A method and related device for automatically generating BIM models based on pixel engineering drawings

Abstract

The present invention relates to a method and related apparatus for automatically generating BIM models based on pixel engineering drawings. The method comprises: extracting feature information of multiple components from pixel drawings of each floor; generating BIM models of each floor based on the feature information; and automatically aligning the BIM models of each floor and generating floor slabs between floors, thereby generating a BIM model of the multi-story building. The present invention provides a method and related apparatus for automatically generating BIM models based on pixel engineering drawings, resolving the technical problem of existing technologies that prevent the automatic generation of three-dimensional building models from two-dimensional engineering drawings.

Description

Technical Field

[0001] The present method and device relate to the field of architectural design, and in particular to a method and related device for automatically generating a BIM model based on pixel engineering drawings. Background Art

[0002] With the continuous development of intelligent buildings, computer technology has brought innovation to the traditional field of construction engineering, and more and more technologies are being applied to engineering fields. Building Information Modeling (BIM) is a new technology in engineering fields such as architecture and civil engineering. By integrating various construction project information into a 3D model information database, it provides designers with a basis for design, review, and construction, facilitates coordination and collaboration among various departments, and improves project efficiency. Traditionally, the construction engineering field has often relied on engineering drawings during design, manufacturing, and construction. While drawings can clearly and accurately depict various building information, they are often limited by the limitations of floor plans and lack intuitiveness. Therefore, the core of BIM technology is to create a virtual 3D model of the building project and utilize digital technology to establish a construction project information database that records and displays the building's construction geometry, professional attributes, status information, and other information. This 3D model, which contains construction project information, greatly improves the level of information integration in the construction project, providing a platform for the exchange and sharing of engineering information among all stakeholders in the construction project.

[0003] Currently, when establishing BIM three-dimensional models, most people use existing BIM platforms for manual modeling. Automatically and intelligently building BIM three-dimensional models based on building information is a key to promoting the automation of construction engineering design. Currently, there is little research and technology related to the automated generation of BIM three-dimensional models. Patent CN112785694A discloses a deep learning-based BIM three-dimensional reconstruction method that uses a scanner to collect point cloud data information of indoor building scenes for reconstruction; Patent CN109410327A discloses a three-dimensional urban modeling method based on BIM and GIS that uses drones and unmanned vehicles to capture and reconstruct urban building information.

[0004] Prior Art 1, namely patent CN112785694A [Chinese], uses a deep learning-based approach to 3D BIM reconstruction, requiring a scanner to capture point cloud data of building interiors for reconstruction. This technology is highly complex and requires extensive on-site data collection to support reconstruction. The accuracy of this data also affects the accuracy of the model reconstruction. Furthermore, deep learning methods require extensive training datasets and target a relatively fixed range of building types, making their practical implementation difficult.

[0005] Prior art 2, patent CN109410327A [Chinese], uses a BIM- and GIS-based 3D urban modeling method that relies on drone-based image data for reconstruction. This method only captures external building data, not internal structural details, and is therefore more oriented towards urban information models.

[0006] In addition, both of the above technical solutions only support existing buildings. They cannot construct three-dimensional information models for buildings at the drawing level, that is, buildings in the design, review and other stages, and are of no help in the design stage of the building. Summary of the Invention

[0007] In response to the above problems, the purpose of the present invention is to provide a method and related device for automatically generating BIM models based on pixel engineering drawings, which solves the technical problem that the existing technology cannot automatically generate three-dimensional building models based on two-dimensional engineering drawings.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: The present invention discloses a method for automatically generating a BIM model based on a pixel engineering drawing, the method comprising:

[0009] Extract feature information of multiple components from pixel drawings of each floor;

[0010] Generate a BIM model of each floor according to the characteristic information;

[0011] The BIM models of each floor are automatically aligned and the floor slabs between floors are generated to generate a BIM model of a multi-story building.

[0012] Preferably, generating a BIM model of each floor according to the characteristic information includes:

[0013] Saving the characteristic information as structured data recognizable by the BIM model;

[0014] Configure global properties for each floor;

[0015] Use the BIM model platform Revit to generate BIM models for each floor.

[0016] Preferably, the step of saving the characteristic information as structured data recognizable by a BIM model includes:

[0017] Elements are used to store the properties of all components and spaces; Refs are used to store the properties of the relationships between components and spaces, and between components; GeometryModel is used to store the geometric models of components and spaces; structured data is stored in the form of JSON files.

[0018] Preferably, configuring the global attributes of each floor includes:

[0019] Configure the floor number corresponding to each floor, structured data file, alignment of BIM models of different floors, component types to be generated, and default wall width.

[0020] Preferably, the generating of the BIM model of each floor using the BIM model platform Revit includes:

[0021] Initialize various Revit configurations and load the family files required for components;

[0022] Based on the Elements and Refs data in the structured data, components are generated in sequence according to category, and the corresponding information is annotated for each component; thus, the overall BIM model of the floor is generated.

[0023] Preferably, the step of automatically aligning the BIM models of each floor and generating floor slabs between floors, thereby generating a BIM model of a multi-story building, includes:

[0024] Obtain the alignment of the BIM model of each floor based on the configured global properties and calculate the offset of the position of each component during the BIM model generation phase;

[0025] The position of each component is adjusted according to the offset, and the relative positions of the BIM models of all floors are adjusted, thereby generating a BIM model of a multi-story building.

[0026] Preferably, obtaining the alignment of the BIM model of each floor according to the configured global attributes and calculating the offset of the position of each component in the BIM model generation stage specifically includes:

[0027] If the configured global properties are aligned according to the reference coordinates, then when configuring the global properties, configure the base coordinates of the BIM model of each floor; calculate the first difference between the base coordinates and the reference coordinates, and use the first difference as the offset;

[0028] If the configured global attribute is to align by direction, then when configuring the global attribute, calculate the second difference between the coordinates of the floor and the alignment target floor in the direction, and use the second difference as the offset.

[0029] The second object of the present invention can be achieved by adopting the following technical solution: a device for automatically generating a BIM model based on a pixel engineering drawing, the device comprising:

[0030] Pixel engineering drawing recognition module, used to extract feature information of multiple components in the pixel drawings of each floor;

[0031] A single-story BIM model generation module is used to generate a BIM model of each floor based on the characteristic information;

[0032] The multi-story BIM model generation module is used to automatically align the BIM models of each floor and generate floor slabs between floors, thereby generating a BIM model of a multi-story building.

[0033] The third object of the present invention can be achieved by adopting the following technical solutions:

[0034] A computer device includes a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the above-mentioned method for automatically generating a BIM model based on a pixel engineering drawing is implemented.

[0035] The fourth object of the present invention can be achieved by adopting the following technical solutions:

[0036] A storage medium stores a program, which, when executed by a processor, implements the above-mentioned method for automatically generating a BIM model based on a pixel engineering drawing.

[0037] Due to the adoption of the above technical solution, the present invention has the following advantages: the present invention extracts the characteristic information of multiple components from the pixel drawings of each floor; generates a BIM model of each floor based on the characteristic information; thus, only the pixel drawings of the building are needed to accurately identify the internal information of the multi-story building, including the location, family type, and area of ​​the space of various components, etc., thereby completing the automatic generation of the building BIM three-dimensional information model without the need for a large amount of manual interaction and modeling, greatly reducing the cost of obtaining the building information model. The present invention supports the generation of models of entire multi-story buildings, automatically integrates and aligns different drawings of different floors, and completes the floor slab information between floors, thereby achieving the purpose of generating a model of the entire building. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. Throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0039] Figure 1 This is a schematic diagram of a BIM three-dimensional model generated for a multi-story industrial building of the present invention;

[0040] Figure 2 Flowchart of a method for automatically generating a BIM model based on a pixel engineering drawing according to embodiment 1 of the present invention;

[0041] Figure 3 is another flow chart of the method for automatically generating a BIM model based on a pixel engineering drawing according to embodiment 1 of the present invention;

[0042] Figure 4 This is a structural diagram of an automatic BIM model generation device based on pixel engineering drawings according to embodiment 2 of the present invention. DETAILED DESCRIPTION

[0043] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0044] Existing technical solutions only support BIM modeling of buildings that have been built, but cannot construct a three-dimensional information model for buildings at the drawing level, that is, buildings that are in the design, review and other stages. The present invention extracts the characteristic information of multiple components from the pixel drawings of each floor; generates BIM models of each floor based on the characteristic information; thus, only the pixel drawings of the building are needed to accurately identify the internal information of the multi-story building, including the location of various components, family types, and the area of ​​the space, etc., thereby completing the automatic generation of the building BIM three-dimensional information model without a large amount of manual interaction and modeling, greatly reducing the cost of obtaining the building information model. The present invention supports the generation of models of entire multi-story buildings, automatically integrates and aligns different drawings of different floors, and completes the floor information between floors, thereby achieving the purpose of generating a model of the entire building.

[0045] Example 1:

[0046] The present invention discloses a method for automatically generating a BIM model based on a pixel engineering drawing, the method comprising:

[0047] Step S100, extracting feature information of multiple components in the pixel drawing of each floor;

[0048] Specifically, the pixel floor plan of the building is accepted as input, PDF format files are supported, and the floor plan supports industrial buildings, commercial buildings, public buildings, etc. The purpose of this step is to extract the data required for BIM model generation from the floor plan, including the position, category, length and width information, name or mark of each component of walls, doors, windows, stairs, and elevators, the position and name of the space, and the relationship between components and components, and components and spaces. Therefore, the building floor plan is identified using methods such as deep learning to obtain the above information contained in the floor plan. Of course, in this field, technicians can also choose neural networks or other methods of machine learning to obtain the above information contained in the floor plan according to specific needs, which will not be repeated here.

[0049] Step S200, generating a BIM model of each floor based on the feature information;

[0050] Specifically, the recognition results are organized into structured data storage and saved in the form of JSON files to facilitate reading in the subsequent BIM model generation process. The user configures global properties, including floor elevation, structured data file, default wall width, component type that needs to be rebuilt, etc. The configuration of global properties requires manual input by the user. The floor elevation indicates the elevation of the currently generated model; the structured data file indicates which file's corresponding BIM model needs to be generated at this elevation; the wall width indicates the width of the wall of the model generated at this elevation. If not set, the wall width obtained during the recognition process is used for generation; the construction type indicates which components are required for the BIM model generated at this elevation. Multiple selections can be made from "walls, doors, windows, stairs, elevators, rooms, and floor slabs." The BIM model platform Revit is then used to generate the BIM model of this floor.

[0051] In step S300 , the BIM models of the floors are automatically aligned and floor slabs between floors are generated, thereby generating a BIM model of a multi-story building.

[0052] The present invention extracts the characteristic information of multiple components from pixel drawings of each floor and generates BIM models of each floor based on this characteristic information. This allows accurate identification of the internal information of multiple floors, including the location, family type, and area of ​​various components, using only the building's pixel drawings. This allows the automated generation of a three-dimensional BIM information model of the building without requiring extensive manual interaction and modeling, significantly reducing the cost of acquiring building information models. The present invention supports the generation of models of entire multi-story buildings, automatically integrating and aligning different drawings for different floors and completing floor slab information between floors, thereby achieving the goal of generating a model of the entire building.

[0053] Preferably, step S200, generating a BIM model of each floor according to the characteristic information includes:

[0054] Step S210, saving the feature information as structured data recognizable by the BIM model;

[0055] Specifically, deep learning and other methods are used to identify architectural floor plans, obtaining the characteristic information of the structures contained in the floor plans. The identification results are then organized into structured data storage and saved as JSON files for easy access during the subsequent BIM model generation process. This structured data is divided into three categories: Elements, Rels, and GeometryModel, corresponding to the information of all identified components, the relationships between components, and the geometric models of each component.

[0056] Step S220, configuring global attributes for each floor;

[0057] Specifically, it includes the floor number corresponding to each floor, structured data files, the alignment of BIM models of different floors, the type of components to be generated, the default wall width, etc. The specific parameters that need to be configured and automatically generated can be selected according to actual conditions.

[0058] Step S230: Generate a BIM model of each floor using the BIM model platform Revit.

[0059] Preferably, step S210, saving the feature information as structured data recognizable by the BIM model includes:

[0060] In step S211, Elements stores the properties of all components and spaces, Refs stores the properties of the relationships between components and spaces, and between components, and GeometryModel stores the geometric models of components and spaces; in step S212, structured data is stored in the form of a JSON file.

[0061] Preferably, step S220, configuring global attributes for each floor includes:

[0062] Configure the floor number corresponding to each floor, structured data file, alignment of BIM models of different floors, component types to be generated, and default wall width.

[0063] Specifically, users are first required to configure global properties, including floor elevation, structured data file, default wall width, and component types that need to be rebuilt. The configuration of global properties requires manual input from the user. Floor elevation indicates the elevation of the currently generated model; structured data file indicates which file's corresponding BIM model needs to be generated at that elevation; wall width indicates the width of the wall of the model generated at that elevation. If not set, the wall width obtained during the recognition process will be used for generation; and build type indicates which components are required for the BIM model generated at that elevation. Multiple selections can be made from "walls, doors, windows, stairs, elevators, rooms, and floor slabs."

[0064] Preferably, step S230, using the BIM model platform Revit to generate the BIM model of each floor includes:

[0065] Step S231, initializing various Revit configurations and loading the family files required for the components;

[0066] Specifically, the parameter configuration is passed to the BIM model generation platform Revit. Revit preloads the required different family files, such as single doors, sliding doors, etc., and processes the constructed family files, binding the building information required for model generation and the family files, so that each component can annotate the information obtained in the identification stage.

[0067] Step S232: Generate components in order of categories based on the Elements and Refs data in the structured data, and annotate each component with its corresponding information to generate the entire BIM model of the floor.

[0068] Preferably, step 300, automatically aligning the BIM models of each floor and generating floor slabs between floors, thereby generating a BIM model of a multi-story building includes:

[0069] Step 310 , obtaining the alignment of the BIM model of each floor based on the configured global attributes, and calculating the offset of the position of each component in the BIM model generation stage;

[0070] Step 320 , adjusting the position of each component according to the offset, and adjusting the relative positions of the BIM models of all floors, thereby generating a BIM model of a multi-story building.

[0071] In this floor view, components are generated in sequence according to the list of generated components entered during the parameter configuration phase:

[0072] a) Walls. Find all walls in the Elements data, obtain their location information, and generate them step by step. If the wall width was set during the parameter configuration phase, all walls are modified to the target width. Otherwise, the walls are generated according to the wall width identified during the recognition phase.

[0073] b) Doors. Find all doors from the Elements data and obtain their location and category information. For different types of doors (such as single-leaf doors and double-leaf doors), copy a new instance from the corresponding family file and modify its door width and other properties. Find the correspondence between the door and the wall it is embedded in from the Refs data, find the wall corresponding to the generated door, and create the door on that wall. Then, based on the recognition results, determine whether the door's orientation is consistent with the plane. Figure 1 If they are inconsistent, flip them.

[0074] c) Window. Created in the same way as a door, without the orientation reversal step.

[0075] d) Stairs. Find all staircases in the Elements data and obtain their location information. Generate a default staircase style at the corresponding location. Calculate the span of each step based on the staircase length, floor height, and other factors. Generate all steps in sequence. Finally, generate the stair railings.

[0076] e) Elevators. Find all elevators in the Elements data and obtain their locations. Generate default elevator styles and doors at the corresponding locations.

[0077] f) Rooms. Find all rooms in the Elements data and obtain their location information. Based on the generated walls, find all enclosed spaces. Match these spaces with the spaces in the structured data to determine the names of the spaces. This matching method is to check whether the geometric center of the space in the structured data falls within the corresponding space.

[0078] g) Floors. Find all enclosed spaces, take the center lines of their surrounding walls as the floor boundaries, and create the floor accordingly.

[0079] The position of each component is generated by taking into account the coordinate offset calculated in step 310. A corresponding label is added to each generated component, containing the component's name. Additionally, all identified component information, such as the component's number, location, size, and area, is annotated on each component.

[0080] Preferably, step 310, obtaining the alignment of the BIM model of each floor according to the configured global attributes and calculating the offset of the position of each component in the BIM model generation stage, specifically includes:

[0081] If the configured global properties are aligned according to the reference coordinates, then when configuring the global properties, configure the base coordinates of the BIM model of each floor; calculate the first difference between the base coordinates and the reference coordinates, and use the first difference as the offset;

[0082] If the configured global attribute is to align by direction, then when configuring the global attribute, calculate the second difference between the coordinates of the floor and the alignment target floor in the direction, and use the second difference as the offset.

[0083] Specifically, in the global property configuration stage, mark the drawing files corresponding to each floor, and then manually add or automatically calculate the correspondence between the floors. It supports two methods: alignment by manually input coordinates and automatic alignment by direction. Alignment by manually input coordinates means that the user selects a certain coordinate as the benchmark when generating different single-story BIM models. Then, when aligning multi-story buildings, these benchmark coordinates will be aligned and used as a reference to align the entire multi-story building; automatic alignment by direction means that between two-story BIM models, according to a specific direction, such as the upper left, the coordinate difference of the exterior wall bounding box of the two floors in this direction is calculated. Then, based on the calculation results, one of the floors is translated so that the floor can be aligned with the exterior wall of the other floor in this direction, thereby aligning the entire building. In the component generation stage, corresponding floor slabs are generated for different rooms to isolate the upper and lower floors. Finally, a multi-story BIM model of the entire building is generated.

[0084] Example 2:

[0085] This embodiment provides a device for automatically generating a BIM model based on a pixel engineering drawing, the device comprising: a pixel engineering drawing recognition module 401 for extracting feature information of a plurality of components in the pixel drawing of each floor;

[0086] A single-story BIM model generation module 402 is used to generate a BIM model of each floor based on the characteristic information;

[0087] The multi-story BIM model generation module 403 is used to automatically align the BIM models of each floor and generate floor slabs between floors, thereby generating a BIM model of the multi-story building.

[0088] The specific implementation of each module in this embodiment can be found in the above-mentioned embodiment 1, and will not be described in detail here. It should be noted that the device provided in the above embodiment is only illustrated by the division of the above-mentioned functional modules. In actual application, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure can be divided into different functional modules to complete all or part of the functions described above.

[0089] It will be understood that the terms "first," "second," and the like used in the apparatus of the above embodiments may be used to describe various units, but these units are not limited by these terms. These terms are merely used to distinguish a first module from another module. For example, without departing from the scope of the present invention, a first transmitting module may be referred to as a second transmitting module, and similarly, a second transmitting module may be referred to as a first transmitting module. The first transmitting module and the second transmitting module are both transmitting modules, but they are not the same transmitting module.

[0090] Example 3:

[0091] This embodiment provides a computer device, including a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the above-mentioned method for automatically generating a BIM model based on a pixel engineering drawing is implemented; the method includes: extracting feature information of multiple components in the pixel drawing of each floor; generating a BIM model of each floor based on the feature information; and automatically aligning the BIM models of each floor and generating floor slabs between floors, thereby generating a BIM model of a multi-story building.

[0092] Example 4:

[0093] This embodiment provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the program is executed by a processor, the processor implements the automatic generation method of a BIM model based on a pixel engineering drawing of the above-mentioned embodiment 1 when executing the computer program stored in the memory. The method includes: extracting feature information of multiple components in the pixel drawing of each floor; generating a BIM model of each floor according to the feature information; automatically aligning the BIM models of each floor and generating floor slabs between floors, thereby generating a BIM model of a multi-story building.

[0094] It should be noted that the computer-readable storage medium of the present embodiment may be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0095] 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 various embodiments of the present invention.

Claims

1. A method for automatically generating a BIM model based on a pixel engineering drawing, characterized in that: The method comprises: Extracts feature information of multiple components from pixel drawings of each floor; accepts pixel floor plans of buildings as input, supports PDF format files, and extracts the data required for BIM model generation from the floor plans, including the location, category, length and width information, name or label of each component such as walls, doors, windows, stairs, and elevators; the location and name of spaces; and the relationships between components and spaces; Generate a BIM model of each floor based on the characteristic information; Automatically align the BIM models of each floor and generate floor slabs between floors to create a BIM model of a multi-story building; Generating the BIM model of each floor according to the characteristic information includes: Saving the characteristic information as structured data recognizable by the BIM model; Configure global properties for each floor; Use the BIM model platform Revit to generate BIM models for each floor; The BIM model generation of each floor using the BIM model platform Revit includes: Initialize various Revit configurations and load the family files required for components; Based on the Elements and Refs data in the structured data, components are generated in sequence according to category, and the corresponding information is annotated for each component; thus, the overall BIM model of the floor is generated; The method of automatically aligning the BIM models of each floor and generating floor slabs between floors, thereby generating a BIM model of a multi-story building, includes: obtaining the alignment mode of the BIM models of each floor according to the configured global properties, and calculating the offset of the position of each component in the BIM model generation stage: If the configured global properties are aligned according to the reference coordinates, then when configuring the global properties, configure the base coordinates of the BIM model of each floor; calculate the first difference between the base coordinates and the reference coordinates, and use the first difference as the offset; If the configured global attribute is to align by direction, then when configuring the global attribute, calculate the second difference between the coordinates of the floor and the alignment target floor in the direction, and use the second difference as the offset; Saving the feature information as structured data recognizable by the BIM model includes: Elements are used to store the properties of all components and spaces; Refs are used to store the properties of the relationships between components and spaces, and between components; GeometryModel is used to store the geometric models of components and spaces; structured data is stored in the form of JSON files.

2. The method for automatically generating a BIM model based on a pixel engineering drawing according to claim 1, characterized in that: The configuration of global properties for each floor includes: Configure the floor number corresponding to each floor, structured data file, alignment of BIM models of different floors, component types to be generated, and default wall width.

3. The method for automatically generating a BIM model based on a pixel engineering drawing according to claim 1, characterized in that: The BIM models of each floor are automatically aligned and floor slabs between floors are generated, thereby generating a BIM model of a multi-story building. After calculating the offset of the position of each component in the BIM model generation stage, the following steps are also included: The position of each component is adjusted according to the offset, and the relative positions of the BIM models of all floors are adjusted, thereby generating a BIM model of a multi-story building.

4. A device for automatically generating a BIM model based on a pixel engineering drawing, for implementing the method for automatically generating a BIM model based on a pixel engineering drawing as claimed in any one of claims 1 to 3, characterized in that: The device comprises: Pixel engineering drawing recognition module, used to extract feature information of multiple components in the pixel drawings of each floor; A single-story BIM model generation module is used to generate a BIM model of each floor based on the characteristic information; The multi-story BIM model generation module is used to automatically align the BIM models of each floor and generate floor slabs between floors, thereby generating a BIM model of a multi-story building.

5. A computer device, characterized in that: The computer device comprises a processor and a memory for storing a program executable by the processor, and when the processor executes the program stored in the memory, the computer device performs the method according to any one of claims 1 to 3.

6. A storage medium, characterized in that A program is stored, and when the program is executed by a processor, the processor performs the method according to any one of claims 1 to 3.

Images