AR / VR glasses, system, method, electronic device and storage medium for measuring height

Abstract

The present invention provides an AR / VR glasses and a system, method, electronic device and storage medium for measuring height, and relates to the field of artificial intelligence technology. A method for measuring height, the method specifically comprising: S20, collecting image information of the wearer's feet; S21, calibrating an RGB camera to obtain RGB camera parameters; S22, correcting the image information according to the RGB camera parameters to obtain a corrected image, matching the two corrected images with pixels to obtain a matching result, and calculating the depth of each pixel according to the matching result to obtain a depth image; S23, calculating the image deformation of the feet area according to the depth image, and obtaining the distance information of the feet of the measurer from the glasses according to the image deformation. The method for measuring height improves the problem in the prior art that measuring the wearer's eye height requires additional hardware equipment and the operation process is complicated.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to AR / VR glasses and a system, method, electronic device and storage medium for measuring height. Background Art

[0002] In order to achieve the fusion and superposition of AR / VR content with actual content, it is necessary to detect the height of the wearer, especially the height of the eye position. In the existing technology, the height of the wearer's eyes is mainly measured by placing a handle on the ground and then picking up the handle. This requires an external handle and the operation process is complicated. Summary of the invention

[0003] The purpose of the present invention is to provide an AR / VR glasses and a system, method, electronic device and storage medium for measuring height. The method for measuring height can solve the problem in the prior art that measuring the wearer's eye height requires additional hardware equipment and the operation process is complicated.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] An embodiment of the present invention provides a method for measuring height, the method specifically comprising:

[0006] S20, collecting image information of the wearer's feet;

[0007] S21, calibrating the RGB camera to obtain RGB camera parameters;

[0008] S22, correcting the image information according to the RGB camera parameters to obtain a corrected image, performing pixel matching on the two corrected images to obtain a matching result, and calculating the depth of each pixel according to the matching result to obtain a depth image;

[0009] S23, calculating the image deformation of the feet region according to the depth image, and obtaining the distance information between the feet of the measurer and the glasses according to the image deformation.

[0010] On the basis of the above technical solution, the present invention can also be improved as follows:

[0011] Furthermore, the method further comprises:

[0012] S24, obtains sensor data from the wearer looking down at his feet to looking up to the horizontal angle:

[0013] S25, obtaining the height information of the wearer from the time when he lowers his head to look at his feet to the time when he raises his head to a horizontal angle according to the sensor data combined with an integration algorithm, and adding the height information to the distance information to obtain the height information of the AR / VR glasses to the ground after the wearer raises his head to a horizontal angle.

[0014] A method for measuring height, the method specifically comprising:

[0015] S30, collecting original phase images of the wearer's feet, and acquiring corresponding depth images according to the original phase images based on the TOF ranging principle;

[0016] S31, obtaining the distance from the wearer's feet to the glasses according to the depth image, and adding the distance from the wearer's feet to the glasses to the height of the shoes to obtain the height information from the AR / VR glasses to the ground.

[0017] A height measuring system, applied to AR / VR glasses, comprising:

[0018] An image acquisition module, including RGB cameras disposed on the left and right sides of the AR / VR glasses, for acquiring image information of the wearer's feet;

[0019] A camera calibration module, connected to the image acquisition module, for calibrating the RGB camera to obtain the RGB camera parameters;

[0020] A camera correction module, connected to the camera calibration module, is used to correct the image information according to the RGB camera parameters to obtain a corrected image, perform pixel matching on the two corrected images to obtain a matching result, and calculate the depth of each pixel according to the matching result to obtain a depth image;

[0021] The control module is connected to the camera correction module, and is used to receive the depth image, calculate the image deformation of the feet area according to the depth image, and obtain the distance information of the measurer's feet from the glasses through the image deformation.

[0022] Furthermore, it also includes sensors, including but not limited to lidar sensors, gyroscope sensors, gravity acceleration sensors, geomagnetic sensors and distance sensors, which are used to obtain sensor data from the wearer's lowering of the head to look at the feet to raising the head to the horizontal angle.

[0023] Furthermore, the control module is connected to the sensor and is further used to:

[0024] The sensor data is combined with an integration algorithm to obtain height information from the time when the wearer lowers his head to look at his feet to the time when he raises his head to a horizontal angle. The height information is added to the distance information to obtain height information from the AR / VR glasses to the ground after the wearer raises his head to a horizontal angle.

[0025] A system for measuring height, comprising:

[0026] The image acquisition module includes a TOF camera arranged on the AR / VR glasses, which is used to acquire the original phase image of the wearer's feet, and obtain the corresponding depth image according to the original phase image according to the TOF ranging principle; the control module is connected to the image acquisition module, which is used to receive the depth image, and obtain the distance from the wearer's feet to the glasses according to the depth image, and add the distance from the wearer's feet to the glasses and the height of the shoes to obtain the height information of the AR / VR glasses from the ground.

[0027] A kind of AR / VR glasses, comprising: a system for measuring height, and also comprising:

[0028] A battery module, connected to the control module, is used for power supply and charge and discharge management of the AR / VR glasses and outputs battery power information to the control module;

[0029] A user interaction module, connected to the control module, for transmitting control instructions to the control module to control the current working mode of the AR glasses;

[0030] A display module, connected to the control module, for displaying AR / VR video signals and information about the current working mode and battery power of the AR / VR glasses;

[0031] The transmission module is connected with the display module, the battery module, the control module and the user interaction module, and is used for wireless network transmission among the display module, the battery module, the control module and the user interaction module.

[0032] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method are implemented when the processor executes the computer program.

[0033] A non-transitory computer-readable storage medium stores a computer program, which implements the steps of the method when executed by a processor.

[0034] The present invention has the following advantages:

[0035] The method for measuring height in the present invention collects image information of the wearer's feet through an image acquisition module; calibrates the RGB camera through a camera calibration module to obtain RGB camera parameters; corrects the image information according to the RGB camera parameters through a camera correction module to obtain a corrected image, matches the two corrected images pixel by pixel to obtain a matching result, calculates the depth of each pixel according to the matching result to obtain a depth image; calculates the image deformation of the feet area of ​​the depth image through a control module, and obtains the distance information of the measurer's feet from the glasses according to the image deformation. No other hardware support is required, which saves hardware costs, and the operation of measuring height is simple and convenient, without the wearer squatting down to put down the handle and then picking up the handle. The problem that the existing technology requires the addition of hardware equipment and the complicated operation process to measure the wearer's eye height is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A flow chart of a method for measuring height of the present invention;

[0038] Figure 2 A flow chart of a method for measuring height of the present invention;

[0039] Figure 3 A schematic diagram of the control principle of the system for measuring height of the present invention;

[0040] Figure 4 A schematic diagram of the control principle of the system for measuring height of the present invention;

[0041] Figure 5 It is a schematic diagram of the structure of the AR glasses of the present invention;

[0042] Figure 6 This is a schematic diagram of the physical structure of the electronic device provided by the present invention.

[0043] Image acquisition module 10, camera calibration module 20, camera correction module 30, control module 40, sensor 50, electronic device 60, processor 601, memory 602, bus 603, battery module 70, user interaction module 80, display module 90, transmission module 100. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Figure 1 Flow chart of the method for measuring height according to the present invention. Figure 1 As shown, a method for measuring height provided by an embodiment of the present invention comprises the following steps:

[0046] S20, collecting image information of the wearer's feet;

[0047] Specifically, the AR / VR glasses run a height measurement program, and the two RGB cameras of the AR / VR glasses are located on the left and right sides of the AR / VR glasses, respectively, and start working at the same time; the wearer stands upright and looks down at his or her feet, and the two RGB cameras of the AR / VR glasses can capture images of the wearer's feet to obtain image information of the wearer's feet.

[0048] RGB camera is a color camera. The pictures taken by RGB camera are in color. R-red, G-green, and B-blue. The three primary colors of red, green, and blue can be superimposed in different proportions to present various colors.

[0049] S21, calibrating the RGB camera to obtain RGB camera parameters;

[0050] Specifically, the binocular camera needs to be calibrated to obtain the internal and external parameters and homography matrix of the left and right RGB cameras of the AR / VR glasses.

[0051] S22, correcting the image information according to the RGB camera parameters to obtain a corrected image, performing pixel matching on the two corrected images to obtain a matching result, and calculating the depth of each pixel according to the matching result to obtain a depth image;

[0052] Specifically, according to the calibration result, the image information is corrected according to the RGB camera parameters to obtain a corrected image, and the two corrected images are located in the same plane and parallel to each other. The two corrected images are pixel-matched, and the depth of each pixel is calculated according to the matching result to obtain a depth image.

[0053] S23, calculating the image deformation of the feet area according to the depth image, and obtaining the distance information of the feet of the measurer from the glasses according to the image deformation.

[0054] Specifically, the recognition program built into the control module 40 of the AR / VR glasses can identify that the wearer's feet are in the depth image; through the image data taken by the two RGB cameras respectively, combined with the parameters of the two RGB cameras (FOV, distortion characteristics, pixels, etc.), the image deformation of the foot area in the depth image can be calculated, thereby inferring the distance between the wearer's feet and the AR / VR glasses.

[0055] Obtain sensor data from the wearer lowering his head to look at his feet to raising his head to a horizontal angle: obtain the height information from the wearer lowering his head to look at his feet to raising his head to a horizontal angle based on the sensor data combined with an integration algorithm, and add the height information to the distance information to obtain the height information from the AR glasses to the ground after the wearer raises his head to a horizontal angle.

[0056] In order to compensate for the height error caused by the wearer lowering his head, after the wearer lowers his head to measure the distance between the glasses and his feet, the wearer can be guided to raise his head to a horizontal angle. The AR / VR glasses can give guidance prompts and confirm whether the horizontal angle has been reached. At this time, the AR / VR glasses can obtain the sensor data of the wearer's posture from lowering his head to looking at his feet to raising his head to a horizontal angle, including but not limited to acceleration sensor and gyroscope data. Through these data combined with the integral algorithm, the height information of the wearer from lowering his head to raising his head to a horizontal angle can be calculated. This height information, plus the height from the AR / VR glasses to the ground at the wearer's lowered head position, is the height from the AR / VR glasses to the ground after the user raises his head to a horizontal angle.

[0057] Figure 2 Flow chart of the method for measuring height according to the present invention. Figure 2 As shown, a method for measuring height provided by an embodiment of the present invention comprises the following steps:

[0058] S30, collecting original phase images of the wearer's feet, and acquiring corresponding depth images according to the original phase images based on the TOF ranging principle;

[0059] Specifically, AR / VR glasses have built-in TOF cameras that can capture images of both feet. TOF is an imaging technology that emits a group of infrared light (laser pulses) that are invisible to the human eye, reflects after encountering an object, and ends when reflected to the camera. The time difference or phase difference from emission to reflection back to the camera is calculated, and the data is collected to form a set of distance and depth data, thereby obtaining a three-dimensional 3D model.

[0060] S31, obtaining the distance from the wearer's feet to the glasses according to the depth image, and adding the distance from the wearer's feet to the glasses to the height of the shoes to obtain the height information from the AR / VR glasses to the ground.

[0061] Specifically, the recognition program built into the control module 40 of the AR / VR glasses can identify that the image is of the wearer's feet; the distance from the feet to the glasses can be confirmed by the TOF camera; optionally, the height of the shoes can be added based on the average height of the shoes, and the distance between the glasses and the shoes measured by TOF is the height from the glasses to the ground;

[0062] Figure 3 FIG. 1 is a schematic diagram of the control principle of the system for measuring height of the present invention. Figure 3 As shown, an embodiment of the present invention provides a system for measuring height;

[0063] An image acquisition module 10, comprising RGB cameras disposed on the left and right sides of the AR / VR glasses, for acquiring image information of the wearer's feet;

[0064] A camera calibration module 20, connected to the image acquisition module 10, for calibrating the RGB camera to obtain the RGB camera parameters;

[0065] A camera correction module 30 is connected to the camera calibration module 20, and is used to correct the image information according to the RGB camera parameters to obtain a corrected image, perform pixel matching on the two corrected images to obtain a matching result, and calculate the depth of each pixel according to the matching result to obtain a depth image;

[0066] The control module 40 is connected to the camera correction module 30, and is used to receive the depth image, and calculate the image deformation of the foot area according to the depth image, and obtain the distance information of the measurer's feet from the glasses through the image deformation.

[0067] The height measuring system provided in the embodiment of the present invention can be specifically used to execute the processing flow of the above-mentioned method embodiments. Its functions will not be described in detail here, and reference can be made to the detailed description of the above-mentioned method embodiments.

[0068] Figure 4 FIG. 1 is a schematic diagram of the control principle of the system for measuring height of the present invention. Figure 4 As shown, an embodiment of the present invention provides a system for measuring height;

[0069] The image acquisition module 10 includes a TOF camera disposed on the AR / VR glasses, which is used to acquire the original phase image of the wearer's feet, and obtain the corresponding depth image according to the original phase image according to the TOF ranging principle;

[0070] The control module 40 is connected to the image acquisition module 10, and is used to receive the depth image, and obtain the distance from the wearer's feet to the glasses according to the depth image, and add the distance from the wearer's feet to the glasses and the height of the shoes to obtain the height information from the AR / VR glasses to the ground.

[0071] It also includes a sensor 50, which includes but is not limited to a lidar sensor, a gyroscope sensor, a gravity acceleration sensor, a geomagnetic sensor and a distance sensor, and is used to obtain sensor data from the wearer's angle from lowering his head to looking at his feet to raising his head to a horizontal angle.

[0072] The control module 40 is connected to the sensor 50 and is further used for:

[0073] The sensor data is combined with an integration algorithm to obtain height information from the time when the wearer lowers his head to look at his feet to the time when he raises his head to a horizontal angle. The height information is added to the distance information to obtain height information from the AR / VR glasses to the ground after the wearer raises his head to a horizontal angle.

[0074] The height measuring system provided in the embodiment of the present invention can be specifically used to execute the processing flow of the above-mentioned method embodiments. Its functions will not be described in detail here, and reference can be made to the detailed description of the above-mentioned method embodiments.

[0075] Figure 5 Schematic diagram of the control principle of the AR / VR glasses of the present invention. Figure 5 As shown, an embodiment of the present invention provides an AR / VR glasses;

[0076] Comprising: a system for measuring height, further comprising:

[0077] The battery module 70 is connected to the control module 40, and is used for power supply and charge and discharge management of the AR / VR glasses and outputs battery power information to the control module 40; the battery module 70 includes a battery and a power management part to realize the power supply and charge and discharge management of the AR / VR glasses.

[0078] A user interaction module 80 is connected to the control module 40 and is used to transmit control instructions to the control module 40 to control the current working mode of the AR / VR glasses;

[0079] The display module 90 is connected to the control module 40 and is used to display the AR / VR video signal and the current working mode information and battery power information of the AR / VR glasses; the display module 90 includes one or two AR / VR display lens modules, including but not limited to indicator lights, display screens other than the AR / VR display modules, etc. The display module 90 realizes the display of the AR / VR video signal and also realizes the display of the working status of the AR glasses, such as the battery power, the current working mode, etc.

[0080] The transmission module 100 is connected to the display module 90, the battery module 70, the control module 40 and the user interaction module 80, and is used for wireless network transmission between the display module 90, the battery module 70, the control module 40 and the user interaction module 80. The transmission module 100 implements wireless network transmission, including but not limited to one or more forms of Wi-Fi, Bluetooth, RF, mobile network, etc.

[0081] The control module 40 includes the computing functions of the AR / VR glasses (including but not limited to CPU, memory, storage, etc.) and user interaction control. The user interaction control includes but is not limited to buttons, touch pads, vibration sensors, remote controls, etc., to control the working state of the AR / VR glasses, such as turning on and off, modifying settings, etc.

[0082] Figure 6 Schematic diagram of the structure of AR / VR glasses of the present invention, as shown in Figure 6 As shown, an embodiment of the present invention provides an AR / VR glasses;

[0083] The battery module 70 is connected to the control module 40 and is used for power supply and charge and discharge management of the AR / VR glasses and outputs battery power information to the control module 40;

[0084] A user interaction module 80 is connected to the control module 40 and is used to transmit control instructions to the control module 40 to control the current working mode of the AR / VR glasses;

[0085] Display module 90, connected to control module 40, for displaying AR / VR video signals and current working mode information and battery power information of AR / VR glasses;

[0086] The transmission module 100 is connected to the display module 90 , the battery module 70 , the control module 40 and the user interaction module 80 , and is used for wireless network transmission among the display module 90 , the battery module 70 , the control module 40 and the user interaction module 80 .

[0087] Figure 6 A schematic diagram of the physical structure of an electronic device 60 provided in an embodiment of the present invention, such as Figure 6 As shown, the electronic device 60 includes: a processor 601 (processor), a processor 601 (memory) and a bus 603;

[0088] Among them, processors 601 and 601 communicate with each other through bus 603;

[0089] The processor 601 is used to call the program instructions in the processor 601 to execute the methods provided by the above-mentioned method embodiments, for example, including: collecting image information of the wearer's feet; calibrating the RGB camera to obtain RGB camera parameters; correcting the image information according to the RGB camera parameters to obtain a corrected image, performing pixel point matching on the two corrected images to obtain a matching result, and calculating the depth of each pixel according to the matching result to obtain a depth image; calculating the image deformation of the feet area according to the depth image, and obtaining the distance information of the feet of the measurer from the glasses according to the image deformation.

[0090] The present embodiment provides a non-transitory computer-readable storage medium, which stores computer instructions. The computer instructions enable a computer to execute the methods provided by the above-mentioned method embodiments, for example, including: collecting image information of the wearer's feet; calibrating an RGB camera to obtain RGB camera parameters; correcting the image information according to the RGB camera parameters to obtain a corrected image, performing pixel matching on the two corrected images to obtain a matching result, and calculating the depth of each pixel according to the matching result to obtain a depth image; calculating the image deformation of the feet area according to the depth image, and obtaining the distance information of the measurer's feet from the glasses according to the image deformation.

[0091] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0092] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0093] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring height, characterized in that: The method specifically comprises: S20, the AR / VR glasses worn by the wearer collect image information of the wearer's feet; S21, calibrating the RGB camera to obtain RGB camera parameters; S22, correcting the image information according to the RGB camera parameters to obtain a corrected image, performing pixel matching on the two corrected images to obtain a matching result, and calculating the depth of each pixel according to the matching result to obtain a depth image; S23, calculating the image deformation of the feet region according to the depth image, and obtaining the distance information between the feet of the measurer and the glasses according to the image deformation.

2. The method for measuring height according to claim 1, characterized in that: The method further comprises: S24, obtains sensor data from the wearer looking down at his feet to looking up to the horizontal angle: S25, obtaining the height information of the wearer from the time when he lowers his head to look at his feet to the time when he raises his head to a horizontal angle according to the sensor data combined with an integration algorithm, and adding the height information to the distance information to obtain the height information of the AR / VR glasses to the ground after the wearer raises his head to a horizontal angle.

3. A method for measuring height, characterized in that: The method specifically comprises: S30, the AR / VR glasses worn by the wearer collect original phase images of the wearer's feet, and obtain corresponding depth images according to the original phase images based on the TOF ranging principle; S31, obtaining the distance from the wearer's feet to the glasses according to the depth image, and adding the distance from the wearer's feet to the glasses to the height of the shoes to obtain the height information from the AR glasses to the ground.

4. A system for measuring height, applied to AR / VR glasses, characterized in that: include: An image acquisition module, including RGB cameras disposed on the left and right sides of the AR glasses, for acquiring image information of the wearer's feet; A camera calibration module, connected to the image acquisition module, for calibrating the RGB camera to obtain the RGB camera parameters; A camera correction module, connected to the camera calibration module, is used to correct the image information according to the RGB camera parameters to obtain a corrected image, perform pixel matching on the two corrected images to obtain a matching result, and calculate the depth of each pixel according to the matching result to obtain a depth image; The control module is connected to the camera correction module, and is used to receive the depth image, calculate the image deformation of the feet area according to the depth image, and obtain the distance information of the measurer's feet from the glasses through the image deformation.

5. The system for measuring height according to claim 4, characterized in that: It also includes sensors, including but not limited to lidar sensors, gyroscope sensors, gravity acceleration sensors, geomagnetic sensors and distance sensors, which are used to obtain sensor data from the wearer's angle from lowering his head to looking at his feet to raising his head to the horizontal level.

6. The system for measuring height according to claim 5, characterized in that: The control module is connected to the sensor and is further used for: The height information from the wearer looking down at his feet to the horizontal angle when he looks up is obtained according to the sensor data combined with the integration algorithm, and the height information is added to the distance information to obtain the height information from the AR glasses to the ground after the wearer looks up to the horizontal angle.

7. A system for measuring height, applied to AR / VR glasses, characterized in that: include: An image acquisition module, including a TOF camera disposed on the AR / VR glasses, for acquiring an original phase image of the wearer's feet, and obtaining a corresponding depth image based on the original phase image according to the TOF ranging principle; The control module is connected to the image acquisition module, and is used to receive the depth image, and obtain the distance from the wearer's feet to the glasses according to the depth image, and add the distance from the wearer's feet to the glasses and the height of the shoes to obtain the height information from the AR / VR glasses to the ground.

8. An AR / VR glasses, characterized in that: include: The system for measuring height according to any one of claims 4 to 7, further comprising: A battery module, connected to the control module, is used for power supply and charge and discharge management of the AR / VR glasses and outputs battery power information to the control module; A user interaction module, connected to the control module, for transmitting control instructions to the control module to control the current working mode of the AR / VR glasses; A display module, connected to the control module, for displaying AR / VR video signals and information about the current working mode and battery power of the AR / VR glasses; The transmission module is connected with the display module, the battery module, the control module and the user interaction module, and is used for wireless network transmission among the display module, the battery module, the control module and the user interaction module.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 are implemented; or, when the processor executes the computer program, the steps of the method according to claim 3 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 are implemented; or, when the computer program is executed, the steps of the method according to claim 3 are implemented.

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