Motorcycle quick-exhaust gear-shifting control method, device and equipment and medium

Abstract

The invention relates to a quick-exhaust gear-shifting control method, device and equipment for a motorcycle and a medium, and the method comprises the steps: S1, circularly detecting the input signal state of a quick-exhaust sensor assembled on a gear-shifting mechanism according to a set period, and if it is detected that the input signal state mark position of the quick-exhaust sensor is TRUE, turning to S2; s2, if the state flag bit of the input signal of the fast exhaust sensor in the previous cycle is FALSE, the fault state bit of the fast exhaust sensor is FALSE, and the fast exhaust enable switch is not prohibited, turning to S3; s3, if the current gear and rotating speed of the engine and the opening degree of the throttle valve meet the set conditions, the ignition angle is reduced to a first target ignition angle, and upshift operation is conducted in the rotating speed reduction process of the engine; and S4, if the gear of the engine is effective and the gear of the engine in the current cycle is inconsistent with the gear of the engine in the previous cycle, or the quick exhaust trigger delay time reaches a limit value, gear shifting is completed, and the quick exhaust gear shifting mode is quitted at the moment. Compared with the prior art, the gear shifting device has the advantages of being fast in gear shifting and good in driving experience feeling.

Description

Technical Field

[0001] The present invention relates to the field of motorcycle shift control, and particularly to a quick-shift control method, device, equipment and medium for motorcycles. Background Art

[0002] With the rapid development of society and the continuous change of market demands, various new technologies for motorcycles have emerged in an endless stream. All along, the process of shifting gears on a motorcycle requires a series of operations such as releasing the throttle, squeezing the clutch, shifting gears with the foot, accelerating the throttle, and releasing the clutch. It has relatively high requirements for the coordination ability of hands and feet. If the coordination is improper, the acceleration performance of the vehicle will be greatly affected due to the operation, which greatly limits the acceleration performance of the motorcycle, resulting in a poor driving experience. Even if the timing is incorrect, the gear shift may fail, causing "gear clash" and damaging the engine transmission mechanism.

[0003] Therefore, there is an urgent need to design a quick-shift control method for motorcycles with fast gear shifting and good driving experience. Summary of the Invention

[0004] The purpose of the present invention is to provide a quick-shift control method, device, equipment and medium for motorcycles with fast gear shifting and good driving experience, so as to overcome the defects existing in the above-mentioned prior art.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] According to the first aspect of the present invention, a quick-shift control method for motorcycles is provided, including:

[0007] S1. Detect the input signal status of the quick-shift sensor assembled on the shift mechanism in a cyclic manner according to a set period. If it is detected that the input signal status flag of the quick-shift sensor is set to TRUE, go to S2;

[0008] S2. If the input signal status flag of the quick-shift sensor detected in the previous cycle is FALSE, and the fault status bit of the quick-shift sensor is FALSE, and the quick-shift enable switch is not prohibited, then go to S3;

[0009] S3. If the current engine gear and speed, and the throttle opening satisfy the set conditions, then reduce the ignition angle to the first target ignition angle, and perform an upshift operation during the process of the engine speed decreasing;

[0010] S4. If the engine gear is valid and the current cycle engine gear is different from the engine gear in the previous cycle, or the quick-shift trigger delay time reaches the limit value, it indicates that the gear shift is completed. At this time, exit the quick-shift mode.

[0011] Preferably, the current engine gear and speed, and the throttle opening degree in S3 meet the set conditions, specifically: the engine speed is greater than or equal to the speed limit value of the current gear, and the current throttle opening degree is greater than or equal to the calibration limit value.

[0012] Preferably, exiting the quick-shift gear mode in S4 specifically includes: the current quick-shift ignition angle transitions to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system.

[0013] Preferably, the current quick-shift ignition angle transitions to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system, specifically: according to the set ignition angle transition step size and the period of each transition step, the current quick-shift ignition angle is transitioned to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system.

[0014] Preferably, the current quick-shift ignition angle transitions to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system, specifically: in a manner where the speed increase is first fast and then slow, the current quick-shift ignition angle is transitioned to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system.

[0015] According to the second aspect of the present invention, there is provided a motorcycle quick-shift gear control device, including:

[0016] A quick-shift sensor, assembled on the shift mechanism, which is turned on when the shift mechanism is depressed, and is used to obtain the input signal state of the quick-shift sensor;

[0017] An engine control unit, which is used to perform quick-shift gear control by using the described method according to the input signal state information of the quick-shift sensor, the fault status bit information, the quick-shift enable switch information, the engine gear information, the speed information, and the throttle opening degree information;

[0018] An electronic fuel injection system, which is used to control the ignition event and the fuel supply according to the output of the engine control unit.

[0019] Preferably, when the shift mechanism is depressed, the quick-shift sensor switch is turned on, and the voltage of the corresponding pin of the electronic control unit is grounded to obtain the input signal state of the quick-shift sensor.

[0020] Preferably, the engine gear information is input to the engine control unit through the CAN bus module integrated in the instrument.

[0021] According to the third aspect of the present invention, there is provided an electronic device, including a memory and a processor, where a computer program is stored on the memory, and when the processor executes the program, it implements the method described in any one of the above.

[0022] According to the fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method described in any one of the above.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) By installing a quick-shift sensor on the shift lever to detect gear changes, the present invention transmits the gear change signal to the electronic control unit to simulate the throttle action. Except for starting, there is no need to release the throttle and squeeze the clutch during the upshift process, greatly shortening the shift time, improving the vehicle's acceleration response, and enhancing the user's driving and riding experience.

[0025] (2) During the quick-shift process of the present invention, the ignition and fuel injection events are not cancelled, but the ignition angle is reduced to the first target ignition angle. Thus, during the engine speed drop process, the upshift operation is performed. According to different gears and engine speeds, the value of the ignition angle reduction is flexibly calibrated, reducing the engine power output to an appropriate value to offset the vehicle driving damping, so that the combination between gears will not be too tight, making the shift process smoother and enhancing the user's driving and riding experience.

[0026] (3) By monitoring the engine operating speed, throttle opening, etc., it is judged whether it is suitable for the quick-shift operation, avoiding stalling caused by shifting under inappropriate working conditions and reducing the risk of engine damage.

[0027] (4) Through the ignition angle attenuation, with the speed increase set to be fast first and then slow, the initial rapid response can quickly increase the engine torque, reduce power interruption, and improve the driving experience. The later slowdown in speed increase can avoid sudden changes in the ignition angle, reduce shocks, make the power output smoother, avoid power mutations during the power recovery process when exiting the quick-shift, and enhance comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flowchart of the method of the present invention;

[0029] Figure 2 is a schematic diagram of the upshift process of the quick-shift signal;

[0030] Figure 3 is a schematic diagram of the curves of the ignition angle, engine speed, gear state, and quick-shift sensor trigger state in the embodiment; among them, the yellow line represents the ignition angle, the red line represents the engine speed, the white line represents the gear state, and the green line represents the quick-shift sensor trigger state;

[0031] Figure 4 is a partial enlarged schematic diagram of the ignition angle shift process in the embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] Embodiment

[0034] The present invention adopts a quick-shift technology to solve the problem that in the process of gear shifting of vehicles with existing gear and clutch configurations, it is necessary to squeeze the clutch to disconnect the engine power before shifting gears. The quick-shift technology does not require operating the clutch during the shifting process, nor does it require releasing the throttle.

[0035] As Figure 1 shown, the present invention provides a method for controlling a quick-shift of a motorcycle, and the method includes:

[0036] S1. Cyclically detect the input signal state of a quick-shift sensor assembled on a shift mechanism at a set period. If it is detected that the status flag bit of the input signal of the quick-shift sensor is set to TRUE, go to S2;

[0037] S2. If the status flag bit of the input signal of the quick-shift sensor detected in the previous cycle is FALSE, and the fault status bit of the quick-shift sensor is FALSE, and the quick-shift enable switch is not prohibited, then go to S3;

[0038] S3. If the current engine gear and speed, and the throttle opening meet the set conditions, then reduce the ignition angle to a set quick-shift target ignition angle, and perform an upshift operation during the process of the engine speed decreasing;

[0039] S4. If the engine gear input to the engine control unit is valid and the engine gear in the current cycle is different from that in the previous cycle, or the quick-shift trigger delay time reaches the limit value, it indicates that the shifting is completed, and at this time, exit the quick-shift mode.

[0040] Working principle: During the process of vehicle upshifting and accelerating, without operating the clutch switch, when moving the shift lever to upshift, an input signal is given to the engine control unit ECU. After detecting the shift trend signal, the engine control unit ECU reduces the ignition angle to the target value, and realizes a quick upshift during the process of the speed decreasing, shortening the shift time to improve the vehicle acceleration performance. The schematic diagram of the quick-shift signal upshift process is as Figure 2 shown.

[0041] Specifically, as Figure 3As shown, the electronic fuel injection system cyclically detects the input signal status of the quick shift sensor according to a cycle of 15 ms. The status flag of the input signal of the quick shift sensor is detected as TRUE in the current cycle, while the status flag of the input signal of the quick shift sensor detected in the previous cycle is FALSE. At the same time, the status of the quick shift sensor failure is FALSE, the quick shift function switch is not prohibited, and the engine gear / speed and throttle opening triggered by the quick shift function meet the conditions. The system immediately cancels the current ignition event, cuts off the fuel supply, and the engine power is immediately cut off. During the process of the engine speed decreasing, the upshift operation is realized. When it is detected that the current loop gear is valid and different from the gear of the previous loop, or after the quick shift trigger delay time reaches the limit value, the ignition angle is restored to the ignition angle under normal driving conditions at a certain rate, and the engine power is also restored immediately.

[0042] 1. Quick shift trigger conditions:

[0043] 1) The calibration CFUEL_QuickShfitFuelCut_Option is selected as TRUE, indicating that the function of the quick shift sensor is selected. Otherwise, the vehicle does not have the quick shift function.

[0044] Among them, the use of the quick shift function can be turned on or off through a switch. The source of the switch signal can be input to the engine control unit ECU through a pin, or in the form of CAN BUS data transmission, and other CAN node devices (such as instrument panels) send the switch status information to the ECU.

[0045] 2) The calibration CFUEL_QuickShift_DisableRequest_Option is selected as QS_CANSwitch, indicating that the quick shift switch signal is input through CAN communication. The quick shift switch signal variable from the CAN message is Dashboard_QuickShift. When this variable is FALSE, it indicates that the quick shift function is turned on. Or, when the calibration CFUEL_QuickShift_DisableRequest_Option is selected as QS_PINSwitch, it indicates that the quick shift switch is input to the ECU through the ECU pin. The variable VVIOS_QuickShfitFuelCut_Disable_b of the corresponding pin status is FALSE, indicating that the quick shift function is turned on. If no switch is set, the switch signal source needs to select QS_NoSwitch for the calibration CFUEL_QuickShift_DisableRequest_Option, indicating that the quick shift function is in the default always-on state and cannot be turned off.

[0046] 3) The diagnostic failure flag bit VQSSD_FaultPresent_b of the quick-shift sensor is FALSE, indicating that the quick-shift sensor is in normal condition and no fault is reported.

[0047] 4) The engine speed is greater than or equal to the speed limit value of the current gear (CFUEL_QuickShfitFuelCut_SEThresh_n_1D, with the gear on the abscissa and the calibrated value being the engine speed, as shown in Table 1 below). If the lower the speed at which the quick-shift function is allowed to be triggered in the current gear, it will cause abnormal problems such as engine stalling.

[0048] Table 1

[0049] Gear x N... 1 2 3 4 5 6 Transmitter speed y 16383... 4000.00 2000.00 2000.00 2000.00 2000.00 2000.00

[0050] 5) The throttle opening is greater than or equal to the calibrated limit value, and the calibrated limit value in this embodiment is 20%.

[0051] This setting of the calibrated limit value can, on the one hand, enable the motorcycle to maintain stable power output at higher speeds, avoid problems such as poor driving or dragging due to insufficient power, and ensure the smoothness and power performance of driving. On the other hand, the engine can operate under more efficient working conditions, which helps to improve fuel economy and reduce fuel consumption.

[0052] 6) The ECU detects the voltage change of the quick-shift sensor installed on the shift lever. If the driver operates the shift mechanism, the voltage of the quick-shift sensor changes, triggering the shift operation signal of the quick-shift sensor, and the corresponding status flag bit VVIOS_QS_GearUp_b will be set to TRUE.

[0053] If the quick-shift upshift trend status flag bit VVIOS_QS_GearUp_b in the current engine unit ECU operation cycle is set to TRUE, while the quick-shift upshift trend status flag bit VVIOS_QS_GearUp_Pre_b in the previous cycle is set to FALSE, the upshift quick-shift function is activated.

[0054] 2. Execution process of upshift quick-shift

[0055] If the ignition event and fuel injection event are cancelled during the quick-shift upshift process, it will cause the power of the engine to be cut off. The vehicle driving damping back-dragging effect makes the gears fit tighter, resulting in difficult shifting and poor shifting smoothness.

[0056] In this embodiment, the ignition event and fuel injection event are not cancelled during the quick-shift process, and the ignition angle is directly reduced to the first target ignition angle. The upshift operation is performed during the engine speed drop process. In this embodiment, the quick-shift target angles corresponding to different gears are set as shown in Table 2.

[0057] Table 2

[0058] Transmitter speed y / Gear x 1 2 3 4 5 6 3000.00 -10.0 -11.0 -12.0 -12.0 -12.0 -12.0 4000.00 -10.0 -10.0 -12.0 -12.0 -12.0 -12.0 5000.00 -10.0 -9.0 -11.0 -10.5 -11.5 -11.5 6000.00 -10.0 -9.0 -9.5 -10.5 -11.5 -11.5 7000.00 -10.0 -9.0 -8.0 -8.5 -9.5 -9.5 8000.00 -10.0 -9.0 -8.0 -8.0 -8.5 -8.5 9000.00 -10.0 -9.0 -8.0 -8.0 -8.0 -8.0

[0059] Flexibly calibrate the reduced value of the ignition angle according to different gears and engine speeds, and reduce the engine power output to an appropriate value to offset the vehicle driving damping. The engagement between gears will not be too tight, which will make the shifting process smoother and bring a better experience to the driver. After that, the ignition angle returns to the normal value.

[0060] Figure 3 It is a schematic diagram of the curves of the ignition angle, engine speed, gear state, and quick shift sensor trigger state. Among them, the yellow line represents the ignition angle, the red line represents the engine speed, the white line represents the gear state, and the green line represents the quick shift sensor trigger state. Figure 4 It is the ignition angle curve during the shift from the second gear to the third gear. It can be seen from the figure that the upshift quick shift sensor is triggered at the position of cursor 1, and the ignition angle is reduced from the normal ignition angle to -9 degrees. Then the gear is switched from the second gear to the third gear, and then the ignition angle transitions from -9 degrees to the normal ignition angle (cursor 2). With the above settings, flexibly calibrate the reduced value of the ignition angle according to different gears and engine speeds, and reduce the engine power output to an appropriate value to offset the vehicle driving damping. The engagement between gears will not be too tight, which will make the shifting process smoother and bring a better experience to the driver.

[0061] In addition, after the upshift quick shift function is activated, the electronic fuel injection system will take the following measures to ensure smooth shifting:

[0062] 1) The quick shift shift delay counter (t) starts counting to make the quick shift trigger delay meet the power requirements for shifting, and the maximum delay is limited to the value of CFUEL_QSFC_SE_WaitTime_t_2D.

[0063] 2) The electronic fuel injection system monitors the gear state variable ICM1_GearPos input to the ECU through CAN messages. If this state variable changes (such as from the second gear to the third gear), it indicates that the shifting is successful.

[0064] 3) After the shifting is successful, the power starts to recover. To ensure smooth power recovery and avoid the problem of engine surging, the electronic fuel injection system sets the first and second target ignition angles at the initial moment of power recovery, and this ignition angle is set by looking up the CSPARK_QuickShiftGearUp_CA_2D table preset by the ECU.

[0065] The values in the CSPARK_QuickShiftGearUp_CA 2D table are set with a decreasing acceleration rate. The initial rapid response can quickly increase the engine torque, reduce power interruption, and improve the driving experience. The decreasing acceleration rate in the later stage can avoid sudden changes in the ignition angle, reduce shocks, make the power output smoother, and enhance comfort.

[0066] Furthermore, the non-linear strategy of decreasing acceleration rate first and then slowing down can flexibly respond to different driving conditions and engine states, improve the overall performance, and have stronger adaptability.

[0067] 4) When the quick shift up function exits, the measures taken by the electronic fuel injection system are as follows:

[0068] The current quick shift ignition angle transitions from the second quick shift target ignition angle at the initial moment of power recovery to the main ignition angle during normal system operation:

[0069] The ignition angle transition step size is: CSPARK_QuickShift_Exit_RampStep_CA; it indicates the value of each change in the ignition angle.

[0070] The period of each step of the ignition angle transition is: CSPARK_QuickShift_Exit_Ramptime_t, which indicates the time interval between two adjacent changes in the ignition angle.

[0071] In this embodiment, the attenuation of the ignition angle is set, and the entire process lasts less than 100 ms, which greatly improves the shifting efficiency, shortens the acceleration time during upshifting, and enables the passengers and drivers to obtain an excellent driving experience.

[0072] This embodiment also provides a quick shift control device, which includes a quick shift sensor, an engine control unit, and an electronic fuel injection system. Among them, the quick shift sensor is assembled on the shift mechanism. The quick shift sensor can adjust the stroke according to the shift mechanism to achieve high timeliness and high reliability of shifting. During the shifting process, stepping on the shift mechanism can drive the quick shift sensor to act, the quick shift sensor switch is turned on, grounding the voltage of the corresponding pin of the engine control unit ECU, thereby triggering the quick shift signal to take effect. The engine control unit ECU monitors whether the current gear meets the conditions for quick shift, and monitors whether the shift is successful, and correspondingly takes actions to trigger or exit the quick shift function.

[0073] The electronic device of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or computer program instructions loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0074] The processing unit executes the various methods and processes described above, such as methods S1 - S4. For example, in some embodiments, methods S1 - S4 can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the CPU, one or more steps of methods S1 - S4 described above can be executed. Alternatively, in other embodiments, the CPU can be configured to execute methods S1 - S4 by any other suitable means (e.g., by means of firmware).

[0075] The functions described above herein can be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip systems (SOC), complex programmable logic devices (CPLD), and so on.

[0076] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0077] In the context of the present invention, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), or any suitable combination of the foregoing.

[0078] As described above, only the specific embodiments of the present invention are provided, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily conceive of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A motorcycle quick shift control method, characterized in that: include: S1, cyclically detect the input signal state of the quick shift sensor installed on the shift mechanism according to the set period. If the input signal state flag position of the quick shift sensor is detected to be TRUE, go to S2; S2: If the input signal status flag bit of the quick discharge sensor detected in the previous cycle is FALSE, and the fault status bit of the quick discharge sensor is FALSE, and the quick discharge enable switch is not disabled, then go to S3; S3, if the current engine gear position and speed, and throttle opening meet the set conditions, then reduce the ignition angle to the first target ignition angle, and perform an upshift operation while the engine speed is decreasing; S4. If the engine gear is valid and the engine gear of the current cycle is inconsistent with the engine gear of the previous cycle, or the quick shift trigger delay time reaches the limit, it indicates that the gear shift is completed, and the quick shift mode is exited.

2. A motorcycle quick shift control method according to claim 1, characterized in that: The current engine gear and speed, and throttle opening in S3 meet the set conditions, specifically: the engine speed is greater than or equal to the speed limit of the current gear, and the current throttle opening is greater than or equal to the calibrated limit.

3. A motorcycle quick shift control method according to claim 1, characterized in that: Exiting the quick shift mode in S4 specifically includes: the current quick shift ignition angle is transitioned to a second target ignition angle corresponding to the normal operation of the electronic fuel injection system.

4. A motorcycle quick shift control method according to claim 3, characterized in that: The current fast-displacement ignition angle is transitioned to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system, specifically: according to the set ignition angle transition step length and transition step cycle, the current fast-displacement ignition angle is transitioned to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system.

5. A motorcycle quick shift control method according to claim 3, characterized in that: The current fast-shift ignition angle is transitioned to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system, specifically, the current fast-shift ignition angle is transitioned to the second target ignition angle corresponding to the normal operation of the electronic fuel injection system in a manner of first increasing the speed and then decreasing the speed.

6. A motorcycle quick shift control device, characterized in that: include: The quick shift sensor is mounted on the shift mechanism. When the shift mechanism is pressed, the quick shift sensor is turned on to obtain the input signal state of the quick shift sensor. An engine control unit, for performing quick shift control using the method described in any one of claims 1 to 5 according to input signal status information of the quick shift sensor, fault status information, quick shift enable switch information, engine gear position information and speed information, and throttle opening information; The electronic fuel injection system is used to control ignition events and fuel supply according to the output of the engine control unit.

7. The device according to claim 6, characterized in that Step on the shift mechanism, turn on the quick-shift sensor switch, connect the corresponding pin voltage of the electronic control unit to the ground, and obtain the input signal state of the quick-shift sensor.

8. The device according to claim 6, characterized in that The engine gear position information is input to the engine control unit via the CAN bus module integrated in the instrument.

9. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

Images