Automatic pool cleaning device, control method thereof and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method thereof and a computer storage medium. The automatic pool cleaning device comprises a radar. The control method comprises the steps that the automatic pool cleaning device is controlled to advance in a pool; in the advancing process, the position of the radar in the water pool is determined, and the position comprises the position above the water surface of the water pool or the position below the water surface of the water pool; and adjusting the emission wavelength of the radar according to the position of the radar in the pool.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning devices, and in particular to an automatic pool cleaning device, a control method thereof, and a computer storage medium. Background Art

[0002] With the popularity of swimming pools and the significant progress of robot technology, more and more consumers tend to use pool cleaning robots to perform pool cleaning tasks. When performing cleaning tasks, pool cleaning robots need to navigate and avoid obstacles, and radar has the advantages of high-precision ranging, strong anti-interference ability and high-resolution imaging, so radar plays a vital role in pool cleaning robots.

[0003] Conventional radars have a large performance difference between above-water and underwater environments. At present, conventional radars can achieve high-precision, long-distance detection when working above water, but the range is short (about 30cm to 45cm) when used underwater. If the mid-range radar used underwater is used above water, the range is not as good as conventional radars. Therefore, a technical solution is urgently needed to realize a single radar to meet the use requirements of pool cleaning robots in different working modes. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned prior art, the present application provides a control method for an automatic pool cleaning device, wherein the automatic pool cleaning device includes a radar, and the control method includes: controlling the automatic pool cleaning device to move in a pool; during the movement, determining a position of the radar in the pool, wherein the position includes being above the water surface of the pool or being below the water surface of the pool; and adjusting the wavelength emitted by the radar according to the position of the radar in the pool.

[0005] Further, adjusting the wavelength emitted by the radar according to the position of the radar in the pool includes: when the radar is below the water surface of the pool, adjusting the wavelength of the radar to a first wavelength; when the radar is above the water surface of the pool, adjusting the wavelength of the radar to a second wavelength, wherein the first wavelength is greater than the second wavelength.

[0006] Further, the first wavelength is in the range of 500-1600 nanometers, and the second wavelength is in the range of 400-600 nanometers.

[0007] Further, the determining the position of the radar in the pool includes: determining the position of the radar in the pool relative to the water surface according to a current working mode of the automatic pool cleaning device.

[0008] Furthermore, determining the position of the radar in the pool according to the working mode of the automatic pool cleaning device includes: when the current working mode of the automatic pool cleaning device is the water surface cleaning mode, determining that the radar is above the water surface of the pool; when the current working mode of the automatic pool cleaning device is the pool bottom cleaning mode, the pool wall cleaning mode, the platform cleaning mode or the waterline cleaning mode, determining that the radar is below the water surface of the pool.

[0009] Further, the determining the position of the radar in the water pool includes: determining the position of the radar in the water pool relative to the water surface based on the detection result of the water outlet detection sensor.

[0010] Furthermore, the radar is arranged within a predetermined distance range of the water outlet detection sensor.

[0011] Further, the determining the position of the radar in the water pool includes: determining the position of the radar in the water pool relative to the water surface according to image information collected by an image acquisition device.

[0012] Furthermore, the radar is arranged on the upper part or the head of the fuselage of the automatic pool cleaning device.

[0013] The present application also discloses a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, any one of the control methods described above is implemented.

[0014] The embodiments described in this application have the following beneficial effects:

[0015] The control method of the automatic pool cleaning device provided by the present application can accurately determine the position of the radar in the pool (including being located above the water surface of the pool or below the water surface of the pool), and adjust the wavelength of the radar emission according to the position of the radar in the pool. By adjusting the wavelength of the radar, it is adapted to different cleaning modes of the automatic pool cleaning device. The present application adjusts the wavelength of a single radar to meet the different cleaning modes of the robot, so that a single radar can meet the cleaning needs of the robot in different environments, thereby improving the cleaning efficiency and flexibility of the robot, and also saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the following briefly introduces the drawings required for the description of the embodiments. The drawings described below are only exemplary embodiments of the present application.

[0017] Figure 1 A flow chart showing a method for controlling an automatic pool cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in this application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0019] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using the control method, and a computer storage medium. The automatic pool cleaning device of the present application includes a radar, and the automatic pool cleaning device of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a reservoir, a spa pool, a water tank, a water tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean a pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of a pool or a pool-shaped building. In the following, if not otherwise specified, the terms "pool bottom", "pool bottom", and "pool bottom" all refer to the bottom surface of the swimming pool.

[0020] Figure 1 The flow chart of the control method 100 of the automatic pool cleaning device according to an embodiment of the present application is shown. The control method 100 includes steps S101 to S103. Figure 1 Steps S101 to S103 are described.

[0021] In step S101, the automatic pool cleaning device is controlled to move in the pool.

[0022] When the robot cleans the pool, it can include multiple cleaning operation modes according to different cleaning positions, such as pool bottom cleaning mode, pool wall cleaning mode, water surface cleaning mode and waterline cleaning mode. When controlling the robot to clean the pool, a single cleaning mode can be used to clean only part of the pool, or multiple cleaning modes or all cleaning modes can be used to clean the pool more comprehensively. The specific cleaning modes can be flexibly controlled according to the cleanliness of the pool.

[0023] The robot is equipped with a radar. The radar emits radar waves (such as electromagnetic waves or sound waves). When the radar waves encounter obstacles (such as pool walls, wall lamps, floating objects in the pool, etc.), they are reflected. The radar receives the echo and obtains information such as the distance from the obstacle to the emission point, the rate of change of distance (radial velocity), direction, and altitude. Afterwards, according to the position of the obstacle and the position and motion state of the robot body, the robot's motion trajectory and mode are adjusted (for example, the robot is controlled to slow down in advance, change its course, bypass obstacles, etc.) to avoid obstacles.

[0024] However, the range of the radar is significantly different above and below the water. For example, the range of conventional radars under water is usually short, about 30-45cm. This is because water has a strong absorption and attenuation effect on radar waves, resulting in a limited distance for the radar waves emitted by the radar to propagate underwater. When the radar with a medium-range range works on the water, due to environmental factors such as water surface reflection and refraction, its range cannot reach the level of conventional radars on land. At present, the robot is provided with at least two different types of radars, one radar for underwater medium-range detection, and the other radar for water short-range detection to meet the needs of the robot in different cleaning modes, but this increases the cost and structural complexity of the robot. In this application, a single radar can be used to meet the different cleaning modes of the robot. For example, if the robot travels on the water surface (for example, the robot works in the water surface cleaning mode), the wavelength of the radar emission is suitable for sensing obstacles on the water; if the robot travels under the water surface (for example, the robot works in the pool bottom cleaning mode, the pool wall cleaning mode or the waterline cleaning mode), the wavelength of the radar emission is suitable for sensing obstacles underwater. By adjusting the wavelength of the radar, the robot can detect obstacles more accurately when traveling in the pool, and avoid them more effectively.

[0025] In the present application, the radar may be arranged on the upper part or the head of the fuselage of the automatic pool cleaning device.

[0026] For example, the radar is set on the upper part of the robot's fuselage, so that the radar can be placed in a relatively high position, which is conducive to the radar's wider detection in the pool. When the robot is moving underwater (for example, the robot works in the pool bottom cleaning mode), the radar set on the upper part of the fuselage can better identify and avoid some obstacles at the bottom of the pool, reducing interference with radar detection. At the same time, when the robot is moving on the water surface (for example, the robot works in the water surface cleaning mode), the radar set on the upper part of the fuselage helps the radar to detect the water surface of the pool and the area above the water surface, such as detecting obstacles at the edge of the pool or floating objects on the water surface. In addition, installing the radar on the upper part of the fuselage can also make the center of gravity distribution of the robot more reasonable, which is conducive to the stable movement of the robot in the pool.

[0027] The upper part of the robot's body includes the top of the body (i.e., the side of the body facing away from the bottom of the pool when the robot is moving and cleaning at the bottom of the pool), the upper part of the side of the body (for example, the upper part of the right side of the body when the robot is moving and cleaning at the bottom of the pool), the upper part of the front side of the body, and the upper part of the rear side of the body.

[0028] Setting the radar on the head of the robot can make the radar have a keener perception ability in the direction of the robot's advance. Specifically, the radar set on the head of the robot can detect obstacles in front of the robot at the first time, providing more timely information for the robot's obstacle avoidance operation. Setting the radar on the head of the robot is more conducive to cleaning operations in narrow or complex pool environments, and can help the robot plan the path more accurately and avoid collisions with obstacles. For example, in the corners of the pool or areas with obstacles such as pipes and pillars, the radar on the head of the robot can quickly detect obstacles and adjust the robot's direction of travel in time.

[0029] In the present application, the radar may be arranged within a predetermined distance range of the water outlet detection sensor.

[0030] The water outlet detection sensor is used to obtain in real time whether the position of the robot in the pool is above or below the water surface through pressure or optical detection. The radar is installed near the water outlet detection sensor, such as: the distance between the radar and the water outlet detection sensor can be within a predetermined distance range (for example, the predetermined distance is 3-5cm). For example, the relative position relationship between the water outlet detection sensor and the radar can be determined according to the factory settings of the robot. In other words, the position of the radar on the robot body can be determined by the position of the water outlet detection sensor on the robot body. Since the radar is installed within the predetermined distance range of the water outlet detection sensor, the distance between the radar and the water outlet detection sensor is relatively close.

[0031] It will be understood that the above description of the setting of the radar position and the predetermined distance range is merely exemplary, and those skilled in the art may select the radar position and the predetermined distance range according to actual conditions, as long as the technical principles of the present application can be implemented.

[0032] Next, the process proceeds to step S102. In step S102, during the traveling process, the position of the radar in the pool is determined, and the position includes being above the water surface of the pool or below the water surface of the pool.

[0033] During the robot's movement, it is necessary to determine the position of the radar in the pool, in other words, to determine whether the radar is above or below the water surface. When the radar is above the water surface, it can detect the surface of the pool, such as the position of floating objects on the water surface. When the radar is below the water surface, the radar's detection performance will be affected due to the absorption and attenuation of radar waves by water. However, by adjusting the radar's wavelength and other parameters, obstacle detection and avoidance can still be effectively performed. Therefore, it is necessary to accurately determine the position of the radar in the pool relative to the water surface, so as to adjust the radar's wavelength.

[0034] In step S102, determining the position of the radar in the pool includes: determining the position of the radar in the pool relative to the water surface based on the detection result of the water outlet detection sensor.

[0035] As mentioned above, the radar can be installed within a predetermined distance range of the water outlet detection sensor. Since the radar is close to the water outlet detection sensor, the position of the radar relative to the water surface in the pool can be accurately determined by the position of the water outlet detection sensor relative to the water surface. When the water outlet detection sensor is exposed above the water surface, the robot's controller can determine that the water outlet detection sensor is above the water surface through the signal detected by the water outlet detection sensor, thereby further determining that the radar is above the water surface. On the contrary, when the water outlet detection sensor sinks underwater, the robot's controller can determine that the water outlet detection sensor is below the water surface through the signal detected by the water outlet detection sensor, thereby further determining that the radar is below the water surface.

[0036] In step S102, the position of the radar in the pool relative to the water surface can be determined according to the current working mode of the automatic pool cleaning device. For example, when the robot is in the water surface cleaning mode, the robot floats on the water surface. In this mode, since the radar is located on the upper part of the robot body or the head of the robot, the radar is located above the water surface; when the robot is in the pool bottom cleaning mode, the robot is located at the bottom of the pool. In this mode, the radar is located below the water surface. It can be seen that the location of the machine above or below the water is related to the working mode, and the position of the radar in the pool is related to the location of the machine above or below the water. Therefore, the position of the radar in the pool relative to the water surface can be quickly determined according to the current working mode of the robot.

[0037] When the current working mode of the automatic pool cleaning device is the water surface cleaning mode, it is determined that the radar is located above the water surface of the pool; when the current working mode of the automatic pool cleaning device is the pool bottom cleaning mode, the pool wall cleaning mode, the platform cleaning mode or the waterline cleaning mode, it is determined that the radar is located below the water surface of the pool.

[0038] When the robot is in the water surface cleaning mode, the robot body floats on the water surface of the pool, so it can be determined that the radar is also above the water surface of the pool. When the robot is in the pool bottom cleaning mode, the robot body is at the bottom of the pool, so it can be determined that the radar is also below the water surface. When the robot is in the pool wall cleaning mode, the robot will move along the pool wall, and the robot body is below the water surface, so it can be determined that the radar is also below the water surface of the pool. When the robot is in the waterline cleaning mode, the waterline is the intersection of the water surface and the pool wall. At this time, part of the robot body will be near the water surface, and the machine will move up and down at the waterline to clean the waterline position. At this time, it is generally not necessary to detect obstacles above the water surface. The radar can be set to the wavelength of the underwater working mode, that is, it is considered that the radar is below the water surface. Of course, as mentioned above, in the waterline working mode, the position of the radar relative to the water surface can also be determined by the water outlet detection sensor. When the robot is in platform cleaning mode, the cleaning target is the platform area in the pool. The platform is usually located at the bottom of the pool, and the robot needs to dive into the water to clean it. Therefore, it can be determined that the radar is also below the water surface. Combined with the position of the machine in different working modes, the position of the radar in the pool can be quickly determined without the data of other sensors or equipment, and the wavelength of the radar can be quickly adjusted to meet the needs of different working modes.

[0039] In step S102, the position of the radar in the pool relative to the water surface may be determined based on the image information collected by the image acquisition device.

[0040] In the application of robots, image acquisition devices play an important role. The position of the radar in the pool can be determined by the collected image information. For example, the image acquisition device is set on the head of the robot. By collecting images inside the pool, the robot can analyze the collected images through image processing algorithms to identify whether there are objects above or below the water in the image, thereby determining whether the radar is currently above or below the water surface. Specifically, when the image acquisition device collects objects on the water surface or light reflected from the water surface, it is recognized that the robot is floating on the water surface of the pool (for example, the robot works in the water surface cleaning mode), thereby determining that the radar is above the water surface of the pool; when the image acquisition device collects underwater objects or refracted light from the water, it is recognized that the robot is underwater (for example, pool bottom cleaning mode, pool wall cleaning mode, platform cleaning mode, waterline cleaning mode), thereby determining that the radar is below the water surface of the pool.

[0041] It is understandable that the image acquisition device can be a camera, or other device that can realize the image acquisition function. After the image acquisition device acquires the image, the image processing algorithm can be pre-stored in the robot, or stored in a cloud server, or set in a memory outside the robot. The above selection of the type of image acquisition device is exemplary, as long as the technical principle of the present application can be realized.

[0042] In addition, the position of the radar in the pool relative to the water surface can also be determined by the position of the camera. For example, the camera is set on the head of the robot, and its current position state can be used as an important basis for determining the position of the radar. Specifically, if the camera is above the water surface, according to the radar setting position described above, it can be determined that the radar is above the water surface. When the camera is below the water surface, it can also be determined that the radar is below the water surface.

[0043] It can be understood that the above description of the position of the radar in the pool is only exemplary, and those skilled in the art can set the position of the radar in the pool according to actual conditions as long as the technical principles of the present application can be implemented.

[0044] Afterwards, the process proceeds to step S103 , in which the wavelength emitted by the radar is adjusted according to the position of the radar in the water pool.

[0045] For example, when the radar is above the surface of the pool, a shorter wavelength can be used for detection. When the radar is below the surface of the pool, a longer wavelength is used for detection. The choice of radar wavelength depends on the characteristics of the detection target and the environment in which the radar is located. Dynamically adjusting the wavelength emitted by the radar according to the position of the radar in the pool can enable the radar to perform optimally in different working modes of the robot, thereby enhancing the detection effect of the radar.

[0046] In step S103, the wavelength emitted by the radar is adjusted according to the position of the radar in the pool, including: when the radar is below the water surface of the pool, adjusting the wavelength of the radar to a first wavelength; when the radar is above the water surface of the pool, adjusting the wavelength of the radar to a second wavelength; wherein the first wavelength is greater than the second wavelength.

[0047] For example, the wavelength emitted by the radar is adjusted according to the position of the radar in the pool relative to the water surface. When the radar is below the water surface of the pool, the wavelength of the radar is adjusted to the first wavelength (e.g., 800 nanometers); when the radar is above the water surface of the pool, the wavelength of the radar is adjusted to the second wavelength (e.g., 500 nanometers). Shorter wavelengths can provide higher resolution and can more clearly identify obstacles and floating objects on the water surface. Longer wavelengths can more effectively penetrate the water body, reduce the absorption and attenuation of radar waves by water, and thus improve the detection distance and signal strength. In addition, radars with longer wavelengths can better cope with complex water quality conditions in underwater environments, such as turbid water bodies or water bodies containing suspended matter, to ensure the accuracy of detection results. Therefore, the first wavelength emitted by the radar (i.e., the radar is below the water surface) is greater than the second wavelength (i.e., the radar is above the water surface).

[0048] The first wavelength is in the range of 500-1600 nanometers, and the second wavelength is in the range of 400-600 nanometers.

[0049] When the radar is below the water surface, it emits radar waves of the first wavelength, where the first wavelength ranges from 500 to 1600 nanometers. When the radar is above the water surface, the wavelength of the radar wave is switched to the second wavelength range, where the second wavelength ranges from 400 to 600 nanometers. In an underwater environment, longer wavelengths can better penetrate the water and detect underwater obstacles, sediments, and areas that need to be cleaned. In addition, longer wavelengths have less attenuation in the water, and can detect obstacles more accurately.

[0050] The radar is designed to switch between different wavelength ranges depending on its location (above or below the water surface) to optimize the detection effect. Specifically, when the radar is below the water surface, it emits radar waves within a first wavelength range, which can be 500-1600 nanometers. This wavelength range covers the green and red parts of visible light, as well as part of near-infrared light. In an underwater environment, longer wavelengths can better penetrate the water body and effectively detect underwater obstacles, sediments, and areas that need to be cleaned. Longer wavelengths have less attenuation in the water and can travel farther while maintaining higher signal strength, providing a clearer detection image.

[0051] When the radar is above the water surface, the wavelength of the radar wave is switched to the second wavelength range, which can be 400-600 nanometers. This wavelength range covers the blue and green parts of visible light. In an aquatic environment, shorter wavelengths can better interact with the surface of the water and provide clearer information about the water surface. This wavelength range helps the robot to perform efficient environmental perception above the water surface, such as detecting floating objects on the water surface or other obstacles that may affect cleaning work. By switching between the first wavelength range and the second wavelength range, the robot can achieve the best detection effect in different working modes.

[0052] It can be understood that the above description of the wavelength emitted by the radar and the range of the first wavelength and the range of the second wavelength is only exemplary. Those skilled in the art can select the wavelength emitted by the radar and the range of the first wavelength and the range of the second wavelength according to actual conditions, as long as the technical principles of the present application can be implemented.

[0053] The control method 100 of the automatic pool cleaning device provided by the present application can accurately determine the position of the radar in the pool (including being located above the water surface of the pool or below the water surface of the pool), and adjust the wavelength of the radar emission according to the position of the radar in the pool. By adjusting the wavelength of the radar, it is adapted to different cleaning modes of the automatic pool cleaning device. The present application adjusts the wavelength of a single radar to meet the different cleaning modes of the robot, so that a single radar can meet the cleaning needs of the robot in different environments, thereby improving the cleaning efficiency and flexibility of the robot, and also saving costs.

[0054] The present application also provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0055] It should be understood that, in this embodiment, the computer storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0056] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] In the present application, unless otherwise specified, directional words such as "up" and "down" are generally used with reference to the directions shown in the drawings, or with reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are generally used with reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present application.

[0060] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, wherein the automatic pool cleaning device comprises a radar, and the control method comprises: Controlling the automatic pool cleaning device to move in the pool; During the moving process, determining the position of the radar in the pool, wherein the position includes being above the water surface of the pool or being below the water surface of the pool; The wavelength emitted by the radar is adjusted according to the position of the radar in the water pool.

2. The control method according to claim 1, wherein: The step of adjusting the wavelength emitted by the radar according to the position of the radar in the water pool comprises: When the radar is located below the water surface of the pool, adjusting the wavelength of the radar to a first wavelength; When the radar is located above the water surface of the pool, the wavelength of the radar is adjusted to a second wavelength, wherein the first wavelength is greater than the second wavelength.

3. The control method according to claim 2, wherein: The first wavelength is in the range of 500-1600 nanometers, and the second wavelength is in the range of 400-600 nanometers.

4. The control method according to claim 1, wherein: Determining the position of the radar in the pool includes: According to the current working mode of the automatic pool cleaning device, the position of the radar in the pool relative to the water surface is determined.

5. The control method according to claim 4, wherein: Determining the position of the radar in the pool according to the working mode of the automatic pool cleaning device includes: When the current working mode of the automatic pool cleaning device is a water surface cleaning mode, determining that the radar is located above the water surface of the pool; When the current working mode of the automatic pool cleaning device is a pool bottom cleaning mode, a pool wall cleaning mode, a platform cleaning mode, or a waterline cleaning mode, it is determined that the radar is located below the water surface of the pool.

6. The control method according to claim 1, wherein: Determining the position of the radar in the pool includes: Based on the detection result of the water outlet detection sensor, the position of the radar in the pool relative to the water surface is determined.

7. The control method according to claim 6, wherein: The radar is arranged within a predetermined distance range of the water outlet detection sensor.

8. The control method according to claim 1, wherein: Determining the position of the radar in the pool includes: The position of the radar in the pool relative to the water surface is determined based on the image information collected by the image collection device.

9. The control method according to claim 1, wherein: The radar is arranged on the upper part of the fuselage or the head of the automatic pool cleaning device.

10. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the control method according to any one of claims 1 to 9.

Images