A method and apparatus for updating AGV vehicle-side maps by combining static maps and patches.

Abstract

This application discloses an AGV vehicle-side map update method and apparatus that combines static maps and patches, relating to the field of AGV vehicle-side map update technology. It solves the problem in existing technologies where even minor map modifications require downloading and updating the entire map, leading to unnecessary map update time consumption and impacting the processing time of AGVs performing tasks. The method includes acquiring map update information and calculating the cumulative modification ratio of the vehicle-side map. When the cumulative modification ratio reaches a map update threshold, a map overlay update is performed; otherwise, a patch update is used. Two different map update thresholds are used for AGVs in idle and non-idle states, ensuring that AGVs performing tasks can prioritize task completion time and update small-scale map changes at a lower cost, while avoiding the accumulation of errors caused by continuous patch downloads.

Description

Technical Field

[0001] This application relates to the field of AGV vehicle-side map update technology, and in particular to an AGV vehicle-side map update method and apparatus that combines static maps and patches. Background Technology

[0002] AGVs (Automated Guided Vehicles) are mobile robots that do not require human drivers and can automatically travel along paths generated by a scheduling system or autonomously to complete transport tasks. With the improvement of AGV autonomy and the widespread adoption of the VDA5050 protocol, AGVs need to record maps of the work area on their vehicles and update them according to changes in the work area environment. However, in large-scale scenarios with multiple AGVs, map updates consume considerable time. During this time, AGVs within the workshop must update the map on-site, impacting overall workshop efficiency, especially in industries with high efficiency requirements such as automotive, leading to greater losses. Current solutions for map updates generally involve stopping all AGVs on the map and downloading the complete new map version on-site when the map is updated. Only after the update is complete can they receive new tasks.

[0003] In existing technologies, the extent of map modifications varies during each map update. A map update might only change some point and edge information, yet the AGV still has to download the entire map, which contains a lot of redundant information, leading to unnecessary time consumption. For an AGV currently performing a task, if it pauses its current task and downloads the complete new map in place, even if the map only updates some point and edge information, it will affect the processing time of the AGV's current task. Summary of the Invention

[0004] The purpose of this application is to overcome the problem in the prior art that even minor modifications to the map require downloading and updating the entire map, which leads to unnecessary map update time and seriously affects the processing time of AGVs performing tasks. This application provides an AGV vehicle-side map update method and device that combines static maps with patches.

[0005] Firstly, a method for updating AGV vehicle-side maps by combining static maps and patches is provided, including:

[0006] Obtain map update information, wherein the map update information includes at least one of the following: basic map information, patch content, and updated map information, wherein the basic map information includes at least one of the following: basic map, basic map version, and total number of elements in the basic map, the patch content includes at least one of the following: number of elements that have been changed, operation type, elements to be added, elements to be modified and the modification method, and elements to be deleted, and the updated map information includes: the updated map and the updated map version;

[0007] Calculate the cumulative modification rate of the vehicle-side map for each AGV based on the map update information;

[0008] Determine if the AGV is idle;

[0009] If the judgment result is yes, then the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset first threshold. If the cumulative modification ratio is less than the first threshold, the AGV vehicle-side map is updated by map patching; otherwise, the AGV vehicle-side map is updated by static map overlay.

[0010] If the judgment result is negative, the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset second threshold. If the cumulative modification ratio is less than the second threshold, the AGV vehicle-side map is updated by map patching; otherwise, the AGV vehicle-side map is updated by static map overlay.

[0011] In some possible implementations, after obtaining map update information, the validity of the map update information is checked. If the validity check fails, the current map update is terminated.

[0012] In some possible implementations, the preset second threshold is greater than the preset first threshold.

[0013] In some possible implementations, the preset second threshold is 20%, and the preset first threshold is 5%.

[0014] In some possible implementations, the cumulative modification rate of the vehicle-side map in each AGV is calculated based on map update information, including:

[0015] The proportion of map elements whose changes occur in the map update information to the total number of map elements is used as the map modification ratio, where the elements include points, edges, and regions.

[0016] Calculate the sum of the map modification ratios since the last AGV vehicle-side map update via static map overlay to obtain the cumulative modification ratio.

[0017] In some possible implementations, the AGV vehicle-side map is updated via map patching, including:

[0018] S311. Verify the map version. Specifically, if the base map version in the map update information is the same as the AGV vehicle-side map version, the verification passes and step S312 is executed. Otherwise, the verification fails and the AGV vehicle-side map is updated by overlaying the static map.

[0019] S312. Perform a rationality check on the patch content. Specifically, check whether the AGV vehicle-side map contains the required element. If it contains the required element, the rationality check fails. If it does not contain the required element, check whether the AGV vehicle-side map contains the required modified or deleted element. If it does not contain the required modified or deleted element, the rationality check fails. If it contains the required modified and / or deleted element, the rationality check passes, and proceed to step S313. If the rationality check fails, update the AGV vehicle-side map by overwriting the static map.

[0020] S313. Modify the AGV vehicle-side map according to the operation type in the patch content of the map update information. Specifically, if the operation type is "add", add the corresponding element in the AGV vehicle-side map; if the operation type is "modify", retrieve the corresponding element in the AGV vehicle-side map and modify the element content; if the operation type is "delete", retrieve the corresponding element in the AGV vehicle-side map and delete it.

[0021] S314. Update the version number of the AGV vehicle-side map to complete the AGV vehicle-side map update.

[0022] In some possible implementations, the AGV vehicle-side map is updated by static map overlay, including: downloading the updated map from the map update information to the AGV vehicle and overlaying it on the AGV vehicle-side map to complete the AGV vehicle-side map update.

[0023] Secondly, an AGV vehicle-side map update device combining static maps and patches is provided, including:

[0024] The acquisition module is used to obtain map update information;

[0025] The calculation module is used to calculate the cumulative modification ratio of the on-board map of each AGV based on the map update information;

[0026] The processing module is used to determine whether the AGV is in an idle state;

[0027] If the judgment result is yes, then the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset first threshold. If the cumulative modification ratio is less than the first threshold, the AGV vehicle-side map is updated by map patching; otherwise, the AGV vehicle-side map is updated by static map overlay.

[0028] If the judgment result is negative, the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset second threshold. If the cumulative modification ratio is less than the second threshold, the AGV vehicle-side map is updated by map patching; otherwise, the AGV vehicle-side map is updated by static map overlay.

[0029] Thirdly, a computer-readable storage medium is provided that stores program code for execution by a device, the program code including steps for performing a method as described in any of the implementations of the first aspect above.

[0030] Fourthly, an electronic device is provided, the electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the method as described in any of the implementations of the first aspect above.

[0031] This application has the following beneficial effects: By setting different update thresholds according to the status of the AGV, the map on the AGV is updated by patching before the cumulative update reaches the update threshold. This allows for updating small-scale map changes at a lower cost, avoiding the problem of needing to download and update the entire map for only a few points. The entire map is downloaded and updated only after the cumulative update reaches the update threshold. This not only allows AGVs that have not yet performed tasks to update first, but also allows AGVs that are performing tasks to perform tasks first, ensuring the timeliness of task completion, and avoids the accumulation of errors caused by continuous patching. Attached Figure Description

[0032] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1This is a flowchart of the AGV vehicle-side map update method combining static map and patch in Embodiment 1 of this application;

[0035] Figure 2 This is a structural block diagram of the AGV vehicle-side map update device that combines static maps and patches according to Embodiment 2 of this application;

[0036] Figure 3 This is a schematic diagram of the internal structure of the electronic device according to Embodiment 4 of this application.

[0037] Figure label:

[0038] 100. Acquisition module; 200. Calculation module; 300. Processing module. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Example 1

[0041] like Figure 1 As shown, the AGV vehicle-side map update method combining static map and patching involved in Embodiment 1 of this application includes:

[0042] S100. Obtain map update information. The map update information is obtained by comparing the new map with the old map. The map update information includes: basic map information, patch content, and updated map information. The basic map information includes: the basic map, the basic map version, and the total number of elements in the basic map. The patch content includes: the number of elements that have been changed, the operation type, the elements to be added, the elements to be modified, the modification method, and the elements to be deleted. The updated map information includes: the updated map and the updated map version number.

[0043] To ensure map security, the scheduling platform first verifies the legality of map modifications upon receiving map update information, determining whether the new map is valid. For example, it checks whether the number of points and edges exceeds the limit, whether the map element type is incorrect, and whether the version number encoding method is wrong. If the new map is invalid, the map update is terminated.

[0044] S200. Calculate the cumulative modification ratio of the vehicle-side map for each AGV based on the map update information.

[0045] In step S200, the scheduling platform obtains the modified content of the map, quantifies the degree of modification of the map before and after the update, and determines the map update method. There are two ways to obtain the modified content of the map: 1. The user's operation can be recorded by the map drawing interface and then transmitted to the scheduling platform for parsing; 2. The information in the map is compared one by one by an algorithm to obtain the modification.

[0046] Map update methods are categorized based on the scale of map changes before and after the update. For a single map update operation, the scale of map changes is defined as follows:

[0047]

[0048] Where MR is the Modified Ratio of the map; N origin This indicates the total number of elements in the map before this modification was applied, where map elements include points, edges, and regions; N modified This indicates the total number of elements changed in this modification.

[0049] S300. Determine whether the AGV is in an idle state. If the AGV is not performing a task, it is in an idle state. If the AGV is performing a task, it is in a non-idle state.

[0050] In this embodiment, a first threshold and a second threshold are preset to differentiate the updates of idle AGVs and non-idle AGVs. The second threshold is greater than the first threshold, so that idle AGVs can be updated first. Taking a first threshold of 5% and a second threshold of 20% as an example, when the cumulative modification rate of the map reaches 6%, idle AGVs will update their AGV-side map by static map overlay, that is, downloading the updated map from the scheduling platform to the AGV and overlaying the AGV-side map to complete the AGV-side map update. Meanwhile, non-idle AGVs (i.e., AGVs that are performing tasks) will update their AGV-side map by patching, which takes less time.

[0051] For example, if the judgment result is yes, that is, the AGV is not performing a task, the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset first threshold (i.e. 5%). If the cumulative modification ratio is less than 5%, the AGV vehicle-side map is updated by map patching. If the cumulative modification ratio is greater than or equal to 5%, the AGV vehicle-side map is updated by static map overlay.

[0052] If the judgment result is negative, meaning that the AGV is performing a task, the cumulative modification ratio of the current AGV's vehicle-side map is compared with the preset second threshold (i.e., 20%). If the cumulative modification ratio is less than 20%, the AGV's vehicle-side map is updated by map patching. If the cumulative modification ratio is greater than or equal to 20%, the AGV's vehicle-side map is updated by static map overlay.

[0053] In this embodiment, the map update method is determined by the cumulative map modification ratio of the AGV and the map update threshold of the AGV. When the cumulative map modification ratio of the AGV is greater than or equal to the map update threshold of the AGV, the map is updated as a static map; when the cumulative map modification ratio is less than the map update threshold of the AGV, the map is updated as a patch. The map update threshold of the AGV in the idle state is smaller than that of the AGV in the non-idle state, so that the AGV in the idle state can update the overall map first, while the AGV performing the task will use the shorter patch method to update the vehicle-side map, thereby ensuring the timeliness of task completion.

[0054] The cumulative map modification percentage of an AGV refers to the sum of the map modification percentages corresponding to each patch update since the last static map update.

[0055] The map update threshold of an AGV is determined by the status of the AGV. For example, the reference value for the map update threshold of an AGV that is performing a task is 20%, and the reference value for the map update threshold of an AGV that is idle is 5%.

[0056] When the map is updated via map patching on the AGV vehicle, the map update information will include a series of map change operations, including addition, modification, and deletion.

[0057] Add: This refers to adding elements (points / edges / regions, etc.) to the map. The operation is used when a new map has elements that the old map did not have. The details of the add operation include the element type, element ID, and all information corresponding to the element's structure.

[0058] Modification: This refers to modifying some or all of the parameters in existing point / edge information. When both the old and new maps have a certain element, but their specific parameters differ, this operation is represented by "modification." The specific content of the modification operation includes the element type, element ID, and all or part of the information corresponding to the element's structure.

[0059] Delete: Removes the corresponding point / edge information from the old map. This operation is used when an element from the old map is removed from the new map. The details of the delete operation include the element type and element ID.

[0060] When the map update method is to update the AGV vehicle-side map by overlaying a static map, the AGV sends a new map download request to the scheduling platform, downloads the complete map according to the link provided by the scheduling platform, and overlays the map inside the AGV.

[0061] When validating the map modifications, the following checks are performed on add, modify, and delete operations:

[0062] Add: Verify the internal map of the AGV vehicle to check if it contains the corresponding element with the corresponding ID. If it already contains the element corresponding to the add operation, then the add operation is abnormal.

[0063] Modify / Delete: Verify the internal map of the AGV vehicle to check if it contains the corresponding element with the corresponding ID. If the element corresponding to the add operation is not found, the modification / deletion operation is abnormal.

[0064] When an operation is abnormal, the abnormality is reported and the AGV vehicle-side map is updated by overlaying a static map.

[0065] Specifically, the AGV vehicle-side map is updated using a map patching method. The patch content is applied, and the internal map is modified according to the operation type.

[0066] Added: Added corresponding elements to the internal map of the AGV vehicle.

[0067] Edit: Retrieve the corresponding element in the AGV's internal map and update the element content based on the modification information.

[0068] Delete: Retrieve the corresponding element in the AGV end map and delete it.

[0069] To record the content of each update, the map update log records the following:

[0070] Map update type: The update method for this map update. Specifically, it includes two methods: static map overlay and map patching, which can be represented by a boolean type.

[0071] Map version number before update: This is only used when the map update method is map patch. It is used to verify whether the map on the AGV vehicle before the patch is applied matches the map version before the patch is applied. Only when they match can the update be performed via patch.

[0072] Map change operation: Includes the type of map change operation, the element type and ID of the map change operation, and detailed information about the corresponding element.

[0073] Updated Map Version Number: The map's ID number after the application update. When the map is updated via static map overlay, or if the update method is a map patch but verification fails, this ID number is used to request a download link for the corresponding map from the scheduling platform, thereby downloading the complete map. When the AGV vehicle updates its internal map using a static map or patch, the internal map's version number needs to be updated to this version number.

[0074] In this embodiment, updating the AGV vehicle-side map via map patching requires ensuring that the AGV vehicle-side map and the scheduling platform are in sync before the update. Figure 1 To address the issue: While map patching can save on update costs and time, errors can cause problems in all subsequent versions. This problem can be mitigated by combining static map overlay and map patching: Each time the map is updated, the cumulative map modification percentage is calculated. If the AGV's map is updated using map patching, the modification percentage is retained and added to the next map update's cumulative modification percentage calculation. This ensures that the map is updated periodically using static map overlay. If the AGV's map is updated using static map overlay, the cumulative modification percentage is reset to zero.

[0075] Meanwhile, considering that updating the map in place using static map mode when the AGV is idle will not affect the work efficiency, the idle vehicles are given priority to update the map using static map mode. The specific method is to reduce the map update threshold corresponding to the AGV in the idle state, that is, the preset second threshold is greater than the preset first threshold.

[0076] In this embodiment, by determining the type of map update, it supports updating small-scale map changes at a lower cost, avoiding the problem of needing to download and update the entire map for just a few points. It also provides an update method combining static map download and patch updates. This not only allows AGVs performing tasks to prioritize map patch updates when faced with minor map changes, thus catching up on map update times and ensuring timely task completion, but also enables a static map overwrite update after a certain number of map patch updates have been accumulated, avoiding the accumulation of errors caused by continuous map patch downloads.

[0077] Example 2

[0078] like Figure 2 As shown, the AGV vehicle-side map update device combining static map and patch according to Embodiment 2 of this application includes:

[0079] Module 100 is used to obtain map update information;

[0080] The calculation module 200 is used to calculate the cumulative modification ratio of the vehicle-side map in each AGV based on the map update information;

[0081] Processing module 300 is used to determine whether the AGV is in an idle state;

[0082] If the judgment result is yes, then the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset first threshold. If the cumulative modification ratio is less than the first threshold, the AGV vehicle-side map is updated by map patching; otherwise, the AGV vehicle-side map is updated by static map overlay.

[0083] If the judgment result is negative, the cumulative modification ratio of the current AGV vehicle-side map is compared with the preset second threshold. If the cumulative modification ratio is less than the second threshold, the AGV vehicle-side map is updated by map patching; otherwise, the AGV vehicle-side map is updated by static map overlay.

[0084] It should be noted that other specific implementations of the AGV vehicle-side map update device combining static map and patch in this embodiment can be found in the specific implementation of the AGV vehicle-side map update method combining static map and patch described above. To avoid redundancy, they will not be repeated here.

[0085] Example 3

[0086] The present application relates to a computer-readable storage medium in embodiment 3, which stores program code for execution by a device, the program code including steps for performing the method as in any implementation of embodiment 1 of the present application;

[0087] The computer-readable storage medium may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM); the computer-readable storage medium may store program code, and when the program stored in the computer-readable storage medium is executed by a processor, the processor is used to perform the steps of the method in any of the implementations of Embodiment 1 of this application.

[0088] Example 4

[0089] like Figure 3As shown, an electronic device according to Embodiment 4 of this application includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the method in any of the implementations in Embodiment 1 of this application.

[0090] The processor can be a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits, used to execute related programs to implement the method in any of the implementations of Embodiment 1 of this application.

[0091] The processor can also be an integrated circuit electronic device with signal processing capabilities. In implementation, each step of the method in any of the implementations of Embodiment 1 of this application can be completed by the integrated logic circuitry in the processor's hardware or by software instructions.

[0092] The aforementioned processor can also be a general-purpose processor, digital signal processor, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the functions required by the units included in the data processing apparatus of the embodiments of this application, or executes the methods in any implementation of Embodiment 1 of this application.

[0093] The above are merely preferred embodiments of this application; however, the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and its improved concept, should be covered within the scope of protection of this application.

Claims

1. An AGV vehicle end map updating method combined with a static map and a patch, characterized in that, The method comprises the following steps: acquiring map update information; calculating the cumulative modification proportion of the vehicle-end map in each AGV according to the map update information; judging whether the AGV is in an idle state; if the result of the judgment is yes, comparing the cumulative modification proportion of the vehicle-end map in the current AGV with a preset first threshold value, if the cumulative modification proportion is less than the first threshold value, updating the AGV vehicle-end map by means of a map patch, otherwise updating the AGV vehicle-end map by means of static map overlay; if the result of the judgment is no, comparing the cumulative modification proportion of the vehicle-end map in the current AGV with a preset second threshold value, if the cumulative modification proportion is less than the second threshold value, updating the AGV vehicle-end map by means of a map patch, otherwise updating the AGV vehicle-end map by means of static map overlay; wherein the preset second threshold value is greater than the preset first threshold value; calculating the cumulative modification proportion of the vehicle-end map in each AGV according to the map update information comprises: taking the proportion of the elements in the map update information that have been changed in the total elements in the map as the map modification proportion, wherein the elements include points, edges and regions; calculating the sum of the map modification proportions after the last AGV vehicle-end map update by means of static map overlay to obtain the cumulative modification proportion.

2. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, After acquiring the map update information, the legality of the map update information is verified, and if the verification fails, the current map update is terminated.

3. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, The preset second threshold value is 20%, and the preset first threshold value is 5%.

4. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, updating the AGV vehicle-end map by means of a map patch comprises: S311, verifying the map version, specifically, if the base map version in the map update information is the same as the AGV vehicle-end map version, the verification is passed, and step S312 is executed, otherwise the verification fails, and the AGV vehicle-end map is updated by means of static map overlay; S312, performing rationality verification on the patch content, specifically, searching whether the AGV vehicle-end map contains the required added elements, if the AGV vehicle-end map contains the required added elements, the rationality verification fails, if the AGV vehicle-end map does not contain the required added elements, searching whether the AGV vehicle-end map contains the required modified or deleted elements, if the AGV vehicle-end map does not contain the required modified or deleted elements, the rationality verification fails, if the AGV vehicle-end map contains the required modified and / or deleted elements, the rationality verification passes, and step S313 is executed, if the rationality verification fails, the AGV vehicle-end map is updated by means of static map overlay; S313, modifying the AGV vehicle-end map according to the operation type in the patch content in the map update information, specifically, if the operation type is addition, adding the corresponding elements in the AGV vehicle-end map, if the operation type is modification, searching for the corresponding elements in the AGV vehicle-end map and modifying the element content, if the operation type is deletion, searching for the corresponding elements in the AGV vehicle-end map and deleting them; S314, updating the version number of the AGV vehicle-end map to complete the AGV vehicle-end map update.

5. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, The AGV end map is updated by a static map covering method, including: downloading the updated map in the map update information to the AGV and covering the AGV end map to complete the AGV end map update.

6. An AGV vehicle end map updating device combined with a static map and a patch, characterized in that, The method comprises the steps of: an acquisition module, configured to acquire map update information; a calculation module, configured to calculate a cumulative modification ratio of the end map in each AGV according to the map update information; a processing module, configured to determine whether the AGV is in an idle state; if the result is yes, the cumulative modification ratio of the end map in the current AGV is compared with a preset first threshold value, if the cumulative modification ratio is less than the first threshold value, the AGV end map is updated by a map patch method, otherwise, the AGV end map is updated by a static map covering method; if the result is no, the cumulative modification ratio of the end map in the current AGV is compared with a preset second threshold value, if the cumulative modification ratio is less than the second threshold value, the AGV end map is updated by a map patch method, otherwise, the AGV end map is updated by a static map covering method; wherein the preset second threshold value is greater than the preset first threshold value; calculating the cumulative modification ratio of the end map in each AGV according to the map update information, comprising: the proportion of the elements in the map update information that have changed in the total elements of the map is taken as the map modification ratio, wherein the elements include points, edges and areas; the sum of the map modification ratios after the last AGV end map update by a static map covering method is calculated to obtain the cumulative modification ratio.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program code for execution by a device, the program code comprising steps for performing the method of any of claims 1-5.

8. An electronic device, comprising: The electronic device includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, and the program or instructions are executed by the processor to implement the method of any of claims 1-5.

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