Charging method, device, equipment, storage medium and program product

Abstract

The embodiment of the invention generally relates to the technical field of charging, and discloses a charging method, device and equipment, a storage medium and a program product. The method includes determining a position of a charging service device at a device to be charged based on an image of the charging service device acquired by an image acquisition device, the image acquisition device being deployed on the device to be charged. And determining relative position information between the to-be-charged equipment and the charging service equipment based on the position of the charging service equipment, wherein the relative position information comprises at least one of the following items: a longitudinal distance, a transverse deviation and a course angle of the to-be-charged equipment relative to the charging service equipment. And determining at least one movement parameter for controlling the movement of the to-be-charged equipment at least based on the relative position information. And moving the to-be-charged equipment to be butted with the charging service equipment based on the at least one movement parameter. Therefore, in the process of moving to the charging service equipment, the problem of butt joint deviation caused by accumulation of the transverse deviation is avoided by considering the transverse deviation.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of charging technologies, and more particularly, to methods, devices, electronic devices, computer-readable storage media, and computer program products for charging. Background Art

[0002] With the popularization of robotics, various robots are being widely used in people's lives. Currently, the power of robots is mainly provided by storage batteries. When the battery power of a robot is about to run out, users often need to help the robot charge. Once the user forgets to charge, it will cause the robot to be unusable, delaying the tasks the robot is performing or preventing the robot from immediately starting the tasks to be performed, bringing trouble to the user. Therefore, robots that can automatically return to a charging service device, such as a charging pile, for charging when the battery level is below a set threshold have been developed. Such robots bring greater convenience to users. However, currently, robots automatically returning to the charging service device for charging mainly rely on heading angle error for proportional-integral-derivative (PID) control, without directly incorporating the lateral position error into the control law, resulting in the accumulation of lateral deviation, and ultimately leading to the docking deviation between the robot and the charging service device, and further resulting in charging failure. Summary of the Invention

[0003] In a first aspect of the present disclosure, a method for charging is provided. The method includes: determining the position of a charging service device based on an image of the charging service device acquired by an image acquisition device at a device to be charged, where the image acquisition device is deployed on the device to be charged. Determining relative position information between the device to be charged and the charging service device based on the image, where the relative position information includes at least one of the following: the longitudinal distance of the device to be charged relative to the charging service device, the lateral deviation, and the heading angle. Determining at least one movement parameter for controlling the movement of the device to be charged based on at least the relative position information. Moving the device to be charged from the current position to the charging service device for docking and charging based on the at least one movement parameter.

[0004] In a second aspect of the present disclosure, a charging device is provided. The device includes: an image acquisition module configured to determine the position of a charging service device at a device to be charged based on an image of the charging service device acquired by an image acquisition device, where the image acquisition device is deployed on the device to be charged; a position determination module configured to determine relative position information between the device to be charged and the charging service device based on the image, the relative position information including at least one of the following: a longitudinal distance of the device to be charged relative to the charging service device, a lateral deviation, and a heading angle; a movement parameter determination module configured to determine at least one movement parameter for controlling the movement of the device to be charged based at least on the relative position information; and a movement control module configured to cause the device to be charged to move from a current position to the charging service device for docking charging based on the at least one movement parameter.

[0005] In a third aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. The instructions, when executed by the at least one processing unit, cause the electronic device to execute the method of the first aspect.

[0006] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided. A computer program is stored on the medium, and when the computer program is executed by a processor, the method of the first aspect is implemented.

[0007] In a fifth aspect of the present disclosure, a computer program product is provided. The product includes a computer program, where when the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0008] The present disclosure has the following beneficial effects: By considering the lateral deviation during the movement to the charging device to control the movement parameters of the device to be charged, the problem of docking deviation caused by the accumulation of lateral deviation is avoided, and the success rate of automatic charging is improved.

[0009] It should be understood that the content described in this part is not intended to limit the key features or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the following, in combination with the drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of various implementation manners of the present disclosure will become more apparent. In the drawings, the same or similar reference numerals denote the same or similar elements, where: Figure 1 A schematic structural diagram of a device to be charged according to some embodiments of the present disclosure is shown; Figure 2The figure shows a flowchart of a method for charging according to some embodiments of the present disclosure; Figure 3 The figure shows a flowchart of a method for determining movement parameters for controlling a device to be charged according to some embodiments of the present disclosure; Figure 4 The figure shows a schematic structural block diagram of a device for charging according to some embodiments of the present disclosure; and Figure 5 The figure shows a block diagram of a computing device in which one or more embodiments of the present disclosure can be implemented. Detailed Description of Specific Embodiments

[0011] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0012] In the description of the embodiments of the present disclosure, the term "including" and its like should be understood as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". There may also be other explicit and implicit definitions hereinafter.

[0013] The term "charging service device" refers to a device that provides power supply for a device to be charged. It ensures that the device to be charged connected to it can be charged quickly and stably through a safe and efficient power transmission method. Such devices are usually equipped with corresponding management systems, supporting functions such as automatic docking, power monitoring and fault protection, to optimize the charging process and extend the battery life.

[0014] It should be noted that in the technical solutions of the present disclosure, the acquisition, storage and application of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0015] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained through appropriate means according to relevant laws and regulations.

[0016] For example, when a user's active request is received, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information, so that the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the present disclosure's technical solution based on the prompt message.

[0017] As an optional but non-limiting implementation manner, the manner of sending a prompt message to the user in response to receiving the user's active request may be, for example, in the form of a pop-up window, and the prompt message may be presented in text in the pop-up window. In addition, the pop-up window may also carry selection controls for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0018] It can be understood that the above process of notifying and obtaining user authorization is only illustrative and does not limit the embodiments of the present disclosure. Other methods that comply with relevant laws and regulations can also be applied to the embodiments of the present disclosure.

[0019] As briefly mentioned above, currently, the charging of the robot automatic recharging service device mainly relies on the heading angle error for proportional-integral-derivative (PID) control, and the lateral position error is not directly incorporated into the control law, resulting in the accumulation of lateral deviation, ultimately leading to the docking offset between the robot and the charging device, and further resulting in charging failure.

[0020] Since the device to be charged generally uses a differential drive chassis, and the differential drive chassis cannot move laterally, this results in a smaller adjustable space when the device to be charged is close to the charging service device, and it is no longer suitable for steering adjustment and lateral adjustment, thus leading to the failure of electrode docking and inability to charge.

[0021] In addition, the current method of controlling the charging of the device to be charged to the automatic recharging service device controls by using fixed control parameters, and the fixed control parameters usually cannot match the adjustment range differences of far / near distances, resulting in oscillation or convergence failure and affecting the final electrode docking.

[0022] In addition, during the charging process of the device to be charged to the automatic recharging service device, the field of view of the image acquisition device may be lost when the device to be charged adjusts its attitude, resulting in the interruption of target detection.

[0023] In view of this, embodiments of the present disclosure provide an improved solution for charging. In this solution, at the device to be charged, based on an image of the charging service device acquired by an image acquisition device, the position of the charging service device is determined, where the image acquisition device is deployed on the device to be charged. Based on the position of the charging service device, relative position information between the device to be charged and the charging service device is determined, and the relative position information includes at least one of the following: the longitudinal distance of the device to be charged relative to the charging service device, the lateral deviation, and the heading angle. At least based on the relative position information, at least one movement parameter for controlling the movement of the device to be charged is determined. Based on at least one movement parameter, the device to be charged is moved from the current position to the charging service device for docking charging. Thus, during the movement to the charging service device, the movement parameters of the device to be charged are controlled by considering the lateral deviation, thereby avoiding the docking offset problem caused by the accumulation of lateral deviation and improving the success rate of automatic charging.

[0024] Figure 1 FIG. shows a schematic structural diagram of a device 100 to be charged according to some embodiments of the present disclosure. As Figure 1 shown, the device 100 to be charged may be, for example, a robot capable of performing various tasks, such as a robot for performing cleaning tasks. It should be understood that the robot is only an example of the device 100 to be charged, which is only descriptive and is not intended to impose any limitation on the embodiments of the present disclosure. In other embodiments of the present disclosure, the device 100 to be charged may be any other suitable device or apparatus to be charged.

[0025] The device 100 to be charged may include a device body 110, a motion component 120, a charging electrode 130, and so on. The motion component 120 may include, for example, a differential chassis drive mechanism 120, etc. The differential chassis drive mechanism 120 may include motion mechanisms such as drive wheels, drive modules, shaft modules, and chassis main boards. The device 100 to be charged can be driven to move through the differential chassis drive mechanism 120, for example, the device 100 to be charged can be driven to move linearly or rotationally. Charging of the device 100 to be charged can be achieved by docking the charging electrode 130 with a charging service device (such as a charging electrode on a charging pile).

[0026] An image acquisition device 140 may also be deployed on the device 100 to be charged for acquiring an image in the advancing direction of the device 100 to be charged. Through the image acquisition device 140, a charging service device, such as a charging pile, can be searched for, so as to determine the position of the charging service device, and then control the device 100 to be charged to move to the charging service device for docking charging. The image acquisition device 140 may include a camera and a pan-tilt for installing and controlling the attitude of the camera. For example, the image acquisition device 140 may adopt a pan-tilt camera.

[0027] In addition, the device 100 to be charged may further include various other modules or structures, such as a processing unit or a control module, a computing module, etc., which are modules required to control the movement of the device 100 to be charged, or modules required for other functions. It should be understood that the structures and functions of the various elements in the device 100 to be charged are described only for exemplary purposes, without implying any limitation to the scope of the present disclosure.

[0028] Some exemplary embodiments of the present disclosure will be described below with continued reference to the accompanying drawings.

[0029] Figure 2 A flowchart of a process 200 for charging is shown, according to some embodiments of the present disclosure. The process 200 may be implemented at the device 100 to be charged. For ease of discussion, the process 200 will be described with reference to Figure 1 the device 100 to be charged.

[0030] At block 210, at the device 100 to be charged, based on an image of the charging service device acquired by the image acquisition device 140, the position of the charging service device is determined, where the image acquisition device 140 is deployed on the device 100 to be charged.

[0031] In some embodiments of the present disclosure, the device 100 to be charged may determine the charging service device based on image recognition of the image acquisition device 140, that is, determine whether there is a charging service device in the image of the image acquisition device 140. For example, the device 100 to be charged may control the pan-tilt head to rotate, so as to acquire images in various directions until a charging service device is recognized in the image. After a charging service device is recognized in the image, the device 100 to be charged may also be controlled to move or adjust the posture of the image acquisition device 140, such as adjusting the posture of the pan-tilt head to make the charging service device located at the center position of the image. It should be understood that existing or future-developed recognition models in the art may be used to recognize or determine the position of the charging service device. For example, the position of the charging service device may be determined by a preset model such as YOLOv8. The position of the charging service device may be the coordinates of the center of the charging service device in the image. Of course, the position of the charging service device may also be represented by other parameters, and is not limited to the coordinates of the center.

[0032] It should be understood that before the device 100 to be charged recognizes the charging device, the device 100 to be charged may move to the vicinity of the charging service device based on a preset or scanned map. As for the specific method for the device 100 to be charged to move to the vicinity of the charging service device, common methods in the art may be adopted, and no specific limitation is made herein.

[0033] At block 220, relative position information between the device to be charged and the charging service device is determined based on the position of the charging service device. The relative position information includes at least one of the following: the longitudinal distance of the device to be charged relative to the charging service device, the lateral deviation, and the heading angle.

[0034] In an embodiment of the present disclosure, a preset recognition model and / or a preset algorithm may be used to determine the relative position information between the device to be charged and the charging service device. As an example, after determining the position of the charging service device, a preset position determination algorithm such as the PnP (Perspective-n-Point) algorithm may be used to determine the relative position information between the device to be charged and the charging service device in combination with the pose of the pan-tilt head. The relative position information may include at least one of the following: the longitudinal distance Δx of the device to be charged relative to the charging service device, the lateral deviation Δy, and the heading angle Δψ. The pose of the pan-tilt head may be obtained through the control module of the pan-tilt head.

[0035] In an embodiment of the present disclosure, the longitudinal distance of the device to be charged relative to the charging service device refers to the vertical distance between the device to be charged and the charging service device. The lateral deviation refers to the distance between the device to be charged and the charging service device in the parallel direction. The heading angle refers to the angle between the longitudinal axis of the device to be charged and the reference direction. The pose of the pan-tilt head includes the horizontal relative rotation angle and the vertical tilt angle or rotation angle of the pan-tilt head.

[0036] At block 230, at least one movement parameter for controlling the movement of the device to be charged is determined based on the relative position information at least. The movement parameters for controlling the device to be charged may include the linear velocity and the angular velocity of the device to be charged. It should be understood that the movement parameters may include one of the linear velocity and the angular velocity, or may include both the linear velocity and the angular velocity. The linear velocity is used to control the speed of the device to be charged when moving longitudinally towards the charging service device. The angular velocity is used to control the rotation speed of the device to be charged when moving laterally towards the charging service device. It should be understood that the linear velocity and the angular velocity are only examples of the movement parameters, and they do not constitute a limitation to the embodiments of the present disclosure. In other embodiments, the movement parameters may also be other parameters or may further include other parameters.

[0037] In some embodiments of the present disclosure, the movement parameters are controlled in stages based on the relative distance between the device to be charged and the charging service device, so as to make full use of the kinematic characteristics of the differential chassis to overcome the defects of docking offset and angle adjustment, and different control / adjustment strategies may be adopted according to different distances, so as to match the parameter adjustment differences at different distances and avoid oscillation or convergence failure. The detailed determination process of at least one movement parameter for controlling the movement of the device to be charged in the embodiments of the present disclosure will be described in detail later with reference to Figure 3 and will not be elaborated here.

[0038] It should be understood that the movement parameters are dynamically determined according to the relative position relationship between the device to be charged and the charging service device. That is, when the relative position relationship between the device to be charged and the charging service device changes, the movement parameters also change accordingly. In other words, the movement parameters are adjusted in real time.

[0039] At block 240, based on at least one movement parameter, the device to be charged is moved from the current position to the charging service device for docking charging.

[0040] After determining at least one movement parameter of the device to be charged, control the device to be charged to move based on at least one movement parameter, so that the device to be charged moves from the current position to the charging device service for docking charging.

[0041] In some embodiments of the present disclosure, in response to determining that the longitudinal distance between the device to be charged and the charging service device meets a predetermined condition, the device to be charged is braked. The predetermined condition indicates that the device to be charged and the charging device reach a critical condition for sending a collision. That is, safety boundary detection is introduced during the process of controlling the movement of the device to be charged to reduce the lateral deviation in the end stage of the movement process of the device to be charged and improve the docking accuracy and success rate.

[0042] As an example, when the longitudinal distance between the device to be charged and the charging service device meets the predetermined condition represented by the following formula (1), the device to be charged is braked. (1) Where represents the longitudinal distance, represents the heading angle of the device to be charged, represents a preset safety margin value, and W represents the width of the charging service device.

[0043] Optionally, in some embodiments, the device to be charged 100 can adjust the attitude of the image acquisition device based on at least relative position information. That is, during the process of controlling the device to be charged to move to the charging service device, reverse motion compensation can be performed on the image acquisition device, so that the charging service device is always in the image of the image acquisition device, thereby avoiding losing the image of the charging service device.

[0044] Exemplarily, adjusting the pose of the image acquisition device based at least on the relative position information may include the following steps. First, determine at least one pose parameter of the image acquisition device based at least on the relative position information; and adjust the pose of the image acquisition device based on the at least one pose parameter. Exemplarily, the at least one pose parameter may include the horizontal rotation angle, vertical rotation angle, etc. of the image acquisition device. The horizontal rotation angle refers to the deflection angle of the image acquisition device in the horizontal direction relative to the reference direction. The vertical rotation angle refers to the deflection angle of the image acquisition device in the vertical direction relative to the reference direction. It should be understood that the horizontal rotation angle and vertical rotation angle are only examples of the pose parameters and do not constitute a limitation on the embodiments of the present disclosure.

[0045] In some embodiments of the present disclosure, the horizontal rotation angle is determined based on the heading angle and the longitudinal distance. As an example, the horizontal rotation angle is determined based on the following formula (2). (2) where represents the heading angle of the device to be charged, represents the proportional gain coefficient of the horizontal movement of the image acquisition device, represents the longitudinal distance. That is, the horizontal rotation of the pan-tilt is compensated in reverse according to the heading angle and the longitudinal distance, so as to compensate for the field of view offset and ensure that the image acquisition device does not lose the field of view of the charging service device. In other words, when the charging device rotates, the image acquisition device is controlled to deflect synchronously and reversely in the horizontal direction to compensate for the field of view offset and ensure that the image acquisition device does not lose the field of view of the charging device.

[0046] In some embodiments of the present disclosure, the vertical rotation angle is determined based on the ratio of the lateral deviation and the longitudinal distance. As an example, the vertical rotation angle is determined based on formula (3). (3) where represents the longitudinal distance, represents the lateral deviation, represents the proportional gain coefficient of the vertical movement of the image acquisition device. That is, the pitch angle (i.e., the vertical rotation angle) of the image acquisition device is dynamically adjusted according to the lateral deviation and the longitudinal distance to perform perspective distortion compensation, so as to keep the charging device at the center of the image.

[0047] It should be understood that the pose parameters of the image acquisition device are also dynamically or real-time adjusted based on the equal position relationship between the charging device and the charging service device. When the relative position relationship changes, the pose parameters of the image acquisition device also change accordingly.

[0048] It should also be understood that the charging process 200 implemented in the present disclosure is a process that cyclically executes the processes represented by block 210 to block 240 until the device to be charged is successfully docked with the charging service device. That is, the image acquisition device continuously determines the current position or real-time position of the charging service device, and then determines the current or real-time relative position relationship between the device to be charged and the charging service device based on the current position or real-time position of the charging service device. Furthermore, based on the current or real-time relative position relationship, the movement parameters for controlling the device to be charged and the attitude parameters for controlling the image acquisition device are determined. Then, the device to be charged is controlled to move based on the movement parameters, and the attitude of the image acquisition device is adjusted based on the attitude parameters, and so on until it is docked with the charging service device.

[0049] Furthermore, in some embodiments of the present disclosure, in order to better achieve the docking of the device to be charged and the charging service device, the lateral deviation, the heading angle, and the docking time between the device to be charged and the charging service device can also be optimized based on an objective function.

[0050] As an example, the following formula (4) can be used as the objective function to optimize the lateral deviation, the heading angle, and the docking time between the device to be charged and the charging service device, so as to achieve efficient docking. (4) where α = 0.6, β = 0.3, γ = 0.1, represents the lateral deviation, represents the heading angle of the device to be charged, and t represents the docking time between the device to be charged and the charging service device. That is, the objective function is used to balance the lateral deviation, the heading deviation, and the docking time. The optimization objective can include, for example, minimizing the comprehensive error and the time cost, so as to achieve efficient and accurate docking.

[0051] Furthermore, in some embodiments of the present disclosure, in order to avoid losing the position of the charging service device, at the device to be charged 100, it can also be responsive to determining that the image acquisition device has not acquired an image of the charging service device within a predetermined time period, and control the image acquisition device to move (such as horizontal and / or vertical rotation) to re-search for the charging service device. Exemplarily, if the image acquisition device does not detect or identify the charging service device within 500 ms (for example, continuously for 500 ms), then the device to be charged switches to the search mode, and controls the image acquisition device to horizontally rotate and / or vertically rotate to capture the position of the charging service device.

[0052] Figure 3 The flowchart of process 300 for determining the movement parameters for controlling the device to be charged according to some embodiments of the present disclosure is shown. Process 300 can be implemented at the device to be charged 100. For ease of discussion, process 300 will be described with reference to Figure 1 the device to be charged 100.

[0053] At block 310, when the device to be charged 100 determines that the longitudinal distance between the device to be charged 100 and the charging service device exceeds a first predetermined distance threshold, it determines the movement parameters in a first manner.

[0054] Exemplarily, the first predetermined distance threshold can be, for example, 0.5 m. It should be understood that 0.5 m is only an example of the first predetermined distance threshold and does not limit the embodiments of the present disclosure. In other embodiments, the first predetermined distance threshold can be various other suitable values.

[0055] In some embodiments of the present disclosure, when the longitudinal distance between the device to be charged 100 and the charging service device is greater than the first predetermined distance threshold, at least one movement parameter for controlling the movement of the device to be charged 100 is determined in a first manner. The movement parameters can include, as described above, linear velocity, angular velocity, etc. The first manner is configured to determine the linear velocity based on the longitudinal distance and the lateral deviation, and the linear velocity changes proportionally with respect to the longitudinal distance and the lateral deviation. That is, when the longitudinal distance exceeds the first predetermined distance threshold, the greater the longitudinal distance, the greater the linear velocity, and the greater the lateral deviation, the greater the linear velocity. In this way, when the distance is relatively far, the device to be charged can move quickly closer to the charging device, thereby shortening the docking time.

[0056] As an example, when the longitudinal distance exceeds the first predetermined distance threshold, the linear velocity can be determined based on the following formula (5). (5) Where represents the linear velocity of the device to be charged, is the proportional gain coefficient, represents the longitudinal distance, represents the lateral deviation, represents the preset safety distance. and can be predetermined fixed values or can be dynamically changing values.

[0057] As an example, and are predetermined values. As another example, can also be dynamically adjusted according to the longitudinal distance and / or the lateral deviation,

[0058] In some embodiments of the present disclosure, the longitudinal distance and the lateral deviation are considered when determining the linear velocity of the device to be charged, thereby avoiding the docking deviation problem caused by the accumulation of lateral deviation and improving the success rate of automatic charging. In addition, in order to further avoid the docking deviation problem caused by the accumulation of lateral deviation, in the embodiments of the present disclosure, a predetermined safety distance is also considered when determining the linear velocity, ensuring that the lateral deviation is always within the safety distance, thereby better avoiding the docking deviation problem caused by the accumulation of lateral deviation. When the lateral deviation approaches the safety threshold, the linear velocity adaptively decays to compensate for the lateral deviation adjustment time.

[0059] Further, the first method is also configured to determine the angular velocity based on the lateral deviation and the heading angle, and the angular velocity varies proportionally with respect to the lateral deviation and the heading angle. That is, when the device to be charged is far from the charging service device, the device to be charged is quickly approached the charging service device by a larger angular velocity.

[0060] As an example, when the longitudinal distance exceeds the first predetermined distance threshold, for example, greater than 0.5 m, the angular velocity is determined based on the following formula (6). (6) where ω represents the angular velocity of the device to be charged, represents the lateral deviation, represents the differential of the lateral deviation, represents the heading angle of the device to be charged, represents the lateral error gain coefficient, represents the differential error gain coefficient, represents the heading error gain coefficient. That is, in the embodiments of the present disclosure, the lateral and heading of the device to be charged are controlled in a coordinated manner, and the differential term of the lateral deviation is introduced to suppress the oscillation.

[0061] In some embodiments of the present disclosure, the lateral error gain coefficient is a dynamically changing coefficient. For example, the lateral error gain coefficient varies proportionally with respect to the lateral deviation and inversely with respect to the longitudinal distance.

[0062] As an example, the lateral error gain coefficient is dynamically determined based on the following formula (7). (7) where represents the basic lateral error gain coefficient, represents the dynamic lateral error gain coefficient, represents the longitudinal distance, represents the lateral deviation, Represents the smoothing term. That is, the gain coefficient is adjusted in real time through the longitudinal distance and the lateral deviation to improve the adaptability of the full scene.

[0063] It should be understood that in addition to the lateral error gain coefficient, the differential error gain coefficient and the heading error gain coefficient can also be dynamically adjusted to improve the adaptability of the full scene control.

[0064] Continue to refer to Figure 3 , at block 320, in response to determining that the longitudinal distance between the device to be charged 100 and the charging service device exceeds the second predetermined distance threshold and does not exceed the first predetermined distance threshold, the movement parameters are determined in a second manner. The first predetermined distance threshold is greater than the second predetermined distance threshold. The second predetermined distance threshold can be, for example, 0.1 m. It should be understood that 0.1 m is only an example of the second predetermined distance threshold and does not constitute a limitation. In other embodiments of the present disclosure, the second predetermined distance threshold can be various other suitable values.

[0065] In some embodiments of the present disclosure, the second manner is configured to determine the angular velocity based on the longitudinal distance and the lateral deviation, and the angular velocity changes in direct proportion to the ratio of the lateral deviation to the longitudinal distance. That is, when the device to be charged and the charging service device are at a medium distance, the angular velocity is determined based on the ratio of the lateral deviation to the longitudinal distance. The larger the ratio, the larger the angular velocity, and vice versa. This enables the device to be charged to move quickly to reduce the deviation when the lateral deviation relative to the charging service device is large, and to move slowly when the deviation is small to avoid moving too fast and affecting docking. That is, the lateral deviation is converted into an equivalent heading correction amount, thereby breaking through the constraint that the differential chassis cannot move laterally.

[0066] As an example, when the longitudinal distance exceeds the second predetermined distance threshold and does not exceed the first predetermined distance threshold, the angular velocity is determined based on the following formula (8). (8) Where ω represents the angular velocity, represents the longitudinal distance, represents the lateral deviation, represents the compensation gain coefficient.

[0067] It should be understood that when the longitudinal distance between the device to be charged 100 and the charging service device exceeds the second predetermined distance threshold and does not exceed the first predetermined distance threshold, the linear velocity of the device to be charged can also be determined based on formula (5). That is, the linear velocity is determined in the first manner at a medium distance, and the angular velocity is determined in the second manner. Of course, when the longitudinal distance between the device to be charged 100 and the charging service device exceeds the second predetermined distance threshold and does not exceed the first predetermined distance threshold, the linear velocity can also be determined by other means, or the movement of the device to be charged can be controlled only by the angular velocity.

[0068] At block 330, in response to determining that the longitudinal distance between the device to be charged 100 and the charging service device does not exceed a second predetermined distance threshold, the movement parameters are determined in a third manner.

[0069] Exemplarily, the third manner is configured to determine the linear velocity based on the equivalent rotation radius of the device to be charged, and the equivalent rotation radius of the device to be charged is determined based on the lateral deviation and the heading angle. The linear velocity changes proportionally with the equivalent rotation radius. The equivalent rotation radius changes proportionally with the lateral deviation and inversely with the heading angle. Thus, when the distance from the charging service device is relatively close, the smaller the equivalent rotation radius, the smaller the linear velocity of the device to be charged. The smaller the lateral deviation, the smaller the linear velocity, and the larger the heading angle, the smaller the linear velocity. This ensures that the device to be charged has sufficient adjustment space and avoids docking failure due to excessive speed when the distance is relatively close.

[0070] As an example, when the longitudinal distance does not exceed the second predetermined distance threshold, for example, when it is less than or equal to 0.1 m, the linear velocity is determined based on the following formula (9). (9) Where represents the speed control proportionality coefficient, and R represents the equivalent rotation radius of the device to be charged, where R is determined by the following formula (10). (10) Where represents the lateral deviation, represents the heading angle of the device to be charged.

[0071] It should be understood that when the longitudinal distance between the device to be charged 100 and the charging service device does not exceed the second predetermined distance threshold, the angular velocity of the device to be charged can also be determined based on formula (8). That is, the angular velocity is determined in the second manner at medium distances, while the linear velocity is determined in the third manner. Of course, when the longitudinal distance between the device to be charged 100 and the charging service device does not exceed the second predetermined distance threshold, the angular velocity can also be determined by other means, or the movement of the device to be charged can be controlled only by the linear velocity.

[0072] In summary, in the embodiments of the present disclosure, a phased control strategy of coarse adjustment at long distances, compensation at medium distances, and fine adjustment at short distances is adopted for the movement parameters of the device to be charged to provide movement control of the device to be charged and ensure precise docking.

[0073] It should be understood that in the embodiments of the present disclosure, the movement parameters of the device to be charged are determined in real time and dynamically based on the relative position relationship, rather than based on fixed parameters. Therefore, problems such as oscillation or convergence failure can be avoided during the control process, and the angle adjustment defect under the kinematic constraints of the differential drive chassis can be overcome.

[0074] Figure 4 A schematic structural block diagram of a device for charging according to some embodiments of the present disclosure is shown.

[0075] As Figure 4 shown, the device 400 includes a position recognition module 410, a position determination module 420, a movement parameter determination module 430, and a movement control module 440. The position recognition module 410 is configured to determine the position of the charging service device at the device to be charged based on an image of the charging device acquired by an image acquisition device, where the image acquisition device is deployed on the device to be charged. The position determination module 420 is configured to determine relative position information between the device to be charged and the charging service device based on the position of the charging service device, and the relative position information includes at least one of the following: the longitudinal distance of the device to be charged relative to the charging service device, the lateral deviation, and the heading angle. The movement parameter determination module 430 is configured to determine at least one movement parameter for controlling the movement of the device to be charged based at least on the relative position information. The movement control module 440 is configured to move the device to be charged from the current position to the charging service device for docking charging based on at least one movement parameter. In addition, the device 400 may further include an attitude adjustment module (not shown), which may be configured to adjust the attitude of the image acquisition device based at least on the relative position relationship.

[0076] In some embodiments of the present disclosure, at least one movement parameter at least includes the linear velocity of the device to be charged, and the movement parameter determination module 430 may further be configured to determine the calculation method of the linear velocity according to the relationship between the longitudinal distance and a plurality of predetermined distance ranges, and the plurality of predetermined distance ranges at least include a first predetermined distance range and a second predetermined distance range, values within the first predetermined distance range are greater than a first threshold, and values within the second predetermined distance range are less than or equal to the first threshold. Exemplarily, the first threshold may be 0.1 m, for example.

[0077] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, in response to determining that the longitudinal distance is within the first predetermined distance range, determine the linear velocity based on the longitudinal distance and the lateral deviation, and the linear velocity varies proportionally with the longitudinal distance and the lateral deviation.

[0078] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, when the longitudinal distance is within the first predetermined distance range, determine the linear velocity based on formula (5).

[0079] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, in response to determining that the longitudinal distance is within a second predetermined distance range, determine a linear velocity based on the equivalent rotation radius of the device to be charged, where the equivalent rotation radius of the device to be charged is determined based on the lateral deviation and the heading angle, the linear velocity varies in direct proportion to the equivalent rotation radius, the equivalent rotation radius varies in direct proportion to the lateral deviation and varies in inverse proportion to the heading angle.

[0080] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, when the longitudinal distance line is within a second predetermined distance range, determine the linear velocity based on formulas (9) and (10).

[0081] In some embodiments of the present disclosure, at least one movement parameter at least includes the angular velocity of the device to be charged, and the movement parameter determination module 430 may further be configured to determine the calculation method of the angular velocity according to the relationship between the longitudinal distance and a plurality of predetermined distance ranges, where the plurality of predetermined distance ranges at least include a third predetermined distance range and a fourth predetermined distance range, values within the third predetermined distance range are greater than a second threshold, and values within the fourth predetermined distance range are less than or equal to the second threshold. Exemplarily, the second threshold may be 0.5 m, for example.

[0082] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, in response to the longitudinal distance being within a third predetermined distance range, determine the angular velocity based on the lateral deviation and the heading angle, and the angular velocity varies in direct proportion to the lateral deviation and the heading angle.

[0083] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, when the longitudinal distance is within a third predetermined distance range, determine the angular velocity based on formula (6).

[0084] In some embodiments of the present disclosure, the lateral error gain coefficient varies in direct proportion to the lateral deviation and varies in inverse proportion to the longitudinal distance.

[0085] In some embodiments of the present disclosure, the lateral error gain coefficient may be dynamically determined based on formula (7).

[0086] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to, in response to determining that the longitudinal distance is within a fourth predetermined distance range, determine the angular velocity based on the longitudinal distance and the lateral deviation, and the angular velocity varies in direct proportion to the ratio of the lateral deviation to the longitudinal distance.

[0087] In some embodiments of the present disclosure, the movement parameter determination module 430 may further be configured to determine the angular velocity based on formula (8) when the longitudinal distance is within a fourth predetermined distance range.

[0088] In some embodiments of the present disclosure, the device 400 may further include a safety detection module configured to brake the device to be charged in response to determining that the longitudinal distance meets a predetermined condition, where the predetermined condition indicates a critical condition for the device to be charged and the charging service device to collide.

[0089] In some embodiments of the present disclosure, the safety detection module may be configured to determine that the longitudinal distance meets the predetermined condition based on formula (1).

[0090] In some embodiments of the present disclosure, the attitude adjustment module may be configured to determine at least one attitude parameter for controlling the movement of the image acquisition device based on relative position information; and adjust the attitude of the image acquisition device based on the at least one attitude parameter.

[0091] In some embodiments of the present disclosure, the at least one attitude parameter includes a horizontal rotation angle, and the horizontal rotation angle is determined based on the heading angle and the longitudinal distance.

[0092] In some embodiments of the present disclosure, the attitude adjustment module may be configured to determine the horizontal rotation angle based on formula (2).

[0093] In some embodiments of the present disclosure, the at least one attitude parameter includes a vertical rotation angle, and the vertical rotation angle is determined based on the ratio of the lateral deviation to the longitudinal distance.

[0094] In some embodiments of the present disclosure, the attitude adjustment module may be configured to determine the vertical rotation angle based on formula (3).

[0095] In some embodiments of the present disclosure, the device 400 may further include an optimization module configured to optimize the lateral deviation, the heading angle, and the docking time between the device to be charged and the charging service device based on an objective function.

[0096] In some embodiments of the present disclosure, the position recognition module 410 may further be configured to control the image acquisition device to move to re-search for the charging service device in response to determining that the image acquisition device has not acquired an image of the charging service device within a predetermined time period.

[0097] The units and / or modules included in apparatus 400 may be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules may be implemented using software and / or firmware, such as machine-executable instructions stored on a storage medium. In addition to or as an alternative to the machine-executable instructions, some or all of the units and / or modules in apparatus 400 may be implemented at least in part by one or more hardware logic components. By way of example and not limitation, exemplary types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0098] It should be understood that one or more steps in the above methods may be performed by a suitable electronic device or a combination of electronic devices. Such an electronic device or combination of electronic devices may include, for example, Figure 1 the device to be charged 100 in

[0099] Figure 5 A block diagram of an electronic device 500 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that Figure 5 the electronic device 500 shown is merely exemplary and should not impose any limitation on the functions and scope of the embodiments described herein. Figure 5 The electronic device 500 shown may be used to implement Figure 1 the device to be charged 100 of Figure 4 the apparatus 400 of

[0100] As Figure 5 shown, the electronic device 500 is in the form of a general-purpose electronic device. The components of the electronic device 500 may include, but are not limited to, one or more processors or processing units 510, a memory 520, a storage device 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. The processing unit 510 may be an actual or virtual processor and is capable of performing various processes according to programs stored in the memory 520. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to enhance the parallel processing ability of the electronic device 500.

[0101] The electronic device 500 generally includes multiple computer storage media. Such media can be any available media accessible to the electronic device 500, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 520 can be volatile memory (such as registers, caches, random access memory (RAM)), non-volatile memory (such as read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 530 can be removable or non-removable media and can include machine-readable media, such as a flash drive, a magnetic disk, or any other media that can be capable of storing information and / or data and can be accessed within the electronic device 500.

[0102] The electronic device 500 can further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 5 it, a disk drive for reading from or writing to a removable, non-volatile magnetic disk (such as a "floppy disk") and an optical disk drive for reading from or writing to a removable, non-volatile optical disk can be provided. In these cases, each drive can be connected to a bus (not shown) by one or more data media interfaces. The memory 520 can include a computer program product 525 having one or more program modules that are configured to execute the various methods or actions of the various embodiments of the present disclosure.

[0103] The communication unit 540 enables communication with other electronic devices via a communication medium. Additionally, the functions of the components of the electronic device 500 can be implemented by a single computing cluster or multiple computer machines that can communicate via a communication connection. Thus, the electronic device 500 can operate in a networked environment using a logical connection with one or more other servers, network personal computers (PCs), or another network node.

[0104] The input device 550 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. The output device 560 can be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 500 can also communicate with one or more external devices (not shown) as needed via the communication unit 540, external devices such as storage devices, display devices, etc., communicate with one or more devices that enable a user to interact with the electronic device 500, or communicate with any device that enables the electronic device 500 to communicate with one or more other electronic devices (such as a network card, a modem, etc.). Such communication can be performed via an input / output (I / O) interface (not shown).

[0105] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, the computer program product being tangibly stored on a non-transitory computer-readable medium and including computer-executable instructions, and the computer-executable instructions being executed by a processor to implement the method described above.

[0106] Aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0107] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device is produced that implements the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause a computer, a programmable data processing device, and / or other devices to work in a specific manner. Thus, the computer-readable medium storing the instructions includes a manufactured article that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0108] The computer-readable program instructions can be loaded onto a computer, other programmable data processing device, or other device, such that a series of operation steps are executed on the computer, other programmable data processing device, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing device, or other device implement the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0109] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various implementations of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0110] The various implementations of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art in the field without departing from the scope and spirit of the described implementations. The choice of terms used herein is intended to best explain the principles of the implementations, the practical application, or the improvement of the technology in the market, or to enable other ordinary skilled persons in the art in the field to understand the various implementation manners disclosed herein.

Claims

1. A method for charging, characterized in that, The method comprises: Determining, at the device to be charged, a position of the charging service device based on an image of the charging service device acquired by an image acquisition device, wherein the image acquisition device is deployed on the device to be charged; Determine the relative position information between the device to be charged and the charging service device based on the position of the charging service device, wherein the relative position information includes at least one of the following: the longitudinal distance, lateral deviation and heading angle of the device to be charged relative to the charging service device; At least based on the relative position information, determining at least one movement parameter for controlling the movement of the device to be charged; and Based on the at least one movement parameter, the device to be charged is moved from a current position to the charging service device for docking and charging.

2. The method according to claim 1, characterized in that The at least one movement parameter includes at least a linear speed of the device to be charged, and the method further includes: The calculation method of the linear speed is determined based on the relationship between the longitudinal distance and multiple predetermined distance ranges, and the multiple predetermined distance ranges include at least a first predetermined distance range and a second predetermined distance range, the value within the first predetermined distance range is greater than a first threshold, and the value within the second predetermined distance range is less than or equal to the first threshold.

3. The method according to claim 2, characterized in that The method further comprises: In response to determining that the longitudinal distance is within the first predetermined distance range, the linear speed is determined based on the longitudinal distance and the lateral deviation, and the linear speed varies in direct proportion to the longitudinal distance and the lateral deviation.

4. The method according to claim 3, characterized in that The line speed is determined based on the following formula: ， in represents the linear speed of the device to be charged, is the proportional gain coefficient, represents the longitudinal distance, represents the lateral deviation, Indicates the preset safety distance.

5. The method according to claim 2, characterized in that: The method further comprises: In response to determining that the longitudinal distance is within the second predetermined distance range, the linear speed is determined based on the equivalent rotation radius of the device to be charged, the equivalent rotation radius of the device to be charged is determined based on the lateral deviation and the heading angle, the linear speed varies in direct proportion to the equivalent rotation radius, the equivalent rotation radius varies in direct proportion to the lateral deviation and varies inversely proportional to the heading angle.

6. The method according to claim 5, characterized in that The line speed is determined based on the following formula: ， in represents the speed control proportional coefficient, and R represents the equivalent rotation radius of the device to be charged, where R is determined by the following formula: in represents the lateral deviation, Indicates the heading angle of the device to be charged.

7. The method according to claim 1, characterized in that The at least one movement parameter includes at least an angular velocity of the device to be charged, and the method further includes: The calculation method of the angular velocity is determined based on the relationship between the longitudinal distance and multiple predetermined distance ranges, and the multiple predetermined distance ranges include at least a third predetermined distance range and a fourth predetermined distance range, the value within the third predetermined distance range is greater than a second threshold, and the value within the fourth predetermined distance range is less than or equal to the second threshold.

8. The method according to claim 7, characterized in that In response to the longitudinal distance being within the third predetermined distance range, the angular velocity is determined based on the lateral deviation and the heading angle, the angular velocity varying in direct proportion to the lateral deviation and the heading angle.

9. The method according to claim 8, characterized in that The angular velocity is determined based on the following formula: ， where ω represents the angular velocity, represents the lateral deviation, represents the differential of the lateral deviation, represents the heading angle of the device to be charged, represents the lateral error gain coefficient, represents the differential error gain coefficient, Represents the heading error gain coefficient.

10. The method according to claim 9, characterized in that The lateral error gain coefficient It changes in direct proportion to the lateral deviation and inversely proportional to the longitudinal distance.

11. The method according to claim 10, characterized in that The lateral error gain coefficient Determined dynamically based on the following formula: ， in represents the basic lateral error gain coefficient, represents the dynamic lateral error gain coefficient, represents the longitudinal distance, represents the lateral deviation, represents the smoothing term.

12. The method according to claim 7, characterized in that The method also includes: In response to determining that the longitudinal distance is within the fourth predetermined distance range, the angular velocity is determined based on the longitudinal distance and the lateral deviation, the angular velocity varying in proportion to a ratio of the lateral deviation to the longitudinal distance.

13. The method according to claim 12, characterized in that The angular velocity is determined based on the following formula: ， where ω represents the angular velocity, represents the longitudinal distance, represents the lateral deviation, Represents the compensation gain coefficient.

14. The method according to claim 1, characterized in that The method further comprises: In response to determining that the longitudinal distance satisfies a predetermined condition, the device to be charged is braked, and the predetermined condition indicates that the device to be charged and the charging service device reach a critical condition for causing a collision.

15. The method according to claim 13, characterized in that The longitudinal distance satisfies the predetermined condition based on the following formula: ， in represents the longitudinal distance, represents the heading angle of the device to be charged, represents a preset safety margin value, and W represents the width of the charging service equipment.

16. The method according to claim 1, characterized in that The method further comprises: Determining at least one posture parameter for controlling the movement of the image acquisition device based on the relative position information; and The pose of the image acquisition device is adjusted based on the at least one pose parameter.

17. The method according to claim 16, characterized in that The at least one attitude parameter includes a horizontal rotation angle, and the horizontal rotation angle is determined based on the heading angle and the longitudinal distance.

18. The method according to claim 17, characterized in that The horizontal rotation angle Determined based on the following formula: ， in represents the heading angle of the device to be charged, represents the proportional gain coefficient of the horizontal movement of the image acquisition device, represents the longitudinal distance.

19. The method according to claim 14, characterized in that The at least one posture parameter includes a vertical rotation angle, and the vertical rotation angle is determined based on a ratio of the lateral deviation and the longitudinal distance.

20. The method according to claim 19, characterized in that The vertical rotation angle is determined based on the following formula: , in represents the vertical rotation angle, represents the longitudinal distance, represents the lateral deviation, Represents the proportional gain coefficient of the vertical movement of the image acquisition device.

21. The method according to any one of claims 1 to 20, characterized in that The method further comprises: The lateral deviation, the heading angle, and the docking time between the device to be charged and the charging service device are optimized based on an objective function.

22. The method according to any one of claims 1 to 20, characterized in that The method further comprises: In response to determining that the image acquisition device has not acquired the image of the charging service device within a predetermined period of time, the image acquisition device is controlled to move to re-search for the charging service device.

23. A device for charging, characterized in that: The device comprises: an image acquisition module, configured to determine, at the device to be charged, a position of the charging service device based on an image of the charging service device acquired by an image acquisition device, wherein the image acquisition device is deployed on the device to be charged; A position determination module is configured to determine relative position information between the device to be charged and the charging service device based on the position of the charging service device, wherein the relative position information includes at least one of the following: a longitudinal distance, a lateral deviation, and a heading angle of the device to be charged relative to the charging service device; a movement parameter determination module, configured to determine at least one movement parameter for controlling the movement of the device to be charged based at least on the relative position information; The movement control module is configured to enable the device to be charged to move from a current position to the charging service device for docking and charging based on the at least one movement parameter.

24. An electronic device, characterized in that: The electronic device comprises: at least one processing unit; and At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 22 when executed by the at least one processing unit.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium has a computer program stored thereon, and the computer program can be executed by a processor to implement the method according to any one of claims 1 to 22.

26. A computer program product, characterized in that The computer program product is tangibly stored in a computer storage medium and comprises computer executable instructions which, when executed by a device, cause the device to perform the method according to any one of claims 1 to 22.

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