as a normal operating mode and the predetermined mode in step S10. In the normal operating mode, the concealed door handle is controlled to operate between fully retracted and fully extended, for example, moving from the fully retracted position to the fully extended position at a predetermined speed, or moving from the fully extended position to the fully retracted position. In the predetermined mode, the concealed door handle is controlled to operate as described in step S12.

[0032] Specifically, the system enters a predetermined mode when the following condition is met: the drive current (e.g., motor current) of the concealed door handle exceeds a preset first current threshold. In some embodiments, the concealed door handle is typically driven by a motor. When obstruction occurs within its travel range, the motor increases its output current (i.e., the aforementioned drive current). Therefore, the magnitude of the drive current can be used to determine whether the movement of the concealed door handle is obstructed. In other words, the system can enter a predetermined mode when obstruction is detected. At low temperatures, obstruction of the concealed door handle's movement may be due to icing. At normal or high temperatures, obstruction may be due to dirt accumulation or jamming caused by thermal expansion of the components.

[0033] Based on this, different first current thresholds can be set according to different temperatures, as shown in Table 1 below:

[0034] Table 1:

[0035] Temperature (°C) -30～-20 -20～-10 -10～5 5～40 40～60 Threshold (mA) 2800 2600 2500 2000 3000

[0036] As shown in Table 1, the first current threshold is related to the ambient temperature, which can be collected by sensors installed on the vehicle. Furthermore, the first current threshold is related to different ambient temperature ranges. Simply put, generally below 0 degrees Celsius, the lower the ambient temperature, the higher the first current threshold; conversely, above 0 degrees Celsius, the higher the ambient temperature, the higher the first current threshold. Table 1 also shows that icing is still possible when the temperature is below 5 degrees Celsius; therefore, this scenario is considered in conjunction with icing considerations.

[0037] In addition, to prevent the drive current from briefly exceeding the threshold due to fluctuations and mistakenly entering the predetermined mode, it can be set that the predetermined mode is only entered when the duration of the drive current being greater than the threshold exceeds a set value.

[0038] Step S12: Control the door handle to operate in a retracting-forward impact mode until the preset exit conditions are met.

[0039] In some implementations, step S12 may specifically include: first, controlling the concealed door handle to retract from a first position to a second position; wherein the first position is the position that triggers entry into a predetermined mode. Next, controlling the concealed door handle to thrust forward from the second position and remain at a third position. Then, controlling the concealed door to retract from the third position to a fourth position and thrust forward from the fourth position, and so on, until a preset exit condition is met. The second position is generally different from the fourth position; that is, step S12 can control the concealed door handle to thrust forward from different positions.

[0040] In step S12, the retraction position is not fixed each time. In some embodiments, the retraction position can be determined using the running time of the previous forward run, so that the retraction position is not fixed each time. For example, the retraction distance can be set as: normal operating speed * running time of the previous forward run * proportional coefficient, where the proportional coefficient can be preset, for example, 30%, 40%, or 20%. Therefore, this embodiment may need to time the running time of each forward run.

[0041] In some implementations, since the fully retracted position is the limit of the retraction, the door handle is controlled to stop retracting when it is detected that the door handle has retracted to the fully retracted position.

[0042] In some implementations, the rollback execution time can be set to be no less than a preset minimum execution time. For example, the preset minimum execution time can be 20ms. Assuming the previous forward execution time was 30ms and the scaling factor was 20%, since 30ms * 20% = 12ms < 20ms, the rollback execution time is set to 20ms.

[0043] In some implementations, the "backoff-forward impact" operation mode can be specifically described as: wait-backoff-wait-forward impact-wait-backoff-wait... The waiting duration can be preset, for example, 10 or 20 ms.

[0044] In some implementations, the door handle is controlled to operate at maximum output power or maximum speed during a forward impact, for example, by controlling the drive motor of the door handle with a maximum PWM (Pulse Width Modulation) duty cycle so that the door handle operates at maximum power or maximum speed.

[0045] In some implementations, during a single forward impact, the door handle stops moving when the drive current exceeds a preset second current threshold (e.g., a stall current threshold). This second current threshold is related to the ambient temperature and can be set as shown in Table 2. As shown in Table 2, generally, the lower the temperature, the higher the second current threshold can be.

[0046] In some implementations, the exit conditions for the retraction-forward impact operation mode may include: the door handle moving to the fully extended position, for example, successful ice breaking; and the number of times the "retraction-forward impact" operation has been performed reaching a set threshold, as shown in Table 2. Generally, the lower the temperature, the more times the operation can be repeated. Generally, for applications such as ice breaking, the "retraction-forward impact" operation can be performed multiple times. For applications such as jamming, the "retraction-forward impact" operation is generally performed only once.

[0047] Table 2:

[0048] Temperature (°C) -30～-20 -20～-10 -10～5 5～40 40～60 Threshold (mA) 4400 4100 4100 4000 3800 frequency 5 5 3 1 1

[0049] In addition, if the fully expanded position still cannot be reached after running in the above manner, such as if the ice breaking fails, the user can be prompted to handle it manually in other ways.

[0050] like Figure 3 As shown, an example illustrating the solution of an embodiment of the present invention is provided for scenarios such as icebreaking. Figure 3 As shown in (a), AB is the fully retracted position of the concealed door handle, and AC is the fully extended position. Initially, the door handle is in the fully retracted position shown by AB. Figure 3 As shown in (b), when the door handle moves from AB to AD1, due to the obstruction of the ice layer, the motor current reaches the first current threshold, triggering the ice-breaking mode, and the door handle stops at the position shown in AD1. Figure 3 As shown in (c), the door handle retracts and stops at AB1, where AB1 can be determined based on the travel time of the door handle from AB to AD1. Figure 3 In (a) through (c), the door handle operates at its normal operating speed. For example... Figure 3 As shown in (d), the door handle moves forward from AB1 and stops at AD2. Due to the obstruction of the ice, the motor current of the door handle at AD2 exceeds the second current threshold, thus stopping at AD2. Furthermore, the door handle travels at maximum speed from AB1 to AD2. Figure 3 As shown in (e), the door handle retracts and stops at AB2, where AB2 can be determined based on the travel time of the door handle from AB1 to AD2. Figure 3 As shown in (f), the door handle impacts forward from AB2 and stops at AD3 due to the obstruction of the ice. From AD3, the door handle can be controlled to perform a retraction-forward impact to eventually reach the fully extended position AC.

[0051] like Figure 2The diagram shown is a structural schematic of an embodiment of the control device for a concealed door handle according to the present invention. The control device 20 for the concealed door handle includes: a motor motion control module 201 and a door handle fault detection module 202, a door handle position detection module 203, a pattern recognition module 204, a motor drive module 202, and a door handle status feedback module 206, all connected to the motor motion control module 201. The motor drive module 202 is connected to a motor capable of driving the door handle to move between full retraction and full extension.

[0052] The door handle fault detection module 202 is used to detect whether there are abnormal faults in the door handle, such as short circuit to ground at the motor output pin, open circuit fault in the motor, or overcurrent fault during operation. Specifically, the door handle fault detection module 202 calls the underlying feedback program configured in the motor. This program is a fault detection program for the motor port and can identify faults such as short circuit to ground, short circuit to power supply, and open circuit at the motor end. When a fault is detected, a forced stop command is sent to the motor motion control module 201 to stop the motor movement. If no fault is detected, software overcurrent detection is entered to determine whether the current during motor operation reaches a set threshold (which needs to be maintained for a predetermined time). The set threshold needs to be set according to the current characteristics of the motor to a reasonable current value to protect the motor from damage. When the set overcurrent threshold is reached, overcurrent protection is entered, and a forced stop command is sent to the motor motion control module 201. When the motor motion control module 201 receives the forced stop command, it stops the motor movement.

[0053] The door handle position detection module 203 is used to detect the door handle position and power the motor motion control module 201 to determine the motor's operation. Corresponding switches are provided for both the fully retracted and fully extended positions of the door handle. The position of the door handle is determined by detecting the states of these two switches. Specifically, when the door handle reaches the fully retracted position, the fully retracted position switch is active, and the fully extended position switch is inactive, indicating that the door handle is in the fully retracted position. Similarly, when the door handle reaches the fully extended position, the fully extended position switch is active, and the fully retracted position switch is inactive, indicating that the door handle is in the fully retracted position. If both position switches are inactive, it indicates that the door handle is in the middle of its travel, between the fully retracted and fully extended positions.

[0054] The pattern recognition module 204 is used to detect whether a predetermined mode, such as an ice-breaking mode, needs to be entered, so as to enable the motor motion control module 201 to perform corresponding control. For example, the pattern recognition module 204 can determine whether to enter the predetermined mode by detecting the magnitude of the motor current. If the current reaches a set current threshold and the set duration is reached, it is determined that the predetermined mode has been entered, and an enable signal for the predetermined mode is sent to the motor motion control module 201.

[0055] The motor motion control module 201 is responsible for the logic execution and motor command calculation of a predetermined mode (such as icebreaking). Specifically, the motor motion control module 201 receives motor forced stop commands, door handle position commands, and predetermined mode enable commands from the door handle fault detection module 202, door handle position detection module 203, and pattern recognition module 204. Based on the motor forced stop command, the motor motion control module 201 can control the motor to stop moving via the motor drive module 202. Based on the predetermined mode enable command, the motor motion control module 201 can determine whether to enter a predetermined mode. If the predetermined mode is valid, it enters the predetermined mode; otherwise, it enters the normal operation mode. Depending on the mode, it calculates the motor commands and sends out the corresponding motor control commands.

[0056] The motor drive module 202 is used to parse the execution logic set by the motor motion control module and execute it to control the motor, thereby driving the door handle to operate in a set manner. For example, the motor drive module 202 receives the motor control command from the motor motion control module 201, determines the execution direction, and if it is forward rotation, executes forward rotation and simultaneously sets the corresponding PWM duty cycle; if it is reverse rotation, executes reverse rotation and simultaneously sets the corresponding PWM duty cycle. If neither condition is met, a motor stop command is executed to keep the motor stationary.

[0057] The door handle status feedback module 206 is used to provide feedback on the current status of the door handle, allowing the user to view its operating status. The door handle status can be determined by combining signals such as the motor's running direction, the door handle position, whether a preset (e.g., ice-breaking) mode is enabled, the corresponding PWM duty cycle, and the door handle forced stop signal. This determined status is then sent to the vehicle's CAN network for the user to view.

[0058] Examples of door handle states are as follows: Door handle extended state: Motor rotation is forward, PWM duty cycle is not zero, door handle position is in the middle, and preset mode enable signal is invalid. Door handle retracted state: Motor rotation is reverse, PWM duty cycle is not zero, door handle position is in the middle, and preset mode enable signal is invalid. Door handle specific state: Preset mode enable signal is valid. Door handle fault state: Door handle forced stop command is valid. Door handle stopped state: PWM duty cycle is zero, and motor forced stop command is invalid.

[0059] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in this invention.

[0060] This invention also provides a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the steps of the method described in this invention.

[0061] This invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the method described in this invention.

[0062] The descriptions of the apparatus, storage medium, program product, and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the apparatus, storage medium, program product, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0063] The aforementioned processor can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, microprocessor, etc. It is understood that other electronic devices can also implement the functions of the aforementioned processor, and this application does not specifically limit the specific implementation.

[0064] The aforementioned computer storage media / memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random-access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0065] It should be noted that the above description is merely illustrative and not intended to limit the invention. In other embodiments of the invention, the method may have more, fewer, or different steps, and the order, inclusion, and functional relationships between the steps may differ from those described and illustrated. For example, multiple steps may typically be combined into a single step, or a single step may be split into multiple steps. For those skilled in the art, variations in the order of the steps are also within the scope of protection of this invention without inventive effort.

[0066] The technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor or microcontroller to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0067] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments.

[0068] While the present invention has been disclosed above with reference to preferred embodiments, it is not limited thereto. Any modifications and alterations made by those skilled in the art without departing from the spirit and scope of the invention should be included within the scope of protection of the invention. Therefore, the scope of protection of the invention should be determined by the scope defined in the claims.

Claims

1. A control method for a concealed door handle, characterized in that, include: Control the entry into a predetermined mode; as well as In the predetermined mode, the concealed door handle is controlled to operate in a retracting-forward impact mode until the preset exit condition is met; The rollback position is not fixed each time; In the retraction-forward impact operation mode, the retraction position is determined by the operation time of the previous forward operation, so that the retraction position is not fixed; The position of the rollback is controlled by controlling the running time of the rollback operation, and the running time of the rollback operation is a preset proportion of the running time of the previous forward operation.

2. The control method for a concealed door handle as described in claim 1, characterized in that, When the motor current of the motor used to drive the movement of the concealed door handle is greater than a preset first current threshold, the predetermined mode is entered.

3. The control method for a concealed door handle according to claim 1, wherein The preset exit condition is satisfied when at least one of the following is met: The concealed door handle moves to the fully extended position; and The number of positive impacts reaches the preset impact number threshold.

4. The control method for a concealed door handle according to claim 1, wherein During a forward impact, if the motor current of the motor used to drive the movement of the concealed door handle exceeds a preset second current threshold, the door handle is controlled to stop moving.

5. The control method for a concealed door handle according to claim 1, wherein The runtime of the rollback operation shall not be less than the preset minimum runtime.

6. The control method for a concealed door handle according to claim 1, wherein During a forward impact, the motor used to drive the movement of the concealed door handle is controlled to operate at maximum output power.

7. The control method for a concealed door handle as described in any one of claims 1 to 6, characterized in that, The first current threshold, the second current threshold, and / or the number of impacts threshold are related to the ambient temperature.

8. The control method for a concealed door handle according to claim 1, wherein The steps of controlling the concealed door handle to operate in a retractable-forward impact mode include: Control the concealed door handle to retract from a first position to a second position, wherein the first position is the position that triggers entry into the predetermined mode; The concealed door handle is controlled to move forward from the second position and stop at the third position; Control the concealed door handle to retract from the third position to the fourth position, and then impact it forward from the fourth position, and so on, until the concealed door handle reaches the fully extended position or the number of forward impacts reaches a preset impact number threshold. The third position is further away from the fully retracted position of the concealed door handle compared to the second position.

9. Control device for a concealed door handle, characterized in that include: A door handle position detection module is used to detect the position of the concealed door handle; A motor drive module is used to drive the motor of the concealed door handle to move the concealed door handle; The pattern recognition module is used to control entry into a preset mode; The motor motion control module is connected to the door handle position detection module, the motor drive module and the pattern recognition module. When entering the preset mode, it controls the door handle to operate in a retracting-forward impact mode until the preset exit condition is met. In the retraction-forward impact operation mode, the retraction position is determined by the time of the previous forward operation; The position of the rollback is controlled by controlling the running time of the rollback operation, and the running time of the rollback operation is a preset proportion of the running time of the previous forward operation.

10. A computer device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program comprises instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-9. The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.

11. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 8.

12. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 8.

Images