Heat supply pipeline intelligent inspection robot matching management method and system

Abstract

The invention discloses a heat supply pipeline intelligent inspection robot matching management method and system, and relates to the technical field of pipeline inspection. A robot is used for heat supply pipeline inspection; and analyzing and processing the polled data, and identifying the abnormal condition of the pipeline. According to the intelligent inspection robot, the inspection task of the whole heat supply pipeline can be completed in a short time, and the inspection efficiency and the coverage range are greatly improved. A high-precision sensor carried by the robot can accurately detect the temperature, pressure, leakage and other conditions of the pipeline, and the accuracy and reliability of routing inspection are improved. The workload and the labor cost of manual inspection are reduced, and meanwhile, the safety risk and the misjudgment rate possibly caused by manual inspection are reduced. The abnormal conditions such as leakage and blockage of the pipeline are found in time, corresponding measures are taken for treatment, and the safety and stability of the heat supply pipeline are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection, and in particular to a supporting management method and system for intelligent inspection robots for heating pipelines. Background Art

[0002] Heating pipelines are widely distributed, crossing various terrains and buildings. Their layout is complex, and some pipelines may be buried underground, inside walls, or in other locations that are difficult to directly observe, making it difficult to assess the conditions of these hidden locations.

[0003] Extreme weather conditions, such as severe cold, scorching heat, heavy rain, etc., will hinder patrol work and affect the work efficiency and safety of patrol personnel.

[0004] Manual inspections are costly and require a lot of manpower, material resources and time. Manual inspections are slow and it is difficult to cover a large area of ​​the pipeline network in a short period of time, which may lead to problems being discovered late.

[0005] Data recording and analysis are difficult, and the data records obtained by manual inspections may not be standardized and complete, which is not conducive to subsequent data analysis and problem tracing.

[0006] The inspection robot conducts patrol inspections in or around the heating pipes, uses autonomous navigation technology to collect three-dimensional point cloud data of the surrounding environment, and builds an environmental map to achieve precise positioning and obstacle avoidance; it uses multi-sensor fusion technology to comprehensively enhance the robot's environmental perception capabilities and improve its operational reliability in complex environments; it uses artificial intelligence and deep learning algorithms to help the robot identify surface defects of equipment, detect abnormal conditions, and discover potential failure risks in advance; the collected images, data and other information are transmitted to the management system, which analyzes and processes this information to generate inspection reports and maintenance recommendations. Summary of the invention

[0007] In view of the above-mentioned problems, the present invention is proposed.

[0008] Therefore, the problem to be solved by the present invention is: how to solve the extreme weather conditions of the existing methods, such as severe cold, scorching heat, heavy rain, etc., which will hinder the inspection work and affect the work efficiency and safety of the inspectors. Manual inspections are costly and require a lot of manpower, material resources and time. Manual inspections are slow and it is difficult to cover a large area of ​​the pipeline network in a short time, which may lead to untimely discovery of problems. Data recording and analysis are difficult, and the data records obtained by manual inspections may not be standardized and complete, which is not conducive to subsequent data analysis and problem tracing.

[0009] To solve the above technical problems, the present invention provides the following technical solutions: a supporting management method for an intelligent inspection robot for heating pipelines, comprising: designing a miniaturized and lightweight robot; using the robot to inspect heating pipelines; analyzing and processing the inspection data to identify abnormal conditions in the pipelines.

[0010] As a preferred solution of the supporting management method of the intelligent inspection robot for heating pipelines described in the present invention, the appearance of the robot meets the shape and size requirements of the pipeline, passes through elbows and valves smoothly, resists the harsh environment in the pipeline, and protects the electronic equipment and mechanical components inside the robot.

[0011] As a preferred solution of the supporting management method of the intelligent inspection robot for heating pipelines described in the present invention, the robot includes selecting a drive system and an energy system, and performing sensor system design and control system design; the drive system includes selecting a drive mode of wheeled, tracked or crawling; the energy system includes using a rechargeable battery as the main energy source to meet the needs of a single inspection task.

[0012] As a preferred solution of the supporting management method of the intelligent inspection robot for heating pipelines described in the present invention, the sensor system design includes a temperature sensor, a pressure sensor and a visual sensor; the temperature sensor includes installing multiple temperature sensors distributed in different parts of the robot to monitor the temperature changes in the pipeline in real time; the pressure sensor includes configuring a pressure sensor to detect the pressure changes in the pipeline and determine whether there is leakage or blockage in the pipeline; the visual sensor includes a high-definition camera to capture images of the inside of the pipeline and observe the inner wall condition, welds, and corrosion of the pipeline.

[0013] As a preferred solution of the supporting management method of the intelligent inspection robot for heating pipelines described in the present invention, wherein: the control system design includes a main control unit, navigation and positioning; the main control unit includes a microprocessor or an embedded system selected as the main control unit to centrally control and manage the various components of the robot; the navigation and positioning include using a lidar for environmental modeling, obtaining distance information by scanning the surrounding environment, and combining the SLAM algorithm to generate a real-time environmental map to provide a navigation basis for the robot. On the basis of the environmental map, the robot selects the optimal path through a path planning algorithm, detects obstacles ahead through sensor data, and adjusts the motion path in real time; in addition to the lidar, the robot obtains environmental images through a camera, and uses a visual SLAM algorithm that performs simultaneous positioning and map construction based on visual data to achieve recognition and positioning of the environment without a lidar.

[0014] As a preferred solution of the supporting management method of the intelligent inspection robot for heating pipelines described in the present invention, the adjustment of the motion path includes based on navigation and positioning and sensor feedback, through deep learning technology, the robot identifies the surrounding environmental characteristics, including equipment and obstacles, and performs autonomous navigation and inspection tasks; in a complex inspection environment, collaborative decision-making is made based on the input of different sensors, and by combining sensor input with intelligent algorithms, the robot autonomously decides whether to avoid obstacles, turn or stop, and adjusts the decision based on feedback.

[0015] As a preferred solution of the supporting management method of the intelligent inspection robot for heating pipelines described in the present invention, the analysis and processing of the inspected data includes collecting data from the sensor system, preprocessing and storing it; using communication technology, the collected data is transmitted to the ground monitoring center in real time for remote monitoring and analysis; based on intelligent algorithms, the robot monitors the operating status of the equipment in real time, detects anomalies, and generates early warning signals through big data analysis to plan maintenance actions in advance.

[0016] Another object of the present invention is to provide a system for a supporting management method of an intelligent inspection robot for heating pipelines, which can solve the problem of intelligent inspection robots for heating pipelines and supporting management by constructing a supporting management system for intelligent inspection robots for heating pipelines.

[0017] To solve the above technical problems, the present invention provides the following technical solutions: a supporting management system for an intelligent inspection robot for heating pipelines, comprising a robot design module, an inspection module and an analysis module; the robot design module is used to design a miniaturized and lightweight robot; the inspection module is used to use the robot to inspect the heating pipelines; the analysis module is used to analyze and process the inspection data and identify abnormal conditions in the pipelines.

[0018] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned method for supporting management of intelligent inspection robots for heating pipelines are implemented.

[0019] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for supporting management of intelligent inspection robots for heating pipelines.

[0020] The beneficial effects of the present invention are as follows: the supporting management method of the intelligent inspection robot for heating pipelines provided by the present invention improves the inspection efficiency, and the intelligent inspection robot can complete the inspection task of the entire heating pipeline in a short time, greatly improving the inspection efficiency and coverage.

[0021] Enhanced inspection accuracy: The high-precision sensors equipped on the robot can accurately detect the temperature, pressure, leakage, etc. of the pipeline, improving the accuracy and reliability of inspections.

[0022] It reduces inspection costs, reduces the workload and manpower costs of manual inspections, and at the same time reduces the safety risks and misjudgment rates that may be caused by manual inspections.

[0023] Improve pipeline safety, promptly detect abnormal conditions in pipelines, such as leakage, blockage, etc., and take corresponding measures to deal with them, effectively improving the safety and stability of heating pipelines.

[0024] To realize intelligent management, through real-time communication with the ground monitoring center, centralized management and analysis of inspection data are achieved, providing strong support for the intelligent management of heating pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0026] Figure 1 This is a flow chart of a supporting management method for an intelligent inspection robot for heating pipelines provided in the first embodiment of the present invention.

[0027] Figure 2 This is a structural diagram of the intelligent inspection robot for heating pipes and the supporting management system provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] Example 1, reference Figure 1 , which is the first embodiment of the present invention, provides a supporting management method for an intelligent inspection robot for heating pipelines, including: designing a miniaturized and lightweight robot; using the robot to inspect heating pipelines; analyzing and processing the inspection data to identify abnormal conditions in the pipelines.

[0031] S1. Design a small and lightweight robot.

[0032] S2. Use robots to inspect heating pipelines.

[0033] S3. Analyze and process the inspection data to identify abnormal conditions in the pipeline.

[0034] The present invention designs an intelligent inspection robot suitable for heating pipelines to improve inspection efficiency, accuracy and safety, and reduce the cost and risk of manual inspection. The robot will have functions such as autonomous navigation, intelligent perception, data collection and transmission, and can perform comprehensive and detailed inspection work in complex pipeline environments.

[0035] The robot body design includes structural design, drive system and energy system.

[0036] The structural design adopts a small and lightweight design so that it can move flexibly in the pipeline. The robot's appearance should conform to the shape and size requirements of the pipeline and can pass smoothly through elbows, valves and other parts.

[0037] It has good protective performance and can withstand harsh environments such as high temperature, high pressure, and humidity in the pipeline, protecting internal electronic equipment and mechanical components.

[0038] Drive system: select a suitable drive mode, such as wheel, track or crawler, to ensure that the robot has sufficient traction and stability in the pipeline.

[0039] Equipped with high-precision motors and drive controllers to achieve precise speed control and steering operations.

[0040] The energy system uses rechargeable batteries as the main energy source to ensure that the robot has sufficient endurance to meet the needs of a patrol mission.

[0041] Considering the efficient use and management of energy, it has battery power monitoring and automatic charging functions so that it can return to the charging point for charging in time when the power is low.

[0042] After completing the task, the wheeled inspection robot navigates back to the charging station for wired charging. This method is reliable, efficient, and the robot can dock with the charging pile accurately. Track inspection robots are usually charged through the track itself, that is, they obtain power from the track during the inspection process to ensure long-term continuous operation. This method avoids frequent shutdowns for charging and is suitable for long-term inspection tasks on fixed tracks.

[0043] Furthermore, the sensor system design includes temperature sensors, pressure sensors, vision sensors and other sensors.

[0044] Temperature sensor: Multiple high-precision temperature sensors are installed in different parts of the robot to monitor the temperature changes in the pipeline in real time.

[0045] The sensor should have fast response, high accuracy and stability, and be able to accurately measure the medium temperature in the pipeline as well as the temperature of the pipeline wall.

[0046] Pressure sensor is configured to detect pressure changes in the pipeline and determine whether there are abnormal conditions such as leakage or blockage in the pipeline.

[0047] The pressure sensor should have high sensitivity and reliability and be able to adapt to the high-pressure environment in the pipeline.

[0048] The visual sensor (camera) is equipped with a high-definition camera to capture images of the inside of the pipeline so as to intuitively observe the inner wall condition, welds, corrosion conditions, etc. of the pipeline.

[0049] The camera should have good optical performance and the ability to shoot in low-light environments to ensure that clear image information can be obtained.

[0050] Other sensors (optional): according to actual needs, gas sensors (such as detecting leaking combustible gas), ultrasonic sensors (for detecting pipe wall thickness), etc. can also be added.

[0051] Multi-sensor fusion technology integrates data from different sensors through data fusion algorithms, reduces the error of a single sensor, and improves the accuracy and stability of perception. In order to cope with complex inspection environments and harsh working conditions, the intelligent inspection robot adopts a redundant design, that is, multiple different types of sensors are installed at key sensor locations to ensure that when a sensor fails, it can still rely on other sensors to continue working and ensure the normal completion of the inspection task.

[0052] The control system design includes the main control unit, navigation and positioning system, motion control system, and data acquisition and transmission system.

[0053] The main control unit uses a high-performance microprocessor or embedded system as the main control unit, which is responsible for centralized control and management of various components of the robot.

[0054] It has powerful computing and data processing capabilities, can analyze the data collected by sensors in real time, and make corresponding decisions and control instructions.

[0055] The navigation and positioning system adopts advanced navigation technologies, such as laser navigation, inertial navigation or visual navigation, to realize autonomous navigation and positioning of the robot in the pipeline.

[0056] Ensure that the robot can move accurately according to the preset inspection route and provide real-time feedback of its own location information.

[0057] The robot uses laser radar to model the environment, obtains distance information by scanning the surrounding environment, and generates a real-time environmental map in combination with the SLAM (Simultaneous Localization and Mapping) algorithm to provide navigation basis for the robot. Based on the environmental map, the robot selects the optimal path through the path planning algorithm, detects obstacles ahead through sensor data, and adjusts the movement path in real time.

[0058] In addition to lidar, the robot uses a visual navigation system to obtain environmental images through a camera, and uses a visual SLAM algorithm that simultaneously locates and builds maps based on visual data. It can recognize and locate the environment without a lidar.

[0059] Motion control system, based on the drive system and sensor feedback, designs precise motion control algorithms to achieve smooth movement, speed regulation and steering control of the robot.

[0060] Through deep learning technology, the intelligent inspection robot can identify the surrounding environmental features, such as equipment, obstacles, etc., and perform autonomous navigation and inspection tasks based on this.

[0061] The data acquisition and transmission system is responsible for collecting data from the sensor system and performing preprocessing and storage.

[0062] Reliable communication technology (such as wireless communication or wired communication) is used to transmit the collected data to the ground monitoring center in real time so that staff can conduct remote monitoring and analysis.

[0063] Based on intelligent algorithms, the robot can monitor the operating status of the equipment in real time, detect anomalies, generate early warning signals through big data analysis, and plan maintenance actions in advance.

[0064] The software system design includes operating system, inspection task planning software, data analysis and processing software, and remote monitoring and control software.

[0065] Operating system: select an operating system suitable for robot applications, such as a real-time operating system (RTOS) to ensure the stability and real-time performance of the system.

[0066] Inspection task planning software, develop inspection task planning software, through which users can set the robot's inspection route, inspection points, inspection frequency and other parameters.

[0067] The software should have a path optimization function that can automatically plan the optimal inspection route based on the pipeline layout and actual conditions to improve inspection efficiency.

[0068] In complex inspection environments, distributed control systems can make collaborative decisions based on input from different sensors, giving robots greater environmental adaptability and task execution capabilities. By combining sensor input with intelligent algorithms, robots can make autonomous decisions on whether to avoid obstacles, turn or stop, and adjust decisions based on feedback to improve the accuracy of task execution.

[0069] Data analysis and processing software analyzes and processes the collected data to identify abnormal conditions in the pipeline, such as abnormal temperature, abnormal pressure, leakage, etc.

[0070] Machine learning algorithms can analyze device sensor data, predict the health status of equipment through modeling of historical data, and reduce the occurrence of sudden equipment failures.

[0071] It has data visualization function, which can intuitively display the analysis results to users in the form of charts, images, etc., making it easier for users to make judgments and decisions.

[0072] Remote monitoring and control software. Develop remote monitoring and control software. Workers can monitor the robot's operating status in real time, view inspection data, and remotely control the robot through computers or mobile devices in the ground monitoring center.

[0073] The software should have permission management capabilities to ensure that only authorized personnel can perform remote operations.

[0074] Communication system design includes communication method selection, communication protocol selection, signal enhancement and relay.

[0075] Communication method selection: According to the pipeline environment and actual needs, select the appropriate communication method, such as wireless communication (such as Wi-Fi, Bluetooth, ZigBee, etc.) or wired communication (such as Ethernet).

[0076] Ensure the stability, reliability and data transmission rate of communication to meet the real-time communication requirements between the robot and the ground monitoring center.

[0077] In complex inspection environments, distributed control systems can make collaborative decisions based on input from different sensors, enabling robots to have higher environmental adaptability and task execution capabilities.

[0078] Intelligent inspection robots can combine edge computing and cloud computing technologies to quickly process data locally while uploading some complex computing tasks to the cloud to improve data processing efficiency and inspection accuracy.

[0079] Communication protocol selection: formulate a suitable communication protocol to ensure accurate data transmission and analysis. The protocol should include data format, frame structure, verification method, etc.

[0080] Signal enhancement and relay: signal enhancement devices or relay nodes are set up in the pipeline to compensate for the attenuation and blind spots of communication signals, ensuring that the robot can maintain a good communication connection throughout the inspection process.

[0081] Example 2, reference Figure 2 , which is the second embodiment of the present invention, is different from the previous embodiment in that it provides a heating pipeline intelligent inspection robot and a supporting management system, including: a robot design module 100, an inspection module 200 and an analysis module 300.

[0082] The robot design module 100 is used to design a miniaturized and lightweight robot.

[0083] The inspection module 200 is used to perform heating pipeline inspection using a robot.

[0084] The analysis module 300 is used to analyze and process the inspected data and identify abnormal conditions of the pipeline.

[0085] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the 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, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0086] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0087] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0088] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0089] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A supporting management method for an intelligent inspection robot for heating pipelines, characterized in that: include, Design a small, lightweight robot; Use robots to inspect heating pipes; Analyze and process the inspection data to identify abnormal conditions in the pipeline.

2. The supporting management method of the intelligent inspection robot for heating pipelines according to claim 1, characterized in that: The appearance of the robot conforms to the shape and size requirements of the pipeline, and can smoothly pass through elbows and valves, resist the harsh environment in the pipeline, and protect the electronic equipment and mechanical components inside the robot.

3. The supporting management method of the intelligent inspection robot for heating pipelines according to claim 2, characterized in that: The robot includes selecting a drive system and an energy system, and performing sensor system design and control system design; The drive system includes the following options: wheeled, tracked or crawler-type drive mode; The energy system includes using rechargeable batteries as the main energy source to meet the needs of a single inspection task.

4. The supporting management method of the intelligent inspection robot for heating pipelines according to claim 3 is characterized in that: The sensor system design includes a temperature sensor, a pressure sensor and a visual sensor; The temperature sensor includes installing multiple temperature sensors, which are distributed in different parts of the robot to monitor the temperature changes in the pipeline in real time; The pressure sensor includes a pressure sensor configured to detect pressure changes in the pipeline and determine whether there is leakage or blockage in the pipeline; The visual sensor includes a high-definition camera that collects images of the inside of the pipeline and observes the inner wall condition, welds, and corrosion conditions of the pipeline.

5. The supporting management method of the intelligent inspection robot for heating pipelines according to claim 4, characterized in that: The control system design includes a main control unit, navigation and positioning; The main control unit includes a microprocessor or an embedded system selected as the main control unit to centrally control and manage various components of the robot; The navigation and positioning include using lidar to model the environment, obtaining distance information by scanning the surrounding environment, and combining with the SLAM algorithm to generate a real-time environment map to provide a navigation basis for the robot. Based on the environment map, the robot selects the optimal path through a path planning algorithm, detects obstacles ahead through sensor data, and adjusts the motion path in real time. In addition to lidar, the robot obtains environmental images through a camera, and uses a visual SLAM algorithm that performs simultaneous positioning and map construction based on visual data to achieve recognition and positioning of the environment without a lidar.

6. The supporting management method of the intelligent inspection robot for heating pipelines according to claim 5, characterized in that: The adjustment of the motion path includes, based on navigation and positioning and sensor feedback, using deep learning technology, the robot identifies the surrounding environmental features, including equipment and obstacles, and performs autonomous navigation and inspection tasks; In complex inspection environments, collaborative decisions are made based on input from different sensors. By combining sensor input with intelligent algorithms, the robot autonomously decides whether to avoid obstacles, turn or stop, and adjusts its decisions based on feedback.

7. The supporting management method of the intelligent inspection robot for heating pipelines according to claim 6, characterized in that: The analyzing and processing of the inspected data includes collecting data from the sensor system, preprocessing and storing the data; Using communication technology, the collected data is transmitted to the ground monitoring center in real time for remote monitoring and analysis; Based on intelligent algorithms, the robot monitors the operating status of the equipment in real time, detects anomalies, generates early warning signals through big data analysis, and plans maintenance actions in advance.

8. A system using the supporting management method of the intelligent inspection robot for heating pipelines as claimed in any one of claims 1 to 7, characterized in that: It includes a robot design module (100), an inspection module (200) and an analysis module (300); The robot design module (100) is used to design a miniaturized and lightweight robot; The inspection module (200) is used to use a robot to inspect the heating pipeline; The analysis module (300) is used to analyze and process the inspected data and identify abnormal conditions of the pipeline.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the supporting management method of the intelligent inspection robot for heating pipelines according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the supporting management method of the intelligent inspection robot for heating pipelines according to any one of claims 1 to 7 are implemented.

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