Vehicle spoiler system, vehicle spoiler control method, computer program product and vehicle

Abstract

This invention proposes a vehicle rear wing system (10), comprising: a rear wing (2); a display component (3) including a flexible display screen (31), the free end of which is configured to be releasably connected to the rear wing (2), such that when the free end of the flexible display screen (31) is connected to the rear wing (2), the flexible display screen (31) can unfold as the rear wing (2) opens and retract as the rear wing closes; an information acquisition unit (4) configured to acquire vehicle operating condition information and surrounding perception information; and a control unit (1) configured to determine the operating state of the rear wing (2) and the flexible display screen (31) based on the vehicle operating condition information and the surrounding perception information. According to various embodiments of the invention, a vehicle rear wing system capable of active interaction based on vehicle operating conditions and surrounding information can be provided, improving the intelligent and human-centered design of the vehicle and enhancing the user's driving experience. This invention also proposes a corresponding vehicle rear wing control method, computer program product, and vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle rear wing system, a vehicle rear wing control method, a computer program product, and a corresponding vehicle. Background Technology

[0002] As the automotive industry rapidly develops towards intelligence and personalization, automotive components not only need to meet basic functional requirements but also need to consider user experience and interaction needs. As a crucial component of the rear of a vehicle, the rear spoiler's functional design is gradually attracting attention from both the industry and consumers. Currently, automotive rear spoilers have relatively simple functions, mainly divided into two categories: fixed spoilers and movable spoilers that can be deployed under specific conditions. Movable spoilers are mostly activated only in specific scenarios such as high-speed driving to assist in adjusting the vehicle's aerodynamic performance and improving driving stability.

[0003] However, current car rear spoilers, whether fixed or movable under specific conditions, rarely possess active interactive functions. They can only perform basic functions such as aerodynamic adjustment or decoration, or provide limited and singular information prompts, and are basically unable to interact effectively with the driver, passengers, and the surrounding environment. As consumers' demands for intelligent and personalized automotive experiences continue to rise, the functional limitations of traditional car rear spoilers are becoming increasingly apparent. They fail to meet users' higher requirements for interactive experiences and scenario-based adaptation during vehicle use, exhibiting technical defects such as limited functionality and insufficient interactivity, thus impacting the user's driving experience. Therefore, there is an urgent need for technological improvements related to car rear spoilers that can address these shortcomings and enhance the user's driving experience. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle rear wing system, a vehicle rear wing control method, a computer program product, and a corresponding vehicle, so as to at least partially solve the technical problems existing in the prior art.

[0005] According to a first aspect of the present invention, a vehicle rear wing system is provided, comprising: Tail fin; The display assembly includes a flexible display screen, the free end of which is configured to be releasably connected to the tail fin, such that, with the free end of the flexible display screen connected to the tail fin, the flexible display screen can unfold as the tail fin opens and retract as the tail fin closes. The information acquisition unit is configured to acquire vehicle operating condition information and surrounding perception information; and The control unit is configured to determine the operating status of the rear wing and the display assembly based on the vehicle operating condition information and the surrounding perception information.

[0006] In one exemplary embodiment, the control unit is configured to determine the interactive content displayed on the flexible display screen based at least on the surrounding perception information.

[0007] In one exemplary embodiment, the display component further includes a connection structure disposed at the free end of the flexible display screen, the connection structure being configured to releasably connect the tail fin to the free end of the flexible display screen.

[0008] In one exemplary embodiment, the tail wing is a segmented tail wing with multiple sub-wing segments, the flexible display screen is a segmented flexible display screen with sub-screens corresponding to each of the sub-wing segments, and the control unit is configured to individually control the operation of each of the sub-wing segments and the corresponding sub-screens based on the vehicle operating condition information and the surrounding perception information.

[0009] In one exemplary embodiment, the vehicle operating information includes real-time vehicle speed information, and the control unit is configured to determine the connection status between the rear wing and the flexible display screen based on the real-time vehicle speed information.

[0010] In one exemplary embodiment, the control unit is configured to: When the real-time vehicle speed is greater than or equal to a first threshold, the connection structure is released, separating the tail wing from the flexible display screen; and When the real-time vehicle speed is less than the second threshold, the tail wing and the flexible display screen are connected via the connection structure. Wherein, the second threshold is less than or equal to the first threshold.

[0011] In one exemplary embodiment, the vehicle operating information includes real-time acceleration information, and the control unit is configured to determine the connection status between the tail wing and the flexible display screen based on the real-time acceleration.

[0012] In one exemplary embodiment, the display assembly further includes a winding device disposed below the tail fin, the flexible display screen being wound around the winding device.

[0013] In one exemplary embodiment, the control unit is further configured to determine the opening height of the tail fin based on the determined interactive content displayed on the flexible display screen.

[0014] According to a second aspect of the present invention, a vehicle rear wing control method is provided, the method being performed using a vehicle rear wing system according to a first aspect of the present invention, the method comprising: The information acquisition unit acquires vehicle operating condition information and surrounding perception information; and The operating status of the tail wing and the display components, especially the flexible display screen, is determined based on the vehicle operating condition information and the surrounding perception information.

[0015] According to a third aspect of the present invention, a computer program product, particularly a computer-readable program carrier, is provided, the computer program product including or storing computer program instructions, which, when executed by a processor, enable the processor to at least assist in performing the method described according to a second aspect of the present invention.

[0016] According to a fourth aspect of the invention, a vehicle is provided that includes a vehicle rear wing system according to a first aspect of the invention.

[0017] The beneficial effects of the present invention based on the above aspects are that it can provide a vehicle rear wing system that can actively interact according to vehicle operating conditions and surrounding information, thereby improving the vehicle's intelligent and human-centered design and enhancing the user's driving experience while ensuring the vehicle's aerodynamic performance. Attached Figure Description

[0018] The invention will now be described in more detail with reference to the accompanying drawings, which will provide a better understanding of its principles, features, and advantages. The drawings include: Figure 1 A schematic diagram of a vehicle rear wing system according to an exemplary embodiment of the present invention is shown; Figure 2 A schematic diagram of the rear of a vehicle with a vehicle rear wing system according to an exemplary embodiment of the present invention is shown; Figure 3 A schematic diagram of the tail wing of a vehicle tail wing system according to an exemplary embodiment of the present invention is shown; Figure 4 It shows Figure 3 A schematic diagram of the tail fin and corresponding flexible display screen in operation; Figure 5 It shows Figure 3 A schematic diagram of another working state of the tail fin and the corresponding flexible display screen; Figure 6 A schematic diagram of the structure of the rear wing and display assembly of a vehicle rear wing system according to an exemplary embodiment of the present invention is shown in an operational state. Figure 7 A schematic diagram of the structure of the rear wing and display assembly of a vehicle rear wing system according to an exemplary embodiment of the present invention is shown in another operating state; and Figure 8 A flowchart illustrating the main steps of a vehicle tail wing control method according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0019] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0020] Figure 1 A schematic diagram of a vehicle tail wing system 10 according to an exemplary embodiment of the present invention is shown. Figure 2 A schematic diagram of the rear of a vehicle 100 with a vehicle rear wing system 10 according to an exemplary embodiment of the present invention is shown. Figure 3 A schematic diagram of the tail wing 2 of a vehicle tail wing system 10 according to an exemplary embodiment of the present invention is shown. Figure 4 It shows Figure 3 A schematic diagram of the tail fin 2 and the corresponding flexible display screen 31 in one working state. Figure 5 It shows Figure 3 A schematic diagram of another working state of the tail fin 2 and the corresponding flexible display screen 31. Figure 6 A schematic diagram of the structure of a vehicle rear wing system 10 with a rear wing 2 and a display component 3 in an operational state is shown, wherein the rear wing 2 is closed and the flexible display screen 31 is retracted, and the dashed line indicates a position of the rear wing 2 in the open state. Figure 7 A schematic diagram of the structure of the tail wing 2 and display component 3 of the vehicle tail wing system 10 according to an exemplary embodiment of the present invention is shown in another operating state, wherein the tail wing 2 is opened and drives the flexible display screen 31 to unfold, and the dashed line indicates the tail wing 2 in the closed state.

[0021] like Figures 1 to 7 As shown, a vehicle rear wing system 10 according to an exemplary embodiment of the present invention includes a rear wing 2, a display component 3, an information acquisition unit 4, and a control unit 1.

[0022] The rear wing 2 is a movable rear wing, which can move up and down relative to the rear of the vehicle 100, having an open position when raised and a closed position when lowered. Figure 2 The tail fin 2 in the open position is shown as an example.

[0023] Display component 3 includes a flexible display screen 31, a releasable connection structure 32, and a winding device 33, particularly as Figure 6 and Figure 7As shown. A winding device 33 is disposed below the rear wing 2, and the flexible display screen 31 is wound around the winding device 33, with the winding end forming a free end. A connecting structure 32 is disposed at the free end of the flexible display screen 31, and is adapted to releasably connect the free end of the flexible display screen 31 to the rear wing 2, particularly to the rear end of the rear wing 2 in the vehicle longitudinal direction or adjacent to the lower part of the rear wing, so that the flexible display screen 31 can unfold as the rear wing 2 opens (especially as...). Figure 2 , Figure 7 As shown), and retracts as tail fin 2 closes (especially as shown). Figure 6 (As shown). By releasing the connecting structure 32, the free end of the flexible display screen 31 can be separated from the tail fin 2, so that the flexible display screen 31 does not expand or retract with the opening and closing of the tail fin 2. The releasable connecting structure 32 can be implemented using any suitable shape and / or force engagement method, including but not limited to snap / slot structures, elastic clamping / gripping structures, magnetic structures, electromagnetic locking structures, etc. As needed, part of the connecting structure 32 or the mating structure paired with the connecting structure 32 can be set at an appropriate position on the tail fin 2 to achieve the function of releasable connection.

[0024] exist Figure 2 In the example, the tail fin 2 is in the deployed state, and the tail fin 2 is connected to the flexible display screen 31 (shown in shaded area) via a connecting structure 32, so that the deployed tail fin 2 causes the flexible display screen 31 to unfold, i.e., corresponding to Figure 7 The flexible display screen 31 is adapted to display interactive information to the external environment of the vehicle, particularly to the rear and rear sides of the vehicle, as shown in the figure.

[0025] Information acquisition unit 4 includes, for example, various sensors that collect data on the vehicle's own operating conditions, or sensors that are already integrated into the vehicle to obtain vehicle operating condition information from these sensors, such as real-time vehicle speed and real-time acceleration information as described later. Furthermore, information acquisition unit 4 also includes one or more sensors that collect information about the vehicle's surroundings, or sensors that are already integrated into the vehicle to obtain this information. This surroundings information refers to information related to the vehicle's surrounding environment, particularly including the status information of various other road users around the vehicle (such as other motor vehicles, non-motorized vehicles, pedestrians, etc.), such as speed, direction of travel, and location information. Figure 2 As exemplarily shown, the information acquisition unit 4 may include, for example, a rear-view camera 41 for acquiring perception information behind the vehicle body, and may also include various radar sensors, etc.

[0026] The control unit 1 is configured to determine the operating status of the tail wing 2 and the display assembly 3, especially the flexible display screen 31, based on the vehicle operating condition information and surrounding perception information acquired by the information acquisition unit 4.

[0027] First, the control unit 1 needs to determine whether to deploy the flexible display screen 31 for information interaction based on the vehicle's operating conditions. The core function of the rear wing 2 is to increase downforce on the vehicle body at high speeds, thereby improving the vehicle's grip and stability. Deploying the flexible display screen 31 at high speeds would further increase air resistance and potentially damage the flexible display screen 31. Furthermore, the scenarios requiring interaction at high speeds are few or only require very simple and direct interactions. Therefore, the control unit 1 is configured to: when it is determined that the vehicle 100 is in a high-speed condition, release the connection structure 32 of the display component 3 to separate the rear wing 2 from the flexible display screen 31, and only control the operation of the rear wing 2, thereby ensuring the aerodynamic performance of the vehicle 100 at high speeds; when it is determined that the vehicle 100 is in a non-high-speed condition, the rear wing 2 and the flexible display screen 31 can be connected through the connection structure 32, and the opening operation of the rear wing 2 and the interactive content displayed on the flexible display screen 31 can be determined based on the surrounding perception information obtained by the information acquisition unit 4, thereby realizing interaction with the vehicle's surrounding environment.

[0028] In one specific embodiment, the vehicle operating condition information acquired by the information acquisition unit 4 includes real-time vehicle speed information, and the control unit 1 is configured to determine the connection state between the rear wing 2 and the flexible display screen 31 based on the real-time vehicle speed information. Specifically: when the real-time vehicle speed is greater than or equal to a first threshold, the rear wing 2 and the flexible display screen 31 are separated by releasing the connection structure 32; when the real-time vehicle speed is less than a second threshold, the free end of the rear wing 2 and the flexible display screen 31 are connected through the connection structure 32. Here, the second threshold can be less than or equal to the first threshold. For example, the first threshold can be 60 km / h, and the second threshold can be 50 km / h. When the real-time vehicle speed is between the first and second thresholds, the connection or separation state between the rear wing 2 and the flexible display screen 31 can be maintained without active intervention. Alternatively, both the first and second thresholds can be set to 60 km / h. With this setup, it can be ensured that the flexible display screen 31 can only be deployed to interact with the external environment when the vehicle 100 is traveling at a non-high speed below the second threshold. When the vehicle 100 is traveling at a high speed above or equal to the first threshold, the deployment of the flexible display screen 31 will not interfere with the operation of the tail wing 2, thereby affecting vehicle performance and driving safety.

[0029] Optionally, the vehicle operating condition information also includes real-time acceleration information, and the control unit 1 can also be configured to determine the connection status between the rear wing 2 and the flexible display screen 31 based on the real-time acceleration. For example, when the vehicle triggers emergency braking (e.g., the absolute value of acceleration is greater than 5 m / s²), the connection status is determined. 2When the vehicle is accelerating, the rear wing 2 can be connected to the free end of the flexible display screen 31 to deploy the flexible display screen 31 when needed and display emergency braking warning information to road users behind. The deployed flexible display screen 31 can also help increase drag. Alternatively, when the vehicle accelerates, even if the current speed is less than the second threshold mentioned above, the connection structure 32 can be released to separate the rear wing 2 from the flexible display screen 31, preventing the rear wing from causing the flexible display screen 31 to deploy at a small angle and increasing driving drag. In short, different thresholds can be set based on experience or experiments according to different operating conditions (such as longitudinal acceleration, negative acceleration, and lateral acceleration), and the connection state between the rear wing 2 and the flexible display screen 31 and the state of the rear wing 2 itself can be determined. This article does not make specific limitations.

[0030] Preferably, the tail fin 2 is configured to be partially open and to drive a corresponding part of the flexible display screen 31 to be partially deployed, thereby enabling targeted interactive display according to actual needs.

[0031] In a specific embodiment, such as Figure 3 As shown, tail fin 2 has multiple sub-wing sections ( Figure 3 The example shown is a segmented tail fin with three sub-wing segments 21-23, but the number of sub-wing segments is not limited to this; it can also be two or more. Correspondingly, the flexible display screen 31 can be a segmented display screen with sub-screens corresponding to each sub-wing segment. Similarly, the connecting structure 32 also has sub-connecting structures corresponding to each sub-wing segment and sub-screen. The free end of each sub-screen can be selectively connected or disconnected from the corresponding sub-wing segment via the sub-connecting structure, as described above. Figure 4 It shows Figure 3 A schematic diagram of the tail fin 2 and the corresponding flexible display screen 31 in one working state. (See diagram below.) Figure 4 As shown, among the three sub-wing segments 21-23 of the tail wing 2, only the first sub-wing segment 21 is connected to the corresponding sub-screen of the flexible display screen 31 and drives the sub-screen 31 to unfold. The second sub-wing segment 22 and the third sub-wing segment 23 are shown as not connected to the corresponding sub-screen and not unfolded. That is to say, the control unit 1 can be configured to control each sub-wing segment and the corresponding sub-screen to operate independently based on vehicle operating condition information and surrounding perception information, including whether the sub-wing segment is connected to the corresponding sub-screen, the sub-screen that needs to be unfolded, and the interactive content displayed on the unfolded sub-screen.

[0032] For example, when vehicle 100 is parked or traveling at low speed, flexible display screen 31 is connected to rear spoiler 2 via connecting structure 32. In this case, when the rearview camera 41 in information acquisition unit 4 detects the driver or passenger approaching vehicle 100, rear spoiler 2 can be opened to deploy flexible display screen 31, displaying a static or dynamic image indicating welcome. When the driver is detected locking or leaving the vehicle, an image indicating a protective action can be displayed on flexible display screen 31. When familiar people or vehicles are detected, an image indicating a greeting can be displayed. When suspicious persons or maliciously driven vehicles are detected, an image indicating confusion or anger can be displayed. Additionally, information can be additionally displayed to surrounding road users based on the vehicle 100's own operation, i.e., according to vehicle operating information, such as an apology and / or explanation of the situation when the vehicle stops suddenly. Specific image images and display content can be selected and set by the user on the vehicle's infotainment system.

[0033] In addition, users can configure the operation of the rear wing 2 and the flexible display screen 31 in specific modes of the vehicle 100. For example, users can set a camping mode for the vehicle 100, in which corresponding atmospheric images, such as a campfire, can be displayed on the unfolded flexible display screen 31.

[0034] Additionally, the sub-wing segments and sub-screens that need to be operated on the tail wing 2 and flexible display screen 31 can be determined based on the location of the identified interactive object. For example, when a familiar person or vehicle approaches from the right rear of vehicle 100, only one or more sub-screens near the right side can be deployed to display the corresponding interactive information, such as in... Figure 3 and Figure 4 In the middle section, only the sub-wing section 23 can be opened, causing the rightmost sub-screen to unfold and display interactive information. When interaction with a vehicle directly behind vehicle 100 is required, only one or more sub-screens located in the middle section can be unfolded to display information. When interaction with vehicles on both sides is required simultaneously, one or more sub-screens located on the leftmost and rightmost sides can be unfolded simultaneously to display information. For example, an image indicating a greeting can be displayed to a familiar person or vehicle to the right rear via the rightmost sub-screen, while an image indicating confusion or anger can be displayed to a malicious driver to the left rear via the leftmost sub-screen. Figure 5 As shown.

[0035] Furthermore, the opening height of the tail fin 2 or a portion of its sub-wing segment can be determined based on the specific display content. That is, the control unit 1 first determines the interactive content displayed on the flexible display screen 31 or its corresponding sub-screen based on surrounding perception information, and then determines the opening height of the tail fin 2 or its corresponding sub-wing segment based on the determined interactive content, so as to fully display the interactive content without opening the tail fin 2 or its corresponding sub-wing segment too high. Specifically, the images corresponding to different interactive information can have different design sizes. Using the example above as an example, such as... Figure 5 As shown, the image represents a greeting gesture ( Figure 5 Compared to the image represented by circle B, which indicates a state of confusion or anger (…), the image represents a state of confusion or anger. Figure 5 The sub-wing segment 21 (represented by circle A) can be larger or higher. Therefore, compared to the opening height of the sub-wing segment 23 corresponding to the rightmost sub-screen displaying the greeting image B, the opening height of the sub-wing segment 21 corresponding to the leftmost sub-screen displaying the confused or angry image A is higher, while the middle sub-wing segment 22 does not need to be opened because the corresponding sub-screen is not in operation. With this configuration, the sub-screens displaying the corresponding images can be expanded to a level that can just fully display the corresponding image by appropriately opening the corresponding sub-wing segment.

[0036] The vehicle rear wing system 10 according to an embodiment of the present invention has been described above. With this vehicle rear wing system 10, interactive information can be displayed based on vehicle operating conditions and surrounding perception information via a flexible display screen that can be connected to the rear wing. This improves the vehicle's intelligent and user-friendly design while ensuring its aerodynamic performance, thereby enhancing the user's driving experience.

[0037] The present invention also provides a corresponding vehicle rear wing control method, which is performed using a vehicle rear wing system 10 according to an embodiment of the present invention. Figure 8 A flowchart illustrating the main steps of a vehicle tail wing control method according to an exemplary embodiment of the present invention is shown, as follows: Figure 8 As shown, the method mainly includes the following steps: S1: Obtain vehicle operating condition information and surrounding perception information through information acquisition unit 4; and S2: Determine the operating status of the tail wing 2 and display components 3, especially the flexible display screen 3, based on vehicle operating condition information and surrounding perception information.

[0038] Further steps of the method can be derived from the description of the vehicle tail wing system 10 above.

[0039] The present invention also provides a computer program product, particularly a computer-readable program carrier, the computer program product including or storing computer program instructions, which, when executed by a processor, enable the processor to at least assist in executing the vehicle rear wing control method according to an embodiment of the present invention.

[0040] The present invention also provides a vehicle 100, which includes a vehicle rear wing system 10 according to an embodiment of the present invention.

[0041] Although specific embodiments of the invention have been described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the invention.

Claims

1. A vehicle rear wing system (10), comprising: Tail fin (2); Display component (3) includes a flexible display screen (31) with its free end configured to be releasably connected to the tail fin (2) such that, with the free end of the flexible display screen (31) connected to the tail fin (2), the flexible display screen (31) can unfold as the tail fin (2) opens and retract as the tail fin (2) closes. The information acquisition unit (4) is configured to acquire vehicle operating condition information and surrounding perception information; and The control unit (1) is configured to determine the operating status of the tail wing (2) and the display component (3) based on the vehicle operating information and the surrounding perception information.

2. The vehicle rear wing system (10) according to claim 1, wherein, The control unit (1) is configured to determine the interactive content displayed on the flexible display screen (31) based at least on the surrounding perception information.

3. The vehicle rear wing system (10) according to claim 1 or 2, wherein, The display component (3) further includes a connection structure (32) disposed at the free end of the flexible display screen (31), the connection structure (32) being configured to releasably connect the free end of the flexible display screen (31) to the tail fin (2).

4. The vehicle rear wing system (10) according to any one of claims 1 to 3, wherein, The tail fin (2) is a segmented tail fin with multiple sub-wing segments, and the flexible display screen (31) is a segmented flexible display screen (31) with sub-screens corresponding to each of the sub-wing segments. The control unit (1) is configured to individually control the operation of each of the sub-wing segments and the corresponding sub-screens based on the vehicle operating condition information and the surrounding perception information.

5. The vehicle rear wing system (10) according to any one of claims 1 to 4, wherein, The vehicle operating information includes real-time vehicle speed information, and the control unit (1) is configured to determine the connection status between the tail wing (2) and the flexible display screen (31) based on the real-time vehicle speed information.

6. The vehicle rear wing system (10) according to claim 5, wherein, The control unit (1) is configured as follows: When the real-time vehicle speed is greater than or equal to the first threshold, the connection structure (32) is released to separate the tail wing (2) from the flexible display screen (31). and When the real-time vehicle speed is less than the second threshold, the tail wing (2) and the flexible display screen (31) are connected through the connection structure (32). Wherein, the second threshold is less than or equal to the first threshold.

7. The vehicle rear wing system (10) according to claim 5 or 6, wherein, The vehicle operating condition information includes real-time acceleration information, and the control unit (1) is configured to determine the connection status between the tail wing (2) and the flexible display screen (31) based on the real-time acceleration.

8. The vehicle rear wing system (10) according to any one of claims 1 to 7, wherein, The display component (3) also includes a winding device (33) disposed below the tail fin (2), and the flexible display screen (31) is wound on the winding device (33).

9. The vehicle rear wing system (10) according to any one of claims 1 to 8, wherein, The control unit (1) is also configured to determine the opening height of the tail fin (2) based on the interactive content displayed on the flexible display screen (31).

10. A vehicle rear wing control method, said method being performed using a vehicle rear wing system (10) according to any one of claims 1 to 9, said method comprising: Vehicle operating condition information and surrounding perception information are obtained through the information acquisition unit (4); and The operating status of the tail wing (2) and the display component (3), especially the flexible display screen (31), is determined based on the vehicle operating condition information and the surrounding perception information.

11. A computer program product, particularly a computer-readable program carrier, the computer program product including or storing computer program instructions, which, when executed by a processor, enable the processor to at least assist in performing the method according to claim 10.

12. A vehicle (100) comprising a vehicle rear wing system (10) according to any one of claims 1 to 9.

Images