Secondary trepanning device and method for secondary trepanning on workpiece

Abstract

The present invention relates to a secondary trepanning apparatus and method for secondary trepanning on a workpiece, the apparatus having an apparatus coordinate system, the apparatus comprising a trepanning device configured to trepann on a workpiece; comprising a reference hole selection module configured to select at least two perforations from the plurality of perforations on the uncoated workpiece as reference holes; a coordinate calculation module configured to determine a first coordinate of a hole center of each reference hole relative to an equipment coordinate system and calculate a second coordinate of the remaining perforations of the plurality of perforations based on the first coordinates of at least two reference holes and a predetermined criterion; the perforation positioning module is configured to determine secondary perforation coordinates of each perforation in a plurality of perforations covered by the coating on the coated workpiece according to the first coordinates and the second coordinates; and the driving and controlling module is configured to drive and control the trepanning device to perform trepanning on the coated workpiece according to the determined secondary trepanning coordinates.

Description

Technical Field

[0001] The present invention relates to a secondary hole-opening device and method for performing secondary hole-opening on a workpiece. Background Art

[0002] For the refurbishment of workpieces with cooling holes, such as blades and vanes, after repair, it is necessary to first strip the coatings on these workpieces, and then reapply coatings on the surfaces of the workpieces. After the coatings are reapplied, the cooling holes on these workpieces will be completely covered by the coatings. Therefore, it is necessary to perform secondary hole-opening on the cooling holes after they are completely coated. For the cooling holes that are not completely covered by the coatings, in traditional processes, diamond tools are usually used for manual re-opening to ensure their unobstructedness. At the same time, for the cooling holes that will be covered by the coatings, special masking materials are inserted into them to prevent the accumulation and blockage of the coatings, thereby ensuring the cooling effect. However, if the masking materials fail to be completely sealed or are removed improperly, it may cause the coatings to penetrate, thereby partially blocking the cooling holes and affecting the cooling efficiency. Especially in complex structures, the accuracy and consistency of such manual operations are difficult to guarantee, which may lead to reduced production efficiency and unstable quality. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a novel secondary hole-opening device and method for performing secondary hole-opening on a workpiece. The device and method provided according to the present invention can advantageously reduce the processing time compared with manual re-opening. At the same time, for the perforations that are completely covered by the coatings, there is no longer a need for masking materials, thereby reducing the processing cost.

[0004] According to a preferred embodiment of the present invention, there is provided a secondary hole-opening device for performing secondary hole-opening on a workpiece, wherein the device has an associated device coordinate system, and the device includes: a hole-opening device configured to open holes on the workpiece; and a control device communicatively connected to the hole-opening device, wherein the control device includes: a reference hole selection module configured to select at least two perforations from a plurality of perforations on the uncoated workpiece as reference holes, wherein the plurality of perforations are arranged according to at least one predetermined standard; a coordinate calculation module configured to determine a first coordinate of the hole center of each reference hole relative to the device coordinate system, and calculate second coordinates of the remaining perforations in the plurality of perforations based on the first coordinates of at least two reference holes and the predetermined standard; a perforation positioning module configured to determine the secondary hole-opening coordinates of each perforation in the plurality of perforations covered by the coating on the coated workpiece according to the first coordinates and the second coordinates; and a driving and controlling module configured to drive and control the hole-opening device to open holes on the coated workpiece according to the determined secondary hole-opening coordinates. This device can significantly shorten the processing time for performing secondary hole-opening on the coated workpiece, improve the efficiency of workpiece processing, and avoid the consumption of additional processing materials.

[0005] According to a preferred embodiment of the present invention, the device further comprises: a camera communicatively connected to the control device and configured to capture an image of the uncoated workpiece, wherein the camera has a lens center associated with the device coordinate system, and wherein the coordinate calculation module is further configured to determine a first positioning offset of the hole center of each reference hole relative to the lens center, calculate a second positioning offset of each of the remaining perforations relative to a reference hole involved in a corresponding predetermined standard based on the first positioning offsets of at least two reference holes, and calculate a first coordinate based on the first positioning offset and a second coordinate based on the second positioning offset. Thereby, the accuracy of the secondary hole opening of the workpiece is ensured, and the risk of incorrect hole opening or excessive deviation in secondary hole opening is reduced.

[0006] According to a preferred embodiment of the present invention, the drive and control module is further configured to move the lens center so that the lens center is aligned with the hole center of the reference hole in the captured image to determine the first positioning offset, and the coordinate calculation module is further configured to calculate the second positioning offset based on the first positioning offset, the difference between the first positioning offsets, and the number of perforations located between at least two reference holes. This thereby achieves precise positioning of all the perforations, ensures that all perforations except the reference holes can be precisely positioned, and further reduces the error in secondary hole opening.

[0007] According to a preferred embodiment of the present invention, the predetermined standard includes that the connection line of a plurality of perforations includes at least one straight line segment and the plurality of perforations in the straight line segment are arranged at equal intervals, and wherein the reference hole selection module is further configured to select the perforations at the two end points of each straight line segment as reference holes. This further ensures that the device can perform high-precision positioning on the perforations that need secondary processing on the workpiece, facilitates the smooth progress of the subsequent automatic hole opening stage, and improves the reliability of secondary hole opening.

[0008] According to a preferred embodiment of the present invention, the device further comprises: a machine tool configured to fix the workpiece, wherein the machine tool has an associated machine tool coordinate system, and the machine tool coordinate system is determined as the device coordinate system, and wherein the workpiece is a blade of a gas turbine. This device can advantageously perform secondary hole opening on the components of a gas turbine, improving the reliability and efficiency of the maintenance of the components of the gas turbine.

[0009] According to a preferred embodiment of the present invention, a plurality of perforations of the uncoated workpiece are formed by electrical discharge machining, and the hole opening device is configured to use a laser to open holes in the workpiece. This thereby improves the efficiency and high precision of the device in performing secondary hole opening on the workpiece, and promotes the shortening of the secondary hole opening processing time.

[0010] According to a preferred embodiment of the present invention, a method for secondary hole opening on a workpiece is provided. The method includes: selecting at least two perforations from a plurality of perforations on the uncoated workpiece as reference holes, wherein the plurality of perforations are arranged according to at least one predetermined standard; determining the first coordinates of the hole centers of each reference hole relative to the device coordinate system of the secondary hole opening device, and calculating the second coordinates of the remaining perforations in the plurality of perforations based on the first coordinates of at least two reference holes and the predetermined standard; determining the secondary hole opening coordinates of each perforation in the plurality of perforations covered by the coating on the coated workpiece according to the first coordinates and the second coordinates; and opening holes on the coated workpiece according to the determined secondary hole opening coordinates. This method can significantly shorten the processing time for secondary hole opening on the coated workpiece, improve the efficiency of workpiece processing, and avoid the consumption of additional processing materials.

[0011] According to a preferred embodiment of the present invention, the method further includes: using a camera to capture an image of the uncoated workpiece, wherein the camera has a lens center associated with the device coordinate system; determining the first positioning offset of the hole center of each reference hole relative to the lens center; calculating the second positioning offset of each of the remaining perforations relative to a reference hole involved in the corresponding predetermined standard based on the first positioning offsets of at least two reference holes; and calculating the first coordinates based on the first positioning offset and calculating the second coordinates based on the second positioning offset. Thus, this method ensures the accuracy of secondary hole opening on the workpiece and reduces the risk of incorrect hole opening or excessive deviation in secondary hole opening.

[0012] According to a preferred embodiment of the present invention, the method further includes: moving the lens center so that the lens center is aligned with the hole center of the reference hole in the captured image, determining the first positioning offset; and calculating the second positioning offset based on the first positioning offset, the difference between the first positioning offsets, and the number of perforations between at least two reference holes. The method provided by this embodiment realizes the precise positioning of all perforations, ensures that all perforations except the reference holes can be accurately positioned, and further reduces the error of secondary hole opening.

[0013] According to a preferred embodiment of the present invention, the predetermined standard includes that the connection line of a plurality of perforations includes at least one straight line segment and the plurality of perforations in the straight line segment are arranged at equal intervals, wherein the perforations at both ends of each straight line segment are selected as reference holes. The steps of the method further ensure that the device can accurately position the perforations on the workpiece that need secondary processing, facilitate the smooth progress of the subsequent automatic hole opening stage, and improve the reliability of secondary hole opening.

[0014] According to a preferred embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored program, wherein the program controls the computer-readable storage medium to execute the above method when running.

[0015] According to a preferred embodiment of the present invention, there is provided a computer program product comprising computer-executable instructions which, when executed, cause at least one processor to execute the above-described method. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those of ordinary skill in the art can more clearly understand the above and other features and advantages of the present invention. In the drawings:

[0017] Figure 1 FIG. shows a schematic structural diagram of a secondary hole-opening device for secondary hole-opening on a workpiece according to a first embodiment of the present invention.

[0018] Figure 2 FIG. shows a schematic structural diagram of a secondary hole-opening device for secondary hole-opening on a workpiece according to a second embodiment of the present invention.

[0019] Figure 3 FIG. shows a schematic flow diagram of a method for secondary hole-opening on a workpiece according to a first embodiment of the present invention.

[0020] Figure 4 FIG. shows a schematic flow diagram of a method for secondary hole-opening on a workpiece according to a second embodiment of the present invention.

[0021] Figure 5 FIG. shows a schematic flow diagram of a method for secondary hole-opening on a workpiece according to a third embodiment of the present invention.

[0022] Figure 6 FIG. shows a schematic diagram of a workpiece having a plurality of perforations according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other solutions obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0024] It should be noted that the terms "comprising" and "having" in the specification and claims of the present invention and any variations thereof are intended to cover non-exclusive inclusion. For example, a product or device comprising a series of units does not necessarily have to be limited to those units clearly listed, but may include other units not listed or inherent to these products or devices.

[0025] Figure 1 FIG. 1 shows a schematic structural diagram of a secondary hole opening device 100 for secondary hole opening on a workpiece according to a first embodiment of the present invention. In Figure 1 the illustrated embodiment, the secondary hole opening device 100 has an associated device coordinate system, and in this embodiment, the secondary hole opening device 100 is designed to process the blades of a gas turbine as the workpiece to be processed. The secondary hole opening device 100 according to this embodiment includes a hole opening device 10 and a control device 20. The hole opening device 10 of the secondary hole opening device 100 is configured to perform hole opening or secondary hole opening on the workpiece. The control device 20 of the secondary hole opening device 100 is communicatively connected to the hole opening device 10. In Figure 1 the illustrated embodiment, the control device 20 includes a reference hole selection module 21, a coordinate calculation module 22, a perforation positioning module 23, and a driving and controlling module 24. The reference hole selection module 21 is configured to select at least two perforations from a plurality of perforations on the uncoated workpiece as reference holes, wherein the plurality of perforations are arranged according to at least one predetermined standard. In a preferred embodiment, the predetermined standard includes that the connection line of the plurality of perforations includes at least one straight line segment and the plurality of perforations in the straight line segment are arranged at equal intervals, and the perforations at the two end points of each straight line segment are selected as reference holes. In an embodiment, the plurality of perforations of the uncoated workpiece are formed by electrical discharge machining, and the hole opening device 10 is configured to use a laser to open holes on the workpiece. In addition, the coordinate calculation module 22 is configured to determine the first coordinates of the hole centers of each reference hole relative to the device coordinate system, and calculate the second coordinates of the remaining perforations in the plurality of perforations based on the first coordinates of at least two reference holes and the predetermined standard. The perforation positioning module 23 is configured to determine the secondary hole opening coordinates of each perforation in the plurality of perforations covered by the coating on the coated workpiece according to the first coordinates and the second coordinates. The driving and controlling module 24 is configured to drive and control the hole opening device 10 to open holes on the coated workpiece according to the determined secondary hole opening coordinates. In an embodiment, the predetermined standard includes that the connection line of the plurality of perforations includes at least one straight line segment and the plurality of perforations in the straight line segment are arranged at equal intervals, and the reference hole selection module 21 is configured to select the perforations at the two end points of each straight line segment as reference holes.

[0026] Figure 2 FIG. 2 shows a schematic structural diagram of a secondary hole opening device 100 for secondary hole opening on a workpiece according to a second embodiment of the present invention. In Figure 2In the illustrated embodiment, the secondary hole-opening device 100 further includes a camera 30. The camera 30 is communicatively connected to the control device 20 and is configured to capture an image of the uncoated workpiece. The camera 30 has a lens center associated with the device coordinate system. Accordingly, the coordinate calculation module 22 of the secondary hole-opening device 100 is further configured to determine a first positioning offset of the hole center of each reference hole relative to the lens center, calculate a second positioning offset of each of the remaining perforations relative to one of the reference holes involved in a corresponding predetermined standard based on the first positioning offsets of at least two reference holes, calculate a first coordinate based on the first positioning offset, and calculate a second coordinate based on the second positioning offset. In a preferred embodiment, with the aid of the camera 30 of the secondary hole-opening device 100, the reference hole selection module 21 of the control device 20 selects reference holes from the acquired image of the workpiece including all perforations. In addition, the drive and control module 24 of the secondary hole-opening device 100 is further configured to move the lens center of the camera 30 so that the lens center is aligned with the hole center of the reference hole in the captured image to determine the first positioning offset, and the coordinate calculation module 22 is further configured to calculate the second positioning offset based on the first positioning offset, the difference between the first positioning offsets, and the number of perforations located between at least two reference holes. In addition, in this embodiment, the secondary hole-opening device 100 further includes a machine tool 40, which is configured to fix the workpiece. The machine tool 40 has an associated machine tool 40 coordinate system, and in a preferred embodiment, the machine tool 40 coordinate system is determined as the device coordinate system. In another embodiment not shown, the hole-opening device 10, the control device 20, and / or the camera 30 are provided on the machine tool 40 and preferably integrated into the machine tool 40.

[0027] Figure 3 FIG. shows a schematic flow chart of a method for secondary hole-opening on a workpiece according to a first embodiment of the present invention. In Figure 3 the illustrated embodiment, the method includes the following steps: Step S1, after loading the uncoated workpiece onto the workpiece fixing device, selecting at least two perforations from among a plurality of perforations on the uncoated workpiece as reference holes, for example, by running a computer program on a computer, where the plurality of perforations are arranged according to at least one predetermined standard; Step S2, determining a first coordinate of the hole center of each reference hole relative to the device coordinate system of the secondary hole-opening device, and calculating a second coordinate of the remaining perforations among the plurality of perforations based on the first coordinates of at least two reference holes and the predetermined standard; Step S3, determining the secondary hole-opening coordinates of each of the plurality of perforations covered by the coating on the coated workpiece according to the first coordinate and the second coordinate; and Step S4, after placing the coated workpiece onto the workpiece fixing device, opening holes on the coated workpiece according to the determined secondary hole-opening coordinates by running a computer program on a computer.

[0028] Figure 4The flowchart shows a method for secondary hole opening on a workpiece according to the second embodiment of the present invention. In this embodiment, based on the steps of the first embodiment of the method shown by Figure 3 the method further includes the following steps: Step S5, using a camera to capture an image of the uncoated workpiece, where the camera has a lens center associated with the device coordinate system; Step S6, determining the first positioning offset of the hole center of each reference hole relative to the lens center; Step S7, calculating the second positioning offset of each of the remaining perforations relative to a reference hole involved in a corresponding predetermined standard based on the first positioning offsets of at least two reference holes; and Step S8, calculating the first coordinates based on the first positioning offset and calculating the second coordinates based on the second positioning offset.

[0029] Figure 5 The flowchart shows a method for secondary hole opening on a workpiece according to the third embodiment of the present invention. In this embodiment, based on the method steps of the second embodiment of the method shown by Figure 4 the method further includes: Step S9, moving the lens center so that the lens center is aligned with the hole center of the reference hole in the captured image and determining the first positioning offset; and Step S10, calculating the second positioning offset based on the first positioning offset, the difference between the first positioning offsets, and the number of perforations between at least two reference holes.

[0030] Figure 6 The schematic diagram shows a workpiece with multiple perforations according to an embodiment of the present invention. In Figure 6 the shown embodiment, the workpiece 11 to be processed is a blade of a gas turbine, on which a plurality of perforations have been machined by electrical discharge machining. For example, in this embodiment, 16 perforations are shown. In other embodiments, more than 16 or fewer than 16 perforations are machined on the blade. Additionally, in Figure 6 the embodiment, by running a computer program on a computer, such as executing as Figures 3 - 5For the method steps shown, since the first - ranked and seventh - ranked perforations among the multiple perforations are on the same straight line segment, and the seventh - ranked and sixteenth - ranked perforations are on the same straight line segment, the first - ranked perforation is selected as the first reference hole 211, the seventh - ranked perforation is selected as the second reference hole 212, and the sixteenth - ranked perforation is selected as the third reference hole 213. Thus, the first positioning offset (dx1, dy1) of the first coordinate of the first reference hole 211 in the machine tool coordinate system relative to the lens center of the camera is determined, the first positioning offset (dx7, dy7) of the first coordinate of the second reference hole 212 in the machine tool coordinate system relative to the lens center of the camera is determined, and the first positioning offset (dx16, dy16) of the first coordinate of the third reference hole 213 in the machine tool coordinate system relative to the lens center of the camera is determined. Subsequently, in order to determine the second coordinates of all the remaining perforations except the reference holes among the multiple perforations in the machine tool coordinate system, the average spacing between adjacent perforations on the same straight line segment is calculated. For example, the average spacing values Δx1 and Δy1 between adjacent perforations between the first reference hole 211 and the second reference hole 212 are calculated based on the first positioning offsets of the first reference hole 211 and the second reference hole 212: Δx1=(dx7 - dx1) / 6, Δy1=(dy7 - dy1) / 6; and the average spacing values Δx2 and Δy2 between adjacent perforations between the second reference hole 212 and the third reference hole 213 are calculated based on the first positioning offsets of the second reference hole 212 and the third reference hole 213: Δx2=(dx16 - dx7) / 11, Δy2=(dy16 - dy7) / 11. Furthermore, based on the calculated average spacing values Δx1 and Δy1 and Δx2 and Δy2, the second positioning offsets from the second perforation to the sixth perforation between the first perforation and the seventh perforation and the second positioning offsets from the eighth perforation to the fifteenth perforation between the seventh perforation and the sixteenth perforation are calculated. For example, the second positioning offset of the second perforation: dx2 = dx1+Δx1, dy2 = dy1+Δy1; the second positioning offset of the third perforation: dx3 = dx1+2*Δx1, dy3 = dy1+2*Δy1; the second positioning offset of the eighth perforation: dx8 = dx7+Δx2, dy8 = dy7+Δy2; the second positioning offset of the ninth perforation: dx9 = dx7+2*Δx2, dy9 = dy7+2*Δy2. After obtaining the positioning offsets of all the perforations, these positioning offsets are stored together with the serial number of the workpiece, so that when performing the steps as shown in Figure 3 step S4, by executing the computer program stored on the computer's storage medium, the positioning offsets are automatically added to the computer program to calculate the secondary opening coordinates of each perforation relative to the machine tool coordinate system.

[0031] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A secondary hole-opening device (100) for performing secondary hole-opening on a workpiece, wherein the secondary hole-opening device (100) has an associated device coordinate system, characterized in that, The secondary hole-opening device (100) includes: a hole-opening device (10) configured to open holes in the workpiece; and a control device (20) communicatively connected to the hole-opening device (10), wherein the control device (20) includes: a reference hole selection module (21) configured to select at least two perforations from a plurality of perforations on the uncoated workpiece as reference holes, wherein the plurality of perforations are arranged according to at least one predetermined standard; a coordinate calculation module (22) configured to determine a first coordinate of the hole center of each of the reference holes relative to the device coordinate system, and calculate a second coordinate of the remaining perforations in the plurality of perforations based on the first coordinates of at least two of the reference holes and the predetermined standard; a perforation positioning module (23) configured to determine a secondary hole-opening coordinate of each of the plurality of perforations covered by the coating on the coated workpiece according to the first coordinate and the second coordinate; and a driving and controlling module (24) configured to drive and control the hole-opening device (10) to open holes on the coated workpiece according to the determined secondary hole-opening coordinates.

2. The secondary opening device (100) according to claim 1, wherein, The secondary hole-opening device (100) further includes: a camera (30) communicatively connected to the control device (20) and configured to capture an image of the uncoated workpiece, wherein the camera (30) has a lens center associated with the device coordinate system, wherein the coordinate calculation module (22) is further configured to determine a first positioning offset of the hole center of each of the reference holes relative to the lens center, calculate a second positioning offset of each of the remaining perforations relative to one of the reference holes involved in the corresponding predetermined standard based on the first positioning offsets of at least two of the reference holes, calculate the first coordinate based on the first positioning offset, and calculate the second coordinate based on the second positioning offset.

3. The secondary opening device (100) according to claim 2, characterized in that, The driving and controlling module (24) is further configured to move the lens center so that the lens center is aligned with the hole center of the reference hole in the captured image to determine the first positioning offset, and the coordinate calculation module (22) is further configured to calculate the second positioning offset based on the first positioning offset, the difference between the first positioning offsets, and the number of perforations between at least two of the reference holes.

4. The secondary opening device (100) according to claim 1, wherein, The predetermined standard includes that the connection line of the plurality of perforations includes at least one straight line segment and the plurality of perforations in the straight line segment are arranged at equal intervals, wherein the reference hole selection module (21) is further configured to select the perforations at both ends of each straight line segment as the reference holes.

5. The secondary opening device (100) according to claim 1, characterized in that, The secondary hole-opening device (100) further includes: a machine tool (40) configured to fix the workpiece, wherein the machine tool (40) has an associated machine tool coordinate system, and the machine tool coordinate system is determined as the device coordinate system, and the workpiece is a blade of a gas turbine.

6. The secondary hole-opening device (100) according to claim 1, characterized in that, The plurality of perforations on the uncoated workpiece are machined by electrical discharge machining, and the hole-opening device (10) is configured to use a laser to open holes in the workpiece.

7. A method for secondary hole opening on a workpiece, characterized in that, The method includes: Select at least two perforations from the plurality of perforations on the uncoated workpiece as reference holes, wherein the plurality of perforations are arranged according to at least one predetermined criterion; Determine the first coordinates of the center of each of the reference holes relative to the device coordinate system of the secondary hole-opening device, and calculate the second coordinates of the remaining perforations in the plurality of perforations based on the first coordinates of at least two of the reference holes and the predetermined criterion; Determine the secondary hole-opening coordinates of each of the perforations in the plurality of perforations covered by the coating on the workpiece after coating according to the first coordinates and the second coordinates; and Open holes on the workpiece after coating according to the determined secondary hole-opening coordinates.

8. The method according to claim 7, characterized in that The method further includes: Using a camera to capture an image of the uncoated workpiece, wherein the camera has a lens center associated with the device coordinate system; Determine the first positioning offset of the center of each of the reference holes relative to the lens center; Calculate the second positioning offset of each of the remaining perforations relative to one of the reference holes involved in the corresponding predetermined criterion based on the first positioning offsets of at least two of the reference holes; and Calculate the first coordinates based on the first positioning offset, and calculate the second coordinates based on the second positioning offset.

9. The method according to claim 8, characterized in that, The method further includes: Move the lens center so that the lens center is aligned with the center of the reference hole in the captured image, and determine the first positioning offset; and Calculate the second positioning offset based on the first positioning offset, the difference between the first positioning offsets, and the number of perforations located between at least two of the reference holes.

10. The method according to claim 7, wherein The predetermined criterion includes that the connection line of the plurality of perforations includes at least one straight line segment and the plurality of perforations in the straight line segment are arranged at equal intervals, wherein the perforations at both ends of each straight line segment are selected as the reference holes.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program controls the computer-readable storage medium to execute the method according to any one of claims 7-10 when running.

12. A computer program product, characterized in that, The computer program product includes computer-executable instructions, which when executed, cause at least one processor to execute the method according to any one of claims 7-10.

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