A vision-enhanced force-position fusion measurement method and device based on optical reflection principle

Abstract

A visually enhanced force-position fusion measurement method and device based on the principle of optical reflection relates to the field of mechanical system design of robots. In order to solve the technical problems existing in the prior art that the existing dexterous hands have too high cost and complexity, and insufficient precision in achieving dexterous operation and control of targets, the technical solution provided by the present invention is as follows: comprising: a fixed base plate and a plane mirror bracket connected perpendicularly to each other; a winding disk and a pulley are sequentially provided along the axial direction of the fixed base plate; a rope is sequentially connected to one end of a spring through the winding disk and the pulley; the spring performs a stretching movement along the axial direction of the fixed base plate; the other end of the spring is used to connect to an external structure; the plane mirror bracket is used to fix a plane mirror, and the plane mirror reflects the light reflected by the spring in the axial direction of the fixed base plate. It is suitable for use in the design of dexterous hands that can efficiently measure force and position.

Description

Technical Field

[0001] The present invention relates to the field of mechanical system design of robots, and more specifically to a dexterous hand that can efficiently measure force and position. Background Art

[0002] The continuous advancement of robotics technology places higher demands on robots' ability to perform complex interactions with their environments. Dexterous hands, with their anthropomorphic, ultra-high degrees of freedom and dexterity, are poised to gradually replace traditional end-of-line grippers, playing a crucial role in aerospace, manufacturing, warehousing, smart healthcare, robotic services, and other fields. Dexterous hands rely on sensing their own force and position information to achieve dexterous manipulation and control. Traditional solutions often involve installing angle encoders and torque sensors at each joint. However, dexterous hands typically possess numerous degrees of freedom, necessitating the purchase of an equal number of position and force sensors, which is costly. Furthermore, the installation and routing of these sensors require additional mechanical design, increasing power consumption, limiting the size of the mechanism, and increasing the complexity of the overall control system. Therefore, a novel design and device for measuring the force and position of dexterous hands is urgently needed. While some researchers have proposed mechanisms for fused force and position measurement, these approaches suffer from limited accuracy and large size. Summary of the Invention

[0003] In order to solve the technical problems in the prior art that the existing dexterous hands are too costly and complex, and have insufficient precision in achieving dexterous operation and control of targets, the technical solution provided by the present invention is as follows:

[0004] The force-position fusion measurement mechanism based on mirror reflection is applied to dexterous hands, including:

[0005] A fixed base plate and a plane mirror bracket connected perpendicularly to each other;

[0006] A winding disk and a pulley are sequentially provided along the axial direction of the fixed base plate;

[0007] The rope is in turn connected to one end of the spring via a winding drum and a pulley;

[0008] The spring performs a stretching motion along the axis direction of the fixed substrate;

[0009] The other end of the spring is used to connect to an external structure;

[0010] The plane mirror bracket is used to fix the plane mirror, and the plane mirror reflects the light reflected by the spring to the axial direction of the fixed substrate.

[0011] Furthermore, a preferred embodiment is provided, wherein both ends of the spring are provided with a reflective marking point on the left end of the spring and a reflective marking point on the right end of the spring, respectively, for capturing position changes by a camera.

[0012] Furthermore, a preferred embodiment is provided, which further includes a steering gear for driving the winding reel.

[0013] Furthermore, a preferred embodiment is provided in which there are two pulleys on the fixed base plate, which are respectively arranged at one end close to the winding drum and one end close to the plane mirror bracket.

[0014] Furthermore, a preferred embodiment is provided, which also includes a measuring unit for collecting the movements of the dexterous hand through machine vision.

[0015] Based on the same inventive concept, the present invention also provides a vision-enhanced force-position fusion measurement method based on the optical reflection principle, which is implemented based on the above-mentioned mechanism and includes:

[0016] The step of collecting the initial marking point positions of the movable pulley and the tension spring;

[0017] The steps of collecting the positions of the change marks of the movable pulley and the spring after the dexterous hand joints rotate by using the image reflected by the plane mirror;

[0018] The step of obtaining the joint rotation angle and the joint rotation torque according to the positions of the movable pulley and the tension spring.

[0019] Based on the same inventive concept, the present invention also provides a vision-enhanced force-position fusion measurement device based on the optical reflection principle, which is implemented based on the above-mentioned mechanism and includes:

[0020] A module for collecting the initial marking point positions of the movable pulley and the tension spring;

[0021] The module collects the position of the change mark points of the movable pulley and spring after the dexterous hand joint rotates through the image reflected by the plane mirror;

[0022] A module for obtaining a joint rotation angle and a joint rotation torque is obtained according to the positions of the movable pulley and the tension spring.

[0023] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method described above.

[0024] Based on the same inventive concept, the present invention also provides a computer, comprising a processor and a storage medium. When the processor reads the computer program stored in the storage medium, the computer executes the method described above.

[0025] Based on the same inventive concept, the present invention also provides a computer program product, which is a computer program. When the computer program is read, the method described above is implemented.

[0026] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0027] The force-position fusion measurement mechanism based on mirror reflection, proposed in this invention, uses a combination of a plane mirror and a light shield array to convert the axial displacement of a spring into lateral displacement within the camera's field of view. This conversion enables the camera to accurately detect the spring's deformation and displacement, significantly improving measurement accuracy and minimum resolution. Unlike traditional binocular cameras that require depth information, this array combination allows a monocular camera to achieve high-precision displacement detection within a smaller space.

[0028] The mirror-reflection-based force-position fusion measurement mechanism provided by this invention converts spring deformation into displacement within the camera's field of view, indirectly obtaining torque information about the dexterous hand joints. This design avoids the direct use of multiple sensors, thereby simplifying the system architecture and reducing cost and complexity. Compared to methods that directly use torque sensors, this indirect measurement method not only reduces the number of sensors but also reduces the system's power consumption.

[0029] The force-position fusion measurement mechanism based on mirror reflection provided by the present invention measures the spring deformation through a visual device (such as a camera) and calculates the tension of the rope and the torque of the joint. At the same time, the joint rotation angle is calculated by measuring the displacement of the top of the spring. This process enables the system to obtain force and position information in real time and accurately. Traditional force and position sensor methods often require complex sensor layouts and high costs, while the visual measurement method is not only low-cost, but also can measure multiple parameters simultaneously within a field of view.

[0030] The mirror-reflection-based force-position fusion measurement mechanism proposed in this paper utilizes a low-cost monocular camera, along with a carefully designed plane mirror and light-shielding array, to simultaneously acquire torque and angle information from all joints of a dexterous hand. This design significantly reduces hardware costs, while also reducing system size and complexity. While traditional multi-sensor solutions often require costly multi-camera systems or multiple independent sensors, monocular camera solutions achieve similar measurement results through optical design.

[0031] The force-position fusion measurement mechanism based on mirror reflection provided by the present invention not only improves the measurement accuracy but also significantly reduces the cost and system complexity through innovative optical design and visual measurement methods, and has obvious advantages over traditional methods.

[0032] The force-position fusion measurement mechanism based on mirror reflection provided by the present invention is suitable for use in the design of dexterous hands that can efficiently measure force and position. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the overall structure of the dexterous hand;

[0034] Figure 2 This is a schematic diagram of a single measurement unit module, i.e., a force-position fusion measurement mechanism based on mirror reflection;

[0035] Figure 3 Schematic diagram of the camera and measurement unit arrangement;

[0036] Figure 4 Schematic diagram of a plane mirror combination array.

[0037] Among them, 1 represents the dexterous hand, 2 represents the measuring unit, 3 represents the rope, 4 represents the pulley, 5 represents the sunshade, 6 represents the spring, 7 represents the plane mirror, 8 represents the plane mirror bracket, 9 represents the reflective mark point at the left end of the spring, 10 represents the reflective mark point at the right end of the spring, 11 represents the servo, 12 represents the winding reel, 13 represents the light source, 14 represents the camera, and 15 represents the measuring module. DETAILED DESCRIPTION

[0038] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail with reference to the accompanying drawings, specifically:

[0039] Embodiment 1: This embodiment provides a force-position fusion measurement mechanism based on mirror reflection, which is applied to a dexterous hand, including:

[0040] A fixed base plate and a plane mirror bracket 8 connected vertically to each other;

[0041] A winding drum 12 and a pulley 4 are sequentially provided along the axial direction of the fixed base plate;

[0042] The rope 3 is connected to one end of the spring 6 through the winding drum 12 and the pulley 4 in turn;

[0043] The spring 6 performs a stretching motion along the axis direction of the fixed substrate;

[0044] The other end of the spring 6 is used to connect to the external structure;

[0045] The plane mirror bracket 8 is used to fix the plane mirror 7. The plane mirror 7 reflects the light reflected by the spring 6 toward the axial direction of the fixed substrate.

[0046] Specifically: It includes the following components, and the shapes, functions and connections between the components are as follows:

[0047] Servo 11:

[0048] The motion is transmitted to the rope 3 via the winding drum 12, thereby achieving motion control of the dexterous hand 1.

[0049] Connected to the winding drum 12 and connected to other components through the rope 3 and spring 6.

[0050] Pulley 4:

[0051] Guide and transmit rope 3 movement.

[0052] Fixed in the structure of the dexterous hand 1, used for guiding the rope 3.

[0053] Extension spring 6:

[0054] When stretched, it generates force, and its deformation is visually measured to calculate rope tension and joint torque.

[0055] One end is connected to the rope 3 and the other end is fixed by a hook. The marking points at both ends of the spring 6 are monitored by reflective marking points.

[0056] Rope 3:

[0057] Transmits tension and motion.

[0058] Connect the servo 11, the winding drum 12 and the tension spring 6.

[0059] Reflective marking dots:

[0060] Provides a visual reference for the camera 14 to observe the deformation of the spring 6.

[0061] Fixed at both ends of the tension spring 6.

[0062] Plane mirror 7:

[0063] By reflecting the deformation of the spring 6 at a 45-degree angle, the camera 14 can observe the axial displacement of the spring 6 laterally.

[0064] It is fixed on the bracket and forms a 45-degree angle with the plane of spring 6.

[0065] Shade 5:

[0066] Block ambient light interference to ensure measurement accuracy.

[0067] Placed at both ends of the plane mirror 7.

[0068] Light Source 13:

[0069] Provides illumination to enhance visibility of reflective markings.

[0070] Fixed near the measuring unit 2.

[0071] Vision Camera 14:

[0072] Observe the virtual image of the marked point in the plane mirror 7 to obtain the deformation of the spring 6.

[0073] Fixed in measuring unit 2.

[0074] The connection relationship between each other:

[0075] The servo 11 transmits the motion to the rope 3 through the winding drum 12. One end of the rope 3 is connected to the tension spring 6, thereby causing the reflective marking point 10 at the right end of the spring and the reflective marking point 9 at the left end of the spring 6 to be displaced.

[0076] The plane mirror 7 is fixed to the measuring module 15 through a bracket and is placed at a 45-degree angle to the plane of the spring 6 so that the virtual images of the marking points at both ends of the spring 6 in the plane mirror 7 are perpendicular to the plane of the spring 6.

[0077] The visual camera 14 observes the virtual image of the marking point in the plane mirror 7. Through the reflection principle of the plane mirror 7, the deformation of the spring 6 is equal to the displacement of the virtual image in the plane mirror 7. The camera 14 directly observes the virtual image to obtain the deformation of the spring 6.

[0078] The shading plates 5 are placed at both ends of the plane mirror 7 to block environmental interference and ensure measurement accuracy.

[0079] Implementation method 2. This implementation method further limits the force-position fusion measurement mechanism based on mirror reflection provided in implementation method 1. The two ends of the spring 6 are respectively provided with a reflective marking point 9 at the left end of the spring and a reflective marking point 10 at the right end of the spring, which are used to capture position changes by the camera 14.

[0080] Embodiment 3: This embodiment further limits the force-position fusion measurement mechanism based on mirror reflection provided in Embodiment 1, and further includes a steering engine 11 for driving the winding reel 12.

[0081] Implementation method 4: This implementation method further limits the force-position fusion measurement mechanism based on mirror reflection provided in implementation method 1. There are two pulleys 4 on the fixed substrate, which are respectively arranged at one end close to the winding drum 12 and one end close to the plane mirror bracket 8.

[0082] Implementation method 5: This implementation method further limits the force-position fusion measurement mechanism based on mirror reflection provided in implementation method 1, and further includes a measurement unit 2 for capturing the movements of the dexterous hand 1 through machine vision.

[0083] Implementation 6: This implementation provides a vision-enhanced force-position fusion measurement method based on the principle of optical reflection, which is implemented based on the mechanism provided in Implementation 1 and includes:

[0084] The step of collecting the initial marking point positions of the movable pulley 4 and the tension spring 6;

[0085] The step of collecting the positions of the change marks of the movable pulley 4 and the spring 6 after the joints of the dexterous hand 1 rotate through the image reflected by the plane mirror 7;

[0086] The steps of obtaining the joint rotation angle and the joint rotation torque according to the positions of the movable pulley 4 and the tension spring 6 are as follows.

[0087] Specifically, they include:

[0088] Step 1: Initial observation of the visual device

[0089] In the initial state of the system, the visual device (such as the camera 14) records the world coordinate system positions of the marking points at both ends of the spring 6 at the initial moment.

[0090] Step 2: Observation of spring 6 deformation

[0091] When the joint moves, the spring 6 stretches, and the visual device records the movement distance of the marking points at both ends of the spring 6. The plane mirror 7 converts the axial displacement of the spring 6 into a lateral displacement within the field of view of the camera 14, thereby improving the detection accuracy.

[0092] Step 3: Calculate joint torque

[0093] The joint torque is calculated using the formula according to the extension of spring 6. This step provides the function of the joint torque sensor.

[0094] Step 4: Joint Angle Measurement

[0095] The visual device records the movement distance of the top end of the spring 6 relative to the initial position, and the joint rotation angle is calculated by the formula.

[0096] Step 5: Measuring the motor rotation angle

[0097] After the joint rotates, the visual device records the position change of the head end of the spring 6 relative to the world coordinate system and derives the motor rotation angle through the formula.

[0098] Embodiment 7: This embodiment provides a vision-enhanced force-position fusion measurement device based on the principle of optical reflection, which is implemented based on the mechanism provided in Embodiment 1 and includes:

[0099] A module for collecting the initial marking point positions of the movable pulley 4 and the tension spring 6;

[0100] The module captures the position of the change mark points of the movable pulley 4 and the spring 6 after the joints of the dexterous hand 1 rotate through the image reflected by the plane mirror 7;

[0101] According to the positions of the movable pulley 4 and the tension spring 6 , a module of the joint rotation angle and the joint rotation torque is obtained.

[0102] Embodiment 8: This embodiment provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method provided in embodiment 6.

[0103] Implementation method 9: This implementation method provides a computer, including a processor and a storage medium. When the processor reads the computer program stored in the storage medium, the computer executes the method provided in implementation method 6.

[0104] Embodiment 10: This embodiment provides a computer program product, which is a computer program. When the computer program is read, it implements the method provided in Embodiment 6.

[0105] Implementation Method 11: Combination Figure 1-4 This embodiment further describes the above technical solution in detail through specific examples, specifically:

[0106] The main contribution of this embodiment is to propose a high-precision, compact force and position fusion measurement solution and structural device based on mirror reflection.

[0107] This embodiment proposes a new design scheme for the tendon-driven dexterous hand 1 system. First, a dexterous hand 1 mechanism with 18 degrees of freedom is designed. Each joint is stretched by the tendon, and a tension spring 6 is connected in series between the tendon and the motor. The deformation of all springs 6 can be observed by the camera 14 after being reflected by a carefully designed plane mirror 7. The deformation of the spring 6 is then measured by vision to calculate the rope tension, and then the corresponding joint torque is obtained. At the same time, vision can measure the displacement relative to the initial moment of the top of the spring 6 (the end connected to the tendon), and the joint rotation angle can be obtained by conversion; by making special arrangements for the routing of all tendons, the plane mirror 7 and the light shielding plate 5, all the springs 6 of the dexterous hand 1 can eventually be included in the field of view of the visual unit, thereby measuring the torque and position information of all joints at the same time. This new design method of the dexterous hand 1 only requires a low-cost monocular camera 14 to obtain the torque and angle information of all joints of the dexterous hand 1, thereby eliminating the need for angle sensors, torque sensors and other devices on the 18 finger joints, saving mechanism costs and reducing mechanism size.

[0108] Combine Figure 1-4 :

[0109] The measuring device proposed in this embodiment consists of a servo 11, a pulley 4, a tension spring 6, a rope 3, a reflective marking point 10 at the right end of the spring, a reflective marking point 9 at the left end of the spring, a plane mirror 7, a light shielding plate 5, a light source 13 and a visual camera 14. The servo 11 transmits the motion to the rope 3 through the winding drum 12. One end of the rope 3 is hooked and fixed to the tension spring 6, thereby causing the marking points at both ends of the spring 6 to be displaced. The plane mirror 7 is fixed to the measuring module 15 through a bracket and is placed at a 45-degree angle to the plane of the spring 6. As a result, the virtual images of the marking points at both ends of the spring 6 in the plane mirror 7 will be perpendicular to the plane of the spring 6. Due to the unique optical principle of the plane mirror 7, the deformation of the spring 6 is equal to the displacement of the virtual image in the plane mirror 7. The camera 14 can directly observe the virtual image of the marking point in the plane mirror 7 to obtain the deformation of the spring 6.

[0110] The steps for measuring joint torque (equivalent to providing the function of joint torque sensor) are as follows:

[0111] Step 1: A tension spring 6 is installed at one end of the traction rope, and the elongation ΔL of the tension spring 6 is observed visually (such as by a camera 14);

[0112] Step 2: The stiffness k of the tension spring 6 is a known quantity. Since the tension spring 6 is connected to the traction rope, the force F exerted on the tension spring 6 is k The tension F on the traction rope l Equal, the calculation formula is as follows:

[0113] F l =F k ΔL,

[0114] Step 3: The traction rope is subjected to tension F l When , the torque transmission wheel will be driven to rotate. The radius of the torque transmission wheel is known to be r. The calculation formula of the joint torque τ driven by rope 3 is:

[0115] τ=F l ·r,

[0116] The steps to measure joint angles (equivalent to providing the function of joint angle encoders) are as follows:

[0117] Step 1: The end of the spring 6 connected to the traction rope is recorded as the tail end of the spring 6. At the initial time t0, the position x0 of the tail end of the spring 6 relative to the world coordinate system can be measured by a visual device (such as a camera 14);

[0118] Step 2: After the joint rotates by angle θ, at time t1, a visual device (such as camera 14) can be used to measure the position x1 of the tail end of the spring 6 relative to the world coordinate system;

[0119] Step 3: Since the traction rope (its length is fixed) is connected to the end of spring 6, the distance the end of spring 6 moves is the distance the traction rope drives the torque transmission wheel to rotate. The distance the end of spring 6 moves between t0 and t1 is x1-x0. If the strain of rope 3 itself is ignored, the relationship between joint angle θ and x1-x0 is:

[0120] x1-x0=θ·r,

[0121] Where r is the radius of the torque transmission wheel. The calculation formula of the joint angle can be obtained by transformation:

[0122]

[0123] The steps for measuring the motor rotation angle (equivalent to providing the function of the servo 11 encoder) are as follows:

[0124] Step 1: The end of the spring 6 connected to the traction rope fixed to the winding drum 12 is recorded as the head end of the spring 6. At the initial time t0, the position y0 of the head end of the spring 6 relative to the world coordinate system can be measured by a visual device (such as a camera 14);

[0125] Step 2: After the joint rotates by angle θ, at time t1, a visual device (such as camera 14) can be used to measure the position y1 of the head end of the spring 6 relative to the world coordinate system;

[0126] Step 3: Since the winding drum 12 is connected to the head end of the spring 6 by the rope 3, ignoring the strain of the rope 3 itself, the distance the head end of the spring 6 moves is the angular displacement of the servo 11. The distance the head end of the spring 6 moves between t0 and t1 is y1-y0. Given the radius R of the winding drum 12, the motor rotation angle φ can be deduced as:

[0127]

[0128] This embodiment uses an array of multiple plane mirrors 7 combined with a light shield 5 to reflect the displacement of the markers associated with the spring 6, thereby converting the axial displacement of the spring 6 into a lateral displacement within the field of view of the camera 14. Identifying the axial displacement of the spring 6 typically requires using a binocular camera 14 to extract depth information or a monocular camera 14 to directly detect the axial distance (expressed as a change in pixel size). Binocular cameras 14 are limited by size and lens spacing in mechanisms with strict size constraints (such as robotic arms). While a monocular camera 14 can detect the change in the deformation at both ends of the spring 6 by detecting the axial distance, the change in pixel coordinates caused by the axial distance within the field of view of the camera 14 is far smaller than the actual axial distance. More importantly, if the monocular camera 14 directly identifies the axial displacement of the markers at both ends of the spring 6, the markers at both ends are often not in the same plane (if they were in the same plane, they would obscure the markers behind them), making it difficult for the monocular camera 14 to obtain the actual deformation of the spring 6. Therefore, using plane mirror 7 to convert axial displacement into lateral displacement can greatly improve this problem. By designing the angle of plane mirror 7 to 45 degrees relative to the plane of spring 6, the virtual image of the fixed marking points at both ends of spring 6 can be placed within the lateral field of view. As a result, the actual distance moved by spring 6 is not scaled, but is instead proportionally converted into the displacement of the virtual image. Therefore, this embodiment has two advantages over the existing technology. First, it can reduce the size of the mechanism. Second, it can proportionally convert the axial displacement of the spring 6 deformation, thereby greatly improving the accuracy of displacement detection and the minimum resolution of the camera 14.

[0129] The above further describes the technical solution provided by the present invention in detail through several specific embodiments in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific embodiments described above are not intended to limit the present invention. Any reasonable modification and improvement of the present invention, combination of embodiments and equivalent replacement based on the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A force-position fusion measurement mechanism based on mirror reflection, applied to dexterous hands, characterized by: include: A fixed base plate and a plane mirror bracket connected perpendicularly to each other; A winding disk and a pulley are sequentially provided along the axial direction of the fixed base plate; The rope is in turn connected to one end of the spring via a winding drum and a pulley; The spring performs a stretching motion along the axis direction of the fixed substrate; The other end of the spring is used to connect to an external structure; The plane mirror bracket is used to fix the plane mirror, and the plane mirror reflects the light reflected by the spring to the axial direction of the fixed substrate; the two ends of the spring are respectively provided with a reflective marking point on the left end of the spring and a reflective marking point on the right end of the spring, which are used to capture position changes by the camera.

2. The force-position fusion measurement mechanism based on mirror reflection according to claim 1 is characterized in that: It also includes a steering engine for driving the winding drum.

3. The force-position fusion measurement mechanism based on mirror reflection according to claim 1, characterized in that: There are two pulleys on the fixed base plate, which are respectively arranged at one end close to the winding disk and one end close to the plane mirror bracket.

4. The force-position fusion measurement mechanism based on mirror reflection according to claim 1, characterized in that: It also includes a measurement unit that captures the movements of the dexterous hand through machine vision.

5. A visually enhanced force-position fusion measurement method based on the principle of optical reflection, characterized in that: The mechanism according to claim 1 is implemented, comprising: The step of collecting the initial mark point positions of the pulley and the tension spring; The steps of collecting the position of the change mark points of the pulley and spring after the dexterous hand joints rotate through the image reflected by the plane mirror; The step of obtaining the joint rotation angle and the joint rotation torque according to the positions of the pulley and the tension spring.

6. A vision-enhanced force-position fusion measurement device based on the principle of optical reflection, characterized in that: The mechanism according to claim 1 is implemented, comprising: Module for collecting the initial mark point positions of the pulley and tension spring; The module collects the position of the change mark points of the pulley and spring after the dexterous hand joint rotates through the image reflected by the plane mirror; According to the positions of the pulley and the tension spring, a module of the joint rotation angle and the joint rotation torque is obtained.

7. A computer storage medium for storing a computer program, characterized in that When the computer program is read by a computer, the computer executes the method according to claim 5 .

8. A computer comprising a processor and a storage medium, characterized in that When the processor reads the computer program stored in the storage medium, the computer executes the method according to claim 5 .

9. A computer program product, being a computer program, characterized in that When the computer program is read, the method according to claim 5 is implemented.

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