TOOL-POSITIONING SYSTEM AND METHOD, ROTARY MILKING PLATFORM, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER

Abstract

In picking up tools in an automatic milking arrangement, the positions of the tools are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools have predefined locations relative to one another. Therefore, any second tool candidate is disregarded, which is detected at a separation distance from a first tool candidate when the separation distance exceeds a first threshold distance in relation to the predefined relative locations.

Claims

1. A system for determining the positions of tools in an automatic milking arrangement and picking up the tools, the system comprising: a camera (130) configured to, from an origin location (P.sub.C), register three-dimensional image data (D.sub.img3D) of at least two tools (141, 142, 143, 144) whose respective positions are to be determined; a control unit (120) configured to: cause the camera (130) to obtain three-dimensional image data (D.sub.img3D) representing the at least two tools, identify tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4) in the three-dimensional image data (D.sub.img3D) using an algorithm involving matching the three-dimensional image data (D.sub.img3D) against reference data, and calculate a respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) based on the origin location (P.sub.C(x.sub.C, y.sub.C, z.sub.C)) and data expressing respective distances (d.sub.1(x.sub.1, y.sub.1, z.sub.1)) from the origin location to each of the tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4) identified, wherein, the at least two tools (141, 142, 143, 144) have predefined locations (Δd) relative to one another, and the control unit (120) is further configured to disregard any second tool candidate (T.sub.C2) detected at a separation distance (d.sub.s) from a first tool candidate (T.sub.C1) when the separation distance (d.sub.s) exceeds a first threshold distance (d.sub.th1) in relation to the predefined relative locations (Δd); and a tool-pickup system configured to use the respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144), determined by the control unit (120), in picking up at least one of the at least two tools (141, 142, 143 and 144).

2. The system according to claim 1, wherein the at least two tools comprises four tools (141, 142, 143, 144) arranged relative to one another in a predefined pattern, and the control unit (120) is configured to use information about the predefined pattern to confirm and/or disregard at least one of the tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4).

3. The system according to claim 1, wherein the at least two tools comprises four tools (141, 142, 143, 144) arranged along a line (L) and the control unit (120) is configured to disregard any tool candidate (T.sub.C3) detected at an outlier distance (d.sub.o) exceeding a second threshold distance (d.sub.th2) from an estimated line (L.sub.e) interconnecting at least two other tool candidates (T.sub.C1, T.sub.C2, T.sub.C4) in a set of tool candidates for said tools.

4. The system according to claim 3, wherein the four tools (141, 142, 143, 144) are arranged with an equal distance (Δd) between each neighboring tool of said tools in said line (L), and the control unit (120) is configured to disregard a tool candidate (T.sub.C2) detected at such a position that said tool candidate (T.sub.C2) results in that a difference between a first inter-distance (Δd.sub.1) and a second inter-distance (Δd.sub.2) exceeds a third threshold distance, where the first inter-distance (Δd.sub.1) is an interspace between a primary pair of neighboring tool candidates (T.sub.C1, T.sub.C2) including said tool candidate (T.sub.C2) and a first tool candidate (T.sub.C1) and the second inter-distance is an interspace between a secondary pair of neighboring tool candidates including said tool candidate (T.sub.C2) and a second tool candidate (T.sub.C3).

5. The system according to claim 1, wherein, the respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for each of the at least two tools (141, 142, 143, 144) is expressed in terms of the space coordinates for a particular point on an object depicted in the three-dimensional image data (D.sub.img3D).

6. The system according to claim 1, wherein, when a processing time after having obtained the three-dimensional image data (D.sub.img3D) in the control unit (120), less than a predefined number of tool candidates have been identified, the control unit (120) is configured to reposition the camera (130) to a new origin location (P.sub.C) from which the at least two tools (141, 142, 143, 144) are visible in the camera (130), cause the camera (130) to obtain updated three-dimensional image data (D.sub.img3D) representing the at least two tools, which updated three-dimensional image data (D.sub.img3D) have been registered from the new origin location (P.sub.C), calculate a respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) based on the new origin location (P.sub.C) and data expressing respective distances from the new origin location (P.sub.C) to each of the identified tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4).

7. The system according to claim 1, further comprising a memory unit (160), wherein the control unit (120) is configured to store the respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) in the memory unit (160) from which the stored respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) are retrievable by the tool-pickup system in connection with picking up the at least one of the at least two tools (141, 142, 143, 144) for attachment to an animal.

8. The system according to claim 7, further comprising a tool rack (150), wherein the at least two tools (141, 142, 143, 144) are placed in the tool rack (150), wherein the system further comprises a grip device (115) arranged on a robotic arm (110), and after that the respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) have been stored in the memory unit (160), the control unit (120) is further configured to: retrieve the stored respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) from the memory unit (160), and control the robotic arm (110) and the grip device (115) to pick up at least one of the at least two tools (141, 142, 143, 144) from the tool rack (150).

9. The system according to claim 8, wherein the camera (130) is arranged on the robotic arm (110).

10. A rotary milking platform (500) having a plurality of milking stalls (520.sub.i) each of which comprises at least two tools (141, 142, 143, 144), and the rotary milking platform (500) comprises a system for determining the positions of tools according to claim 1, which system is arranged to calculate a respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) in each of said milking stalls (520.sub.i).

11. A method for determining the positions of tools in an automatic milking arrangement and picking up the tools, the method comprising: registering, via a camera (130) at an origin location (P.sub.C), three-dimensional image data (D.sub.img3D) representing at least two tools (141, 142, 143, 144) whose positions are to be determined; identifying tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4) in the three-dimensional image data (D.sub.img3D) using an algorithm involving matching the three-dimensional image data (D.sub.img3D) against reference data; calculating a respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) based on the origin location (P.sub.C(x.sub.C, y.sub.C, z.sub.C)) and data expressing respective distances (d.sub.1(x.sub.1, y.sub.1, z.sub.1)) from the origin location to each of the tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4) identified, wherein the at least two tools (141, 142, 143, 144) have predefined locations (Δd) relative to one another; disregarding any second tool candidate (T.sub.C2) detected at a separation distance (d.sub.s) from a first tool candidate (T.sub.C1) when the separation distance (d.sub.s) exceeds a first threshold distance (d.sub.th1) in relation to the predefined relative locations (Δd); and having a tool-pickup system use the calculated respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) to pick up at least one of the at least two tools (141, 142, 143 and 144).

12. The method according to claim 11, wherein the at least two tools comprise four tools (141, 142, 143, 144) arranged relative to one another in a predefined pattern, and the method comprises: using information about the predefined pattern to confirm and/or disregard at least one of the tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4).

13. The method according to claim 11, wherein the at least two tools comprise four tools (141, 142, 143, 144) arranged along a line (L) and the method comprises: disregarding any tool candidate (T.sub.C3) detected at an outlier distance (d.sub.o) exceeding a second threshold distance (d.sub.th2) from an estimated line (L.sub.e) interconnecting at least two other tool candidates (T.sub.C1, T.sub.C2, T.sub.C4) in a set of tool candidates for said tools.

14. The method according to claim 13, wherein the four tools (141, 142, 143, 144) are arranged with an equal distance (Δd) between each neighboring tool of said tools in said line (L), and the method comprises: disregarding a tool candidate (T.sub.C2) detected at such a position that said tool candidate (T.sub.C2) results in that a difference between a first inter-distance (Δd.sub.1) and a second inter-distance (Δd.sub.2) exceeds a third threshold distance, where the first inter-distance (Δd.sub.1) is an interspace between a primary pair of neighboring tool candidates (T.sub.C1, T.sub.C2) including said tool candidate (T.sub.C2) and a first tool candidate (T.sub.C1) and the second inter-distance is an interspace between a secondary pair of neighboring tool candidates including said tool candidate (T.sub.C2) and a second tool candidate (T.sub.C3).

15. The method according to claim 11, wherein, the respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for each of the at least two tools (141, 142, 143, 144) is expressed in terms of the space coordinates for a particular point on an object depicted in the three-dimensional image data (D.sub.img3D).

16. The method according to claim 11, wherein, when a processing time after having obtained the three-dimensional image data (D.sub.img3D), less than a predefined number of tool candidates have been identified, the method comprises: repositioning the camera (130) to a new origin location (P.sub.C) from which the at least two tools (141, 142, 143, 144) are visible in the camera (110), causing the camera (110) to obtain updated three-dimensional image data (D.sub.img3D) representing the at least two tools, which updated three-dimensional image data (D.sub.img3D) have been registered from the new origin location (P.sub.C), and calculating a respective position (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) based on the new origin location (P.sub.C) and data expressing respective distances from the new origin location (P.sub.C) to each of the identified tool candidates (T.sub.C1, T.sub.C2, T.sub.C3, T.sub.C4).

17. The method according to claim 11, comprising: storing the respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) in a memory unit (160) from which the stored respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) are retrievable by the tool-pickup system in connection with picking up the at least one of the at least two tools (141, 142, 143, 144) for attachment to an animal.

18. The method according to claim 17, wherein the at least two tools (141, 142, 143, 144) are placed in a tool rack (150), the tool-pickup system comprises a grip device (115) arranged on a robotic arm (110), and after that the respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) have been stored in the memory unit (160), the method further comprises: retrieving the stored respective positions from the memory unit (160), and controlling the robotic arm (110) and the grip device (115) to pick up the at least one of the at least two tools (141, 142, 143, 144) from the tool rack (150).

19. A non-transitory data carrier (126) containing a computer program (127) loadable into a processing unit (125), the computer program (127) comprising software, when executed by the processing unit (125), causes the processing unit to perform, the method according to claim 11.

20. (canceled)

21. The system according to claim 1, further comprising a memory unit (160), wherein the tool-pickup system comprises a grip device (115) arranged on a robotic arm (110), and wherein the control unit (120) is further configured to store the respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) for the at least two tools (141, 142, 143, 144) in the memory unit (160) from which the stored respective positions (P.sub.T1, P.sub.T2, P.sub.T3, P.sub.T4) are retrievable by the tool-pickup system for use in controlling the robotic arm (110) and grip device (115) to have the grip device (115) pick up the at least one of the at least two tools (141, 142, 143, 144) for attachment to an animal.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings.

[0023] FIG. 1 shows a system for determining the positions of tools according to one embodiment the invention;

[0024] FIGS. 2-4 illustrate, schematically, how identified tool candidates can be discarded according to embodiments the invention;

[0025] FIG. 5 shows a rotary milking platform according to one embodiment the invention; and

[0026] FIG. 6 illustrates, by means of a flow diagram, the general method according to the invention.

DETAILED DESCRIPTION

[0027] In FIG. 1, we see a system according to one embodiment of the invention. Here, the system is arranged to determine the respective positions of four different tools, for example a set of teatcups 141, 142, 143 and 144.

[0028] The system includes a camera 130 and a control unit 120. The camera 130 is configured to register three-dimensional image data D.sub.img3D of the tools 141, 142, 143 and 144 whose respective positions are to be determined. Preferably, the camera 130 is a time-of-flight camera (ToF camera), i.e. a range imaging camera system that resolves distance based on the known speed of light. According to the invention, however, the camera 130 may be any alternative imaging system capable of determining the respective distances to the objects being imaged, for example a 2D camera emitting structured light or a combined light detection and ranging, LIDAR, camera system. Moreover, the three-dimensional image data D.sub.img3D may be dynamic. This means that the three-dimensional image data D.sub.img3D can be represented by a video sequence and/or be built up from multiple still images registered from one or more origin locations P.sub.C in one or more angles.

[0029] Thus, the camera 130 is positioned at an origin location P.sub.C, and may either be arranged on a robotic arm 110, as illustrated in FIG. 1, or be placed on another suitable structure, e.g. a tripod. In any case, the space coordinates (x.sub.C, y.sub.C, z.sub.C) of the origin location P.sub.C are known with high accuracy. As a result, the three-dimensional image data D.sub.img3D registered by the camera 130 forms a basis for determining the position of any object within a view field VF of the camera 130. Namely, the space coordinates for the particular point can be calculated based on the origin location P.sub.C(x.sub.C, y.sub.C, z.sub.C) and data d.sub.1(x.sub.1, y.sub.1, z.sub.1), e.g. a space vector, expressing a distance in three dimensions from the origin location P.sub.C(x.sub.C, y.sub.C, z.sub.C) to the particular point on a depicted object. For example, the particular point can be a well-defined point on a first tool candidate T.sub.C1, such as an intersection between a symmetry center of the teatcup body and the liner's edge to the teatcup body.

[0030] The control unit 120 is configured to cause the camera 130 to obtain three-dimensional image data D.sub.img3D representing the tools 141, 142, 143 and 144, and forward the three-dimensional image data D.sub.img3D to the control unit 120. The control unit 120 is then configured to identify tool candidates T.sub.C1, T.sub.C2, T.sub.C3 and T.sub.C4 in the three-dimensional image data D.sub.img3D using an algorithm involving matching the image data D.sub.img3D against reference data. For example, the reference data may comprise one or more characteristic patterns of the tool and/or a typical tool outline. The control unit 120 is configured to calculate a respective position P.sub.T1, P.sub.T2, P.sub.T3 and P.sub.T4 for each of the tools 141, 142, 143 and 144 based on the origin location P.sub.C(x.sub.C, y.sub.C, z.sub.C) and data expressing respective distances from the origin location P.sub.C(x.sub.C, y.sub.C, z.sub.C) to each of the identified tool candidates T.sub.C1, T.sub.C2, T.sub.C3 and T.sub.C4.

[0031] To improve the efficiency of the positioning process, the following strategy is applied according to the invention. Since it is safe to assume that each of the tools 141, 142, 143 and 144 is stored in a dedicated space, such as at a given position in a rack 150, it can be presumed that the tools 141, 142, 143 and 144 have predefined locations relative to one another. In FIG. 1, this inter-tool relationship is illustrated by means of an equal distance Δd separating each neighboring tool from one another in the rack 150.

[0032] Referring now to FIG. 2, according to the invention, the control unit 120 is configured to disregard any second tool candidate T.sub.C2 that is detected at a separation distance d.sub.s from a first tool candidate T.sub.C1, if the separation distance d.sub.s exceeds a first threshold distance dud in relation to the predefined relative locations Δd. For example, if the equal distance Δd is 10 centimeters, any second tool candidate T.sub.C2 detected more than 15 centimeters from a first tool candidate T.sub.C1 may be discarded. Of course, this strategy is applicable to any number of tools, e.g. two, four etc.

[0033] Provided that there are three or more tools, say four tools 141, 142, 143 and 144, these tools may be arranged relative to one another in a predefined pattern, for instance in the corners of a square, along an arc or along a line L as shown in FIG. 1. In such a case, the control unit 120 is preferably configured to use information about the predefined pattern to confirm and/or disregard at least one of the tool candidates T.sub.C1, T.sub.C2, T.sub.C3 and T.sub.C4. Below, this will be exemplified by two embodiments of the invention.

[0034] FIG. 3 illustrates a situation where a set of tools are stored in a rack 150 according to a linear arrangement. Here, the camera 130 has registered three-dimensional image data D.sub.img3D in which tool candidates T.sub.C1, T.sub.C2, T.sub.C3 and T.sub.C4 have been identified. As can be seen, a third tool candidate T.sub.C3 has been detected at an outlier distance d.sub.o from an estimated line L.sub.e interconnecting at least two of the other tool candidates, here T.sub.C1, T.sub.C2, and Tc.sub.4 respectively, in a set of tool candidates for the tools. Provided that the outlier distance d.sub.o exceeds a second threshold distance d.sub.th2, the control unit 120 is configured to disregard the detected tool candidate T.sub.C3 according to one embodiment of the invention.

[0035] Moreover, if there is a plurality of tools 141, 142, 143 and 144, the control unit 120 may draw further conclusions based on the predefined pattern in which the tools are arranged relative to one another. FIG. 4 illustrates how an identified tool candidate T.sub.C2 can be discarded according to a third embodiment the invention.

[0036] Here, four tools 141, 142, 143 and 144 are arranged in a line L (see FIG. 1) with an equal distance Δd between each neighboring tool in the line L. The control unit 120 is configured to use the information about the predefined tool pattern to disregard a tool candidate T.sub.C2, which is detected at such a position that said tool candidate T.sub.C2 results in that a difference between a first inter-distance Δd.sub.1 and a second inter-distance Δd.sub.2 exceeds a third threshold distance. The first inter-distance Δd.sub.1 is an interspace between a primary pair of neighboring tool candidates, say T.sub.C1 and T.sub.C2, that includes said tool candidate T.sub.C2 and a first other tool candidate T.sub.C1. The second inter-distance is an interspace between a secondary pair of neighboring tool candidates; say T.sub.C2 and T.sub.C3, which includes said tool candidate T.sub.C2 and another second tool candidate T.sub.C3.

[0037] Analogously, the predefined pattern in which the tools are organized may also be used by the control unit 120 to confirm a tool candidate. I.e. if, for example, a second tool candidate is found at the expected distance Δd from a first tool candidate, the position for the second tool candidate can be confirmed.

[0038] To facilitate making efficient use of the calculated tool positions [P] when operating the automatic milking arrangement, according to one embodiment of the invention, the system includes a memory unit 160, e.g. a storage medium in the form of a Flash memory or a Read Only Memory (ROM). The control unit 120 is further configured to store the respective positions [P] for the at least two tools 141, 142, 143 and 144 in the memory unit 160. The stored respective positions [P] are retrievable from the memory unit 160 by a tool-pickup system in connection with picking up at least one of the at least two tools 141, 142, 143 and 144, typically for attachment to an animal.

[0039] According to one embodiment of the invention, the at least two tools 141, 142, 143 and 144 are placed in a tool rack 150, as illustrated in FIG. 1. The system for determining the positions of tools in the automatic milking arrangement further contains a grip device 115, which is arranged on a robotic arm 110. After that the respective positions [P] have been stored in the memory unit 160, the control unit 120 is configured to retrieve the stored respective positions [P] from the memory unit 160, and control the robotic arm 110 and the grip device 115 to pick up at least one of the at least two tools 141, 142, 143 and 144 from the tool rack 150, so that for example this/these tool(s) can be attached to an animal. The grip device 115 may contain one or more electro-magnets configured to cooperate with one or more magnetic members on each of the at least two tools 141, 142, 143 and 144. Alternatively, or in addition thereto, the grip device 115 may contain at least one mechanical gripping claw configured to grasp around the tool itself or a part thereof, e.g. a grip bar.

[0040] Preferably, if a robotic arm 110 is included in the system, the camera 130 is arranged on the robotic arm 110. Namely, this highly facilitates implementing the above above-described procedure.

[0041] It is generally advantageous if the control unit 120 and the camera 130 are configured to effect the above-described procedure in an automatic manner by executing a computer program 127. Therefore, the control unit 120 may include a memory unit 126, i.e. non-volatile data carrier, storing the computer program 127, which, in turn, contains software for making processing circuitry in the form of at least one processor in the central control unit 120 execute the above-described actions when the computer program 127 is run on the at least one processor.

[0042] FIG. 5 shows a rotary milking platform 500 according to one embodiment the invention. The rotary milking platform 500 has a plurality of milking stalls 520.sub.i, here 24 altogether. Each of the milking stalls 520.sub.i contains at least two tools, symbolically indicated by the reference numerals 141, 142, 143, 144. The rotary milking platform 500 also includes a system for determining the respective tool positions, which is here symbolically indicated via the robotic arm 510. Said positioning system 510 is arranged to calculate a respective position P.sub.T1, P.sub.T2, P.sub.T3 and P.sub.T4 for the at least two tools 141, 142, 143 and 144 respectively in each of said milking stalls 520.sub.i according to the procedure described above.

[0043] Preferably, the rotary milking platform 500 is stepwise rotated pass the system 510 for calculating the respective tool positions for all the milking stalls 520.sub.i on the platform 500 in a consecutive manner.

[0044] In order to sum up, and with reference to the flow diagram in FIG. 6, we will now describe the general method according to the invention for determining the positions of tools in an automatic milking arrangement.

[0045] In a first step 610, three-dimensional image data are registered via a camera at a known origin location. The three-dimensional image data represent at least two tools of the milking arrangement whose respective positions are to be determined.

[0046] In a subsequent step 620, tool candidates are identified in the three-dimensional image data using an algorithm that involves matching the image data against reference data.

[0047] Thereafter, in step 630, a respective position is calculated for the at least two tools. The position calculations are based on the known origin location of the camera and data expressing respective distances from the origin location to each of the identified tool candidates. The at least two tools have predefined locations relative to one another. Any second tool candidate is disregarded, which is detected at a separation distance from a first tool candidate, if the separation distance exceeds a first threshold distance in relation to the predefined relative locations.

[0048] Subsequently, the procedure ends.

[0049] All of the process steps, as well as any sub-sequence of steps, described with reference to FIG. 6 may be controlled by means of a programmed processor. Moreover, although the embodiments of the invention described above with reference to the drawings comprise processor and processes performed in at least one processor, the invention thus also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice. The program may be in the form of source code, object code, a code intermediate source and object code such as in partially compiled form, or in any other form suitable for use in the implementation of the process according to the invention. The program may either be a part of an operating system, or be a separate application. The carrier may be any entity or device capable of carrying the program. For example, the carrier may comprise a storage medium, such as a Flash memory, a ROM (Read Only Memory), for example a DVD (Digital Video/Versatile Disk), a CD (Compact Disc) or a semiconductor ROM, an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a magnetic recording medium, for example a floppy disc or hard disc. Further, the carrier may be a transmissible carrier such as an electrical or optical signal which may be conveyed via electrical or optical cable or by radio or by other means. When the program is embodied in a signal which may be conveyed directly by a cable or other device or means, the carrier may be constituted by such cable or device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the relevant processes.

[0050] The term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps or components. However, the term does not preclude the presence or addition of one or more additional features, integers, steps or components or groups thereof.

[0051] The invention is not restricted to the described embodiments in the figures, but may be varied freely within the scope of the claims.