Energy-saving method and device for wharf intelligent guide vehicle, electronic equipment and storage medium

Abstract

The invention discloses a wharf intelligent guided vehicle energy saving method and device, electronic equipment and a storage medium. The method comprises the following steps: determining that a plurality of intelligent guided vehicles automatically enter a sleep mode state; and generating a dormancy strategy based on the configuration elements to control the intelligent guided vehicle to enter a dormancy or awakening state. According to the embodiment of the invention, the problem that the energy-saving strategy of the intelligent guided vehicle is inconvenient to adjust in related technologies is solved.

Description

Technical Field

[0001] The present application relates to an energy-saving method, device, electronic equipment and storage medium for a terminal intelligent guided vehicle, and belongs to the field of container transport operations. Background Art

[0002] The busyness of terminal operations is dynamically uneven. When there are more ships in operation and more quay cranes in operation, the demand for horizontal transportation equipment increases and the equipment operation is relatively busy. On the contrary, when there are fewer ships in operation, the horizontal transportation equipment is relatively idle. Take a certain automated container terminal as an example. There are currently 138 IGVs in the terminal. When operations are not busy, some IGVs are idle for a long time, but their internal working components are still in normal power consumption operation, resulting in energy waste. Although there are some relatively mature IGV sleep strategies, these strategies have a limited adjustable range and cannot be adjusted according to the specific needs of operators. Summary of the invention

[0003] In view of this, the present application provides an energy-saving method, device, electronic device and storage medium for an intelligent guided vehicle at a terminal. The embodiments of the present application at least solve the problem in the related art that it is inconvenient to adjust the energy-saving strategy of the intelligent guided vehicle.

[0004] The first aspect of the embodiment of the present application discloses an energy-saving method for intelligent guided vehicles at a dock, the method comprising: determining that multiple intelligent guided vehicles are in a sleep mode state automatically; generating a sleep strategy based on configuration elements to control the intelligent guided vehicles to enter a sleep or wake-up state.

[0005] In some embodiments, the configuration elements include at least one of: the number of intelligent guided vehicles X1 available at the current terminal; the sleep state determination time, which is used to estimate the maximum number of intelligent guided vehicles X2 required for the first preset time period in the future; the minimum sleep state number b of intelligent guided vehicles; and the batch sleep state number C of intelligent guided vehicles.

[0006] In some embodiments, the configuration elements are used to generate a sleep strategy to control the intelligent guided vehicle to enter a sleep or wake-up state, including: obtaining the number of intelligent guided vehicles X1 available at the current terminal; estimating the maximum number of intelligent guided vehicles X2 required for the first preset time period in the future based on the existing task status of the current terminal; if X1-X2>b, scheduling The number of intelligent guided vehicles enters sleep mode; if X2>X1, the dispatch A number of intelligent guided vehicles enter the awakening state.

[0007] In some embodiments, generating a sleep strategy based on configuration elements to control the intelligent guided vehicle to enter a sleep or wake state includes: generating a sleep strategy based on configuration elements at a preset frequency to control the intelligent guided vehicle to enter a sleep or wake state.

[0008] In some embodiments, the scheduling The number of intelligent guided vehicles enters sleep mode, including: determining the busyness of each yard based on the existing task status of the current terminal; dispatching in a round-robin order from idle to busy yards, A number of intelligent guided vehicles have entered hibernation.

[0009] In some embodiments, the method also includes: when a task matches a non-sleeping intelligent guided vehicle and a sleeping intelligent guided vehicle, if X3-X4>d, then waking up the sleeping intelligent guided vehicle and selecting the sleeping intelligent guided vehicle to perform the task; wherein X3 represents the time value required for a non-sleeping intelligent guided vehicle to perform the task, X4 represents the time value required for a sleeping intelligent guided vehicle to perform the task, and d represents the wake-up cost time value.

[0010] In some embodiments, determining that multiple intelligent guided vehicles are automatically entering a sleep mode state includes: responding to a first setting operation of an operator and controlling multiple intelligent guided vehicles to automatically enter a sleep mode state.

[0011] The second aspect of an embodiment of the present application discloses an energy-saving device for intelligent guided vehicles at a terminal, the device comprising: a mode determination module, used to determine whether multiple intelligent guided vehicles automatically enter a sleep mode state; a strategy generation module, used to generate a sleep strategy based on configuration elements to control the intelligent guided vehicles to enter a sleep or wake-up state.

[0012] A third aspect of an embodiment of the present application discloses a computer-readable storage medium, which includes a stored program, wherein when the program is run, the energy-saving method for intelligent guided vehicles at a terminal of the above embodiment is executed in a processor of a device where the program is located.

[0013] The fourth aspect of an embodiment of the present application discloses an electronic device, which includes: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the energy-saving method for the intelligent guided vehicle of the terminal in the above-mentioned embodiment.

[0014] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0015] The embodiment of the present application provides an energy-saving method, device, electronic device and storage medium for intelligent guided vehicles at a terminal. The energy-saving method for intelligent guided vehicles at a terminal includes: determining that multiple intelligent guided vehicles are in a state of automatically entering a sleep mode; generating a sleep strategy based on configuration elements to control the intelligent guided vehicles to enter a sleep or wake-up state. The operator can adjust the configuration elements according to the actual situation, and then adjust the sleep strategy to meet the needs of different terminals, solving the problem that it is not easy to adjust the energy-saving strategy of the intelligent guided vehicle in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0017] Figure 1 A schematic flow chart of an energy-saving method for an intelligent guided vehicle at a dock provided in an embodiment of the present application.

[0018] Figure 2 A schematic structural diagram of an energy-saving device for an intelligent guided vehicle at a terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Embodiment 1:

[0022] Figure 1 A schematic diagram of a process flow of an energy-saving method for a dock intelligent guided vehicle provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method may include the following steps:

[0023] 101 determines that multiple intelligent guided vehicles automatically enter a sleep mode state.

[0024] 102 generates a sleep strategy based on the configuration elements to control the intelligent guided vehicle to enter a sleep state or a wake-up state.

[0025] In this embodiment, the intelligent guided vehicle is referred to as IGV.

[0026] In some embodiments, determining that multiple intelligent guided vehicles are automatically entering a sleep mode state includes: responding to a first setting operation of an operator and controlling multiple intelligent guided vehicles to automatically enter a sleep mode state.

[0027] In addition, in response to the operator's second setting operation, multiple intelligent guided vehicles are controlled to not be turned on and automatically enter the sleep mode state.

[0028] It should be noted that the operator can set whether to enable the automatic sleep mode. If the "automatic sleep mode" is not enabled, the IGV will not automatically enter sleep mode. If the "automatic sleep mode" is enabled, the IGV can automatically enter sleep mode or wake up mode according to the configured strategy.

[0029] In some embodiments, the configuration elements include at least one of: the number of intelligent guided vehicles X1 available at the current terminal; the sleep state determination time, which is used to estimate the maximum number of intelligent guided vehicles X2 required for the first preset time period in the future; the minimum sleep state number b of intelligent guided vehicles; and the batch sleep state number C of intelligent guided vehicles.

[0030] The above are relevant configurations, which can be randomly combined by the operator.

[0031] The dormant state time is determined to correspond to the first preset time period, which is a preset value, illustratively, a minute. The minimum dormant number b of intelligent guided vehicles and the batch dormant number C of intelligent guided vehicles are also preset values. The number X1 of intelligent guided vehicles available at the current terminal and the maximum number X2 of intelligent guided vehicles are actual values ​​determined according to the site.

[0032] In some embodiments, the configuration elements are used to generate a sleep strategy to control the intelligent guided vehicle to enter a sleep or wake-up state, including: obtaining the number of intelligent guided vehicles X1 available at the current terminal; estimating the maximum number of intelligent guided vehicles X2 required for the first preset time period in the future based on the existing task status of the current terminal; if X1-X2>b, scheduling The number of intelligent guided vehicles enters sleep mode; if X2>X1, the dispatch A number of intelligent guided vehicles enter the awakening state.

[0033] For example, suppose there are 138 IGVs (actual number) on site, that is, X1=138, the time for judging the dormant state is set to 20 minutes, that is, a=20, the minimum dormant number is 10, that is, b=10, and the batch dormant number is 5, that is, C=5. The system will determine the maximum number of IGVs required within 20 minutes based on the current task situation. Assume that this number is 110, that is, X2=110. Further calculation shows that 138-110>10, so the number of IGVs that need to be scheduled to enter the dormant state is The reason for choosing to put 25 IGVs into hibernation rather than 28 is that some IGVs can be reserved to cope with temporary increases in mission requirements.

[0034] As a further example, assume that the number of IGVs required is 120, and the number of IGVs currently available is 113. Therefore, the number of IGVs that need to be awakened is vehicle so that it can enter normal state and meet the required operating tasks.

[0035] It is worth noting that the actual number of IGVs needs to be considered when waking up. For example, if the total number of IGVs is 130 and all are in the awakened state, and the task requires 140 IGVs, but no IGVs are available to wake up. Therefore, as a preferred implementation, when X2>X1 and there are IGPs in the dormant state (the number of IGPs is Y), the following judgment is performed: When it is greater than Y, the number of intelligent guided vehicles Y is dispatched to enter the wake-up state. When it is less than Y, the scheduling A number of intelligent guided vehicles enter the awakening state.

[0036] In some embodiments, generating a sleep strategy based on configuration elements to control the intelligent guided vehicle to enter a sleep or wake state includes: generating a sleep strategy based on configuration elements at a preset frequency to control the intelligent guided vehicle to enter a sleep or wake state.

[0037] In this embodiment, the system performs a round of scheduling calculation at regular intervals.

[0038] For example, the system performs a calculation at 12:00:00 to calculate the maximum number of IGVs required between 12:00:00 and 12:20:00. The system performs a calculation at 12:00:10 to calculate the maximum number of IGVs required between 12:00:10 and 12:20:10. The calculation is repeated in this way to improve the scheduling efficiency.

[0039] In some embodiments, the scheduling The number of intelligent guided vehicles enters sleep mode, including: determining the busyness of each yard based on the existing task status of the current terminal; dispatching in a round-robin order from idle to busy yards, A number of intelligent guided vehicles have entered hibernation.

[0040] In this embodiment, the system can determine the busyness of each yard's operations and sort them according to the number of tasks in each yard.

[0041] It is understandable that the system will start from the idle yard and gradually poll the busy yard until the sleep number is met. During this period, the IGV near the relatively idle yard will be preferentially selected to enter sleep mode.

[0042] For example, assume that 12 IGVs need to be dispatched to sleep. The busyness of yard A is less than that of yard B, less than that of yard C, and less than that of yard D (sorted from idle to busy). The number of IGVs that can be called to sleep at yard A is 5, while yards B, C, and D can provide 4, 4, and 2 IGVs to sleep, respectively. The system can meet the sleep number by polling from yard A to yard C.

[0043] In some embodiments, the method also includes: when a task matches a non-sleeping intelligent guided vehicle and a sleeping intelligent guided vehicle, if X3-X4>d, then waking up the sleeping intelligent guided vehicle and selecting the sleeping intelligent guided vehicle to perform the task; wherein X3 represents the time value required for a non-sleeping intelligent guided vehicle to perform the task, X4 represents the time value required for a sleeping intelligent guided vehicle to perform the task, and d represents the wake-up cost time value.

[0044] In order to avoid the selection of a longer-distance IGV due to IGV dormancy, thereby increasing mileage and energy waste, and also to reduce the loss of equipment caused by frequent IGV dormancy and wake-up, the system introduces the 'IGV wake-up cost' as a balance condition, which is set to d minutes. When a task needs to match an IGV, it is assumed that it takes X3 minutes to select a non-dormant IGV to perform this task, while it takes X4 minutes to select a dormant IGV to perform this task. If X3-X4>d, then wake up the dormant IGV and select it to perform the task. The purpose of this is: the original intention of IGV dormancy is to reduce overall energy consumption, but if only non-dormant IGVs are considered, it may lead to the selection of IGVs with longer distances, increase the driving distance, and be detrimental to energy saving. At the same time, considering that the frequent dormancy and wake-up of IGVs cause great loss to the internal components of IGVs, a comprehensive wake-up condition is set to compare the selection costs of dormant IGVs and non-dormant IGVs to make the overall optimal.

[0045] For example, if there is a box collection task in a yard that needs to be performed by an IGV, it takes 8 minutes for the closest normal IGV to perform this task, while it takes 3 minutes for the nearest dormant IGV to perform this task. If the 'IGV wake-up cost' is set to 3 minutes, then 8-3>3, so the dormant IGV is woken up to perform this task.

[0046] Embodiment 2:

[0047] Figure 2 A schematic diagram of a structure of an energy-saving device for an intelligent guided vehicle at a terminal provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the device may include the following modules:

[0048] A mode determination module 201 is used to determine whether a plurality of intelligent guided vehicles automatically enter a sleep mode state;

[0049] The strategy generation module 202 is used to generate a sleep strategy based on the configuration elements to control the intelligent guided vehicle to enter a sleep state or a wake-up state.

[0050] In some embodiments, the configuration elements include at least one of: the number of intelligent guided vehicles X1 available at the current terminal; the sleep state determination time, which is used to estimate the maximum number of intelligent guided vehicles X2 required for the first preset time period in the future; the minimum sleep state number b of intelligent guided vehicles; and the batch sleep state number C of intelligent guided vehicles.

[0051] In some embodiments, the configuration elements are used to generate a sleep strategy to control the intelligent guided vehicle to enter a sleep or wake-up state, including: obtaining the number of intelligent guided vehicles X1 available at the current terminal; estimating the maximum number of intelligent guided vehicles X2 required for the first preset time period in the future based on the existing task status of the current terminal; if X1-X2>b, scheduling The number of intelligent guided vehicles enters sleep mode; if X2>X1, the dispatch A number of intelligent guided vehicles enter the awakening state.

[0052] In some embodiments, generating a sleep strategy based on configuration elements to control the intelligent guided vehicle to enter a sleep or wake state includes: generating a sleep strategy based on configuration elements at a preset frequency to control the intelligent guided vehicle to enter a sleep or wake state.

[0053] In some embodiments, the scheduling The number of intelligent guided vehicles enters sleep mode, including: determining the busyness of each yard based on the existing task status of the current terminal; dispatching in a round-robin order from idle to busy yards, A number of intelligent guided vehicles have entered hibernation.

[0054] In some embodiments, the method also includes: when a task matches a non-sleeping intelligent guided vehicle and a sleeping intelligent guided vehicle, if X3-X4>d, then waking up the sleeping intelligent guided vehicle and selecting the sleeping intelligent guided vehicle to perform the task; wherein X3 represents the time value required for a non-sleeping intelligent guided vehicle to perform the task, X4 represents the time value required for a sleeping intelligent guided vehicle to perform the task, and d represents the wake-up cost time value.

[0055] In some embodiments, determining that multiple intelligent guided vehicles are automatically entering a sleep mode state includes: responding to a first setting operation of an operator and controlling multiple intelligent guided vehicles to automatically enter a sleep mode state.

[0056] Embodiment 3:

[0057] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0058] The above-mentioned memory may refer to a device inside a computer for storing data and programs, and may include memory, hard disk, etc., wherein the memory may be used to temporarily store running programs and data, the hard disk may be used to store programs and data for a long time, and the memory may be used to enable the computer to read and write data, and execute programs; the above-mentioned processor may be responsible for executing instructions in computer programs and performing data processing, and may be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0059] Embodiment 4:

[0060] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0061] The above-mentioned computer storage medium may refer to a medium in a computer memory used to store certain discontinuous physical quantities. Computer storage media mainly include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser disks, etc.; the stored program included in the computer-readable storage medium may be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and is an information tool that meets certain needs of people.

[0062] Embodiment 5:

[0063] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0064] The above-mentioned computer program product may refer to a software program that has been written, tested and released and can be run on a computer or other device. The computer program product may include an application, an operating system, tool software, etc., which is used to implement specific functions or solve specific problems.

[0065] Embodiment 6:

[0066] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0067] The above-mentioned non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep the data from being lost when the power is off, and can be used to store long-term data, such as operating systems, applications, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical disks, and flash memory storage devices, etc.

[0068] Embodiment 7:

[0069] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0070] The above-mentioned computer program may refer to a collection of instructions used to tell a computer to perform a specific task or operation. A computer program may be written by a programmer using a specific programming language and may include algorithms, data structures, logic, and control flows. A computer program may be used for a variety of purposes, including application software, operating systems, and the like.

[0071] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0073] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0074] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0075] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0076] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for energy saving of a dock intelligent guided vehicle, characterized in that: include: Determine that multiple intelligent guided vehicles automatically enter a sleep mode state; A sleep strategy is generated based on the configuration elements to control the intelligent guided vehicle to enter a sleep state or a wake-up state.

2. The energy-saving method for intelligent guided vehicles at a wharf according to claim 1 is characterized in that: The configuration elements include at least one of: The number of intelligent guided vehicles currently available at the terminal is X1; Determine the sleep state time, where the sleep state time is used to estimate the maximum number of intelligent guided vehicles X2 required for a first preset time period in the future; The minimum number of dormant intelligent guided vehicles b; The number of intelligent guided vehicles that are in batch dormancy C.

3. The energy-saving method for intelligent guided vehicles at a wharf according to claim 2 is characterized in that: The generating of the sleep strategy based on the configuration elements to control the intelligent guided vehicle to enter a sleep state or a wake-up state includes: Get the number of intelligent guided vehicles available at the current terminal X1; Estimate the maximum number of intelligent guided vehicles X2 required in the first preset time period in the future based on the existing task status of the current terminal; If X1-X2>b, then schedule A number of intelligent guided vehicles have entered hibernation; If X2>X1, then schedule A number of intelligent guided vehicles enter the awakening state.

4. The energy-saving method for intelligent guided vehicles at a wharf according to claim 3 is characterized in that: The generating of the sleep strategy based on the configuration elements to control the intelligent guided vehicle to enter a sleep state or a wake-up state includes: A sleep strategy is generated based on configuration elements at a preset frequency to control the intelligent guided vehicle to enter a sleep or wake-up state.

5. The energy-saving method for intelligent guided vehicles at a wharf according to claim 3 is characterized in that: The schedule A number of intelligent guided vehicles have entered hibernation, including: Determine the busyness of each yard operation based on the current task status of the terminal; Schedule in round-robin order from idle to busy yards. A number of intelligent guided vehicles have entered hibernation.

6. The energy-saving method for intelligent guided vehicles at a wharf according to claim 1, characterized in that: The method further comprises: When a task matches a non-dormant intelligent guided vehicle and a dormant intelligent guided vehicle, if X3-X4>d, the dormant intelligent guided vehicle is awakened and the dormant intelligent guided vehicle is selected to perform the task; Among them, X3 represents the time value required for a non-sleeping intelligent guided vehicle to perform the task, X4 represents the time value required for a sleeping intelligent guided vehicle to perform the task, and d represents the wake-up cost time value.

7. The energy-saving method for intelligent guided vehicles at a wharf according to claim 1, characterized in that: The step of determining that the plurality of intelligent guided vehicles automatically enter a sleep mode state includes: In response to the first setting operation of the operator, multiple intelligent guided vehicles are controlled to automatically enter the sleep mode state.

8. An energy-saving device for a dock intelligent guided vehicle, characterized in that: include: A mode determination module is used to determine whether multiple intelligent guided vehicles automatically enter a sleep mode state; The strategy generation module is used to generate a sleep strategy based on the configuration elements to control the intelligent guided vehicle to enter a sleep state or a wake-up state.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the energy-saving method for the intelligent guided vehicle for a terminal according to any one of claims 1 to 7 is executed in a processor of the device where the program is controlled.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the energy-saving method for the intelligent guided vehicle at a terminal as described in any one of claims 1 to 7.

Images