Image shooting method, device, equipment and readable storage medium

Abstract

The present application discloses an image shooting method, device, equipment and readable storage medium, which are applied to the field of image shooting technology. By obtaining the first shooting height of each detection point of the first detection track, the second shooting height of each detection point of the second detection track is determined, and then based on the second shooting height, the shooting device is controlled to shoot the initial image of each detection point on the second detection track, and finally, according to the initial image taken, the clearest shooting distance for each detection point of the second detection track is finally determined for shooting. The shooting distance of the current detection track can be initially adjusted by the shooting distance of the previous column of detection tracks, so that the shooting distance can be adjusted in advance. And the shooting lens itself has a certain depth of field. Even if the shooting distance needs to be adjusted, only the shooting distance needs to be fine-tuned, and the adjustment action can be completed quickly. In this way, the clarity of each image shooting can be guaranteed, thereby improving the accuracy of the defect detection results.

Description

Technical Field

[0001] The present application relates to the field of image capturing technology, and in particular to an image capturing method, device, equipment and readable storage medium. Background Art

[0002] In the manufacturing process of many industries, the products are affected by temperature, materials and manufacturing process, which may cause the surface of the products to be curved or not smooth. Therefore, after the products are produced, defect detection is required through the captured images to determine whether there are curved or not smooth areas on the surface of the products.

[0003] However, in the current defect detection process, there is a problem that the captured images are not clear, which leads to inaccurate detection results. Summary of the invention

[0004] Based on the above problems, the present application provides an image capturing method, apparatus, device and readable storage medium, aiming to improve the clarity of captured images during defect detection.

[0005] In a first aspect, an embodiment of the present application provides an image capturing method, the method being applied to an image capturing device, the image capturing device being connected to a capturing device, the method comprising:

[0006] Acquire a first shooting height between the shooting device and each detection point on the first detection track;

[0007] Determine a second shooting height between the shooting device and each detection point on the second detection track according to a first shooting height between the shooting device and each detection point on the first detection track;

[0008] Based on a second shooting height between the shooting device and each detection point on the second detection track, controlling the shooting device to shoot an initial image of each detection point on the second detection track;

[0009] The second shooting height is adjusted using the clarity of the initial image to obtain a final shooting height between the shooting device and each detection point on the second detection track.

[0010] Optionally, the image capturing method further includes:

[0011] According to the final shooting height, the shooting device is controlled to shoot a clear image of each detection point on the second detection track.

[0012] Optionally, the adjusting the second shooting height by using the clarity of the initial image to obtain a final shooting height between the shooting device and each detection point on the second detection path includes:

[0013] Calculating the definition of the initial image to obtain a first definition;

[0014] A first distance difference is obtained according to a difference between the first clarity and a median value of a clarity threshold, wherein the median value of the clarity threshold is a median value of a first clarity threshold and a second clarity threshold, and the second clarity threshold is greater than the first clarity threshold;

[0015] The final shooting height is determined according to the first distance difference.

[0016] Optionally, obtaining a first distance difference according to a difference between the first clarity and a median of a clarity threshold value includes:

[0017] Calculating a difference between the first clarity and a median of the clarity threshold to obtain a clarity difference;

[0018] A first distance difference is obtained according to the corresponding relationship between the clarity difference and the standard distance difference.

[0019] Optionally, the correspondence between the clarity difference and the standard distance difference is pre-stored in a correspondence table.

[0020] Optionally, a second shooting height between the shooting device and each detection point on the second detection track is the same as a first shooting height between the shooting device and each corresponding detection point on the first detection track.

[0021] Optionally, the second detection track is parallel to the first detection track.

[0022] Optionally, each detection point on the first detection track and each corresponding detection track on the second detection track are located on the same straight line perpendicular to the first detection track.

[0023] In a second aspect, an embodiment of the present application provides an image capturing device, the device comprising:

[0024] An acquisition module, used for acquiring a first shooting height between the shooting device and each detection point on the first detection track;

[0025] A first determination module, used to determine a second shooting height between the shooting device and each detection point on the second detection track according to a first shooting height between the shooting device and each detection point on the first detection track;

[0026] A first shooting module, used for controlling the shooting device to shoot an initial image of each detection point on the second detection track based on a second shooting height between the shooting device and each detection point on the second detection track;

[0027] The second determination module is used to adjust the second shooting height by using the clarity of the initial image to obtain a final shooting height between the shooting device and each detection point on the second detection path.

[0028] In a third aspect, an embodiment of the present application provides a device, the device comprising:

[0029] Memory for storing computer programs;

[0030] A processor is used to execute the computer program so that the device performs the image capture method described in any one of the first aspects above.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the image capturing method described in any one of the first aspects is implemented.

[0032] Compared with the prior art, this application has the following beneficial effects:

[0033] The present application discloses an image shooting method, device, equipment and readable storage medium, which obtains the first shooting height of each detection point of the first detection track, determines the second shooting height of each detection point of the second detection track, and then controls the shooting device to shoot the initial image of each detection point on the second detection track based on the second shooting height between the shooting device and each detection point on the second detection track, and finally determines the clearest shooting distance for each detection point of the second detection track based on the initial image taken. It can be seen that the present application can make an initial adjustment to the shooting distance of the current detection track by the shooting distance of the previous column of detection tracks, thereby adjusting the shooting distance in advance. And the shooting lens itself has a certain depth of field, even if the shooting distance needs to be adjusted, only the shooting distance needs to be fine-tuned, and the adjustment action can be completed quickly. In addition, the clarity of each image shot can be guaranteed, thereby improving the accuracy of the defect detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application 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 only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1A This is a schematic diagram of an application scenario in an embodiment of the present application;

[0036] Figure 1BA defect schematic diagram of a defect detection defect in an embodiment of the present application;

[0037] Figure 2 A method flow chart of an image capturing method provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the structure of an image capturing device provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the structure of a computer-readable medium provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of the hardware structure of the server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] As described above, in the manufacturing process of many industries, the products are affected by temperature, materials and manufacturing process during the production process, which may cause the surface of the products to be curved or rough. Therefore, after the products are produced, defect detection needs to be performed through the captured images to determine whether there are curved or rough areas on the product surface by taking the product images.

[0042] However, in the current defect detection process, there is a problem that the captured images are not clear, which leads to inaccurate detection results.

[0043] Based on this, in order to solve the above problems, the present application discloses an image shooting method, device, equipment and readable storage medium, by obtaining the first shooting height of each detection point of the first detection track, determining the second shooting height of each detection point of the second detection track, and then based on the second shooting height between the shooting device and each detection point on the second detection track, controlling the shooting device to shoot the initial image of each detection point on the second detection track; according to the initial image taken, finally determine the clearest shooting distance for each detection point of the second detection track for shooting. It can be seen that the present application can make an initial adjustment to the shooting distance of the current detection track by the shooting distance of the previous column of detection tracks, thereby adjusting the shooting distance in advance. And the shooting lens itself has a certain depth of field, even if the shooting distance needs to be adjusted, only the shooting distance needs to be fine-tuned, and the adjustment action can be completed quickly. In addition, the clarity of each image shot can be guaranteed, thereby improving the accuracy of the defect detection results.

[0044] For example, one of the scenarios of the embodiments of the present application may be applied to Figure 1AThe scene shown in FIG. 1 includes a camera 101 and an object to be detected 102, wherein the camera 101 takes a picture of each detection point on the detection path of the object to be detected 102. In this application, a computer can be used to implement an image capture method using the implementation method provided in the embodiment of this application. Figure 1B The scene shown is a schematic diagram of a defect that may occur during product surface defect detection. Figure 1B Points 1, 2, and 3 correspond to measurement points at different heights.

[0045] In addition, the embodiments of the present application are not limited in terms of the execution subject, as long as the actions disclosed in the implementation methods provided by the embodiments of the present application are executed. Secondly, the above scenario is only an example of a scenario provided by the embodiments of the present application, and the embodiments of the present application are not limited to this scenario.

[0046] Secondly, the above scenario is only an example scenario provided by the embodiment of the present application, and the embodiment of the present application is not limited to this scenario.

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] See also Figure 2 , which is a flow chart of an image capturing method provided by an embodiment of the present application. Figure 2 As shown, the image capturing method provided in the embodiment of the present application may include:

[0049] S201: Acquire a first shooting height between a shooting device and each detection point on a first detection track.

[0050] Among them, the inspection points on the inspection path can be high-precision components with precision requirements such as wafers. Of course, this application does not specifically limit the inspection points and does not affect the implementation of the embodiments of this application.

[0051] The first shooting height between the shooting device and each detection point on the first detection point may be the same or different.

[0052] S202: Determine a second shooting height between the shooting device and each detection point on the second detection track according to a first shooting height between the shooting device and each detection point on the first detection track.

[0053] In the embodiment of the present application, the second detection track is parallel to the first detection track, and each detection point of the first detection track and each corresponding detection track on the second detection track are on the same straight line perpendicular to the first detection track.

[0054] For ease of understanding, an example is given here to illustrate, for example: the object to be detected may have four columns of detection channels, and each column of detection channels has four detections. It should be noted that this example is only for ease of understanding, and does not limit the scope of protection of the present application. The detection channels are defined as columns, that is, the y-axis in the plane coordinate system, and each detection point in each column is a row, that is, the x-axis in the plane coordinate system. The coordinates of the first detection point of the first detection channel are (1, 1), the coordinates of the first detection point of the second detection channel are (2, 1), and the coordinates of the second detection point of the second detection channel are (1, 2), and so on.

[0055] In the embodiment of the present application, the first detection point of each detection track can be placed with the same wafer or different wafers that are associated with each other. The first case is discussed here, that is, the second shooting height between the shooting device and each detection point on the second detection track is the same as the first shooting height between the shooting device and each corresponding detection point on the first detection track. After the shooting of each detection point on the first detection track is completed and the height is obtained, the lens moves to the second detection track, where any detection point of the second detection track can be moved to as the shooting starting point. If the lens moves to the first detection point of the second detection track, the first shooting distance between the shooting device and the first detection point of the first detection track is obtained as the second shooting height between the shooting device and the first detection point of the second detection track. Because the first detection point of the first detection track and the first detection point of the second detection track in the embodiment of the present application are the same wafer or other high-precision components, even if the first detection point of the second detection track has other defects such as warping, because the lens itself has a certain depth of field, it is possible to quickly detect the defective wafer, and can quickly adjust the shooting of clear images, so that the defect detection results are more accurate. The shooting detection principle of other detection points is the same as above, and no further elaboration is made here.

[0056] S203: Based on a second shooting height between the shooting device and each detection point on the second detection track, control the shooting device to shoot an initial image of each detection point on the second detection track.

[0057] After adjusting the distance between the shooting device and the first detection point on the second detection track to the second shooting height, control the shooting device to shoot the first detection track of the second detection track and obtain the initial image of the first detection point of the second detection track, and after completing the initial image acquisition, perform subsequent clarity processing, adjust the final shooting height of the shooting device and the first detection point of the second detection track according to the clarity, and after the shooting device obtains a clear image of the first detection point of the second detection track based on the final shooting height. Move the shooting device to the second detection point of the second detection track to complete the above operation, and the shooting method of the detection points of the remaining detection tracks is the same as the above content.

[0058] S204: adjusting the second shooting height by using the clarity of the initial image, and obtaining a final shooting height between the shooting device and each detection point on the second detection track.

[0059] In a possible implementation, the clarity of the acquired initial image can be calculated to obtain a first clarity, and the first distance difference can be calculated according to the difference between the first clarity and the median clarity, and the second shooting height can be adjusted according to the first distance difference to obtain the final shooting height between the shooting device and each detection point on the second detection path. Therefore, the present application can replace the ranging sensor through simple calculations, saving costs while ensuring the clarity of the captured image.

[0060] In another possible implementation, the correspondence between the clarity difference and the standard distance difference can be stored in a correspondence table in advance, and after calculating the difference between the first clarity and the median clarity value and obtaining the clarity difference, the first distance difference can be directly found in the correspondence table of the correspondence between the clarity difference and the standard distance difference, and then the second shooting height can be adjusted according to the first distance difference to obtain the final shooting height between the shooting device and each detection point on the second detection path. Then, by looking up the table, the processing speed is accelerated, and shooting can be completed while the shooting device is in motion.

[0061] In the embodiment of the present application, the photographing device is controlled to take a clear image of each inspection point on the second inspection track according to the final shooting height.

[0062] It can be seen that the present application can make an initial adjustment to the shooting distance of the current inspection lane by using the shooting distance of the previous inspection lane, thereby adjusting the shooting distance in advance. In addition, the shooting lens itself has a certain depth of field. Even if the shooting distance needs to be adjusted, only the shooting distance needs to be fine-tuned, and the adjustment can be completed quickly. This ensures the clarity of each image shot, thereby improving the accuracy of the defect detection results.

[0063] See also Figure 3, this figure is a schematic diagram of an image capturing device provided in an embodiment of the present application, and the device at least includes: an acquisition module 301, a first determination module 302, a first capturing module 303, and a second determination module 304.

[0064] An acquisition module 301 is used to acquire a first shooting height between a shooting device and each detection point on a first detection track;

[0065] A first determination module 302, configured to determine a second shooting height between the shooting device and each detection point on the second detection track according to a first shooting height between the shooting device and each detection point on the first detection track;

[0066] A first shooting module 303, used to control the shooting device to shoot an initial image of each detection point on the second detection track based on a second shooting height between the shooting device and each detection point on the second detection track;

[0067] The second determination module 304 is used to adjust the second shooting height by using the clarity of the initial image, and obtain a final shooting height between the shooting device and each detection point on the second detection track.

[0068] Optionally, the image capturing device further includes:

[0069] The second shooting module is used to control the shooting device to shoot a clear image of each detection point on the second detection path according to the final shooting height.

[0070] Optionally, the second determining module includes:

[0071] A first calculation unit, used for calculating the definition of the initial image to obtain a first definition;

[0072] A first distance difference is obtained according to a difference between the first clarity and a median value of a clarity threshold, wherein the median value of the clarity threshold is a median value between the first clarity threshold and the second clarity threshold, and the second clarity threshold is greater than the first clarity threshold;

[0073] The final shooting height is determined according to the first distance difference.

[0074] Optionally, obtaining a first distance difference according to a difference between the first clarity and a median of a clarity threshold value includes:

[0075] Calculate the difference between the first clarity and the median of the clarity threshold to obtain a clarity difference;

[0076] According to the corresponding relationship between the clarity difference and the standard distance difference, a first distance difference is obtained.

[0077] The present application discloses an image shooting device, an acquisition module 301, which is used to obtain a first shooting height between a shooting device and each detection point on a first detection track; a first determination module 302, which is used to determine a second shooting height between a shooting device and each detection point on a second detection track according to the first shooting height between the shooting device and each detection point on the first detection track; a first shooting module 303, which is used to control the shooting device to shoot an initial image of each detection point on the second detection track based on the second shooting height between the shooting device and each detection point on the second detection track; a second determination module 304, which is used to adjust the second shooting height using the clarity of the initial image, and obtain the final shooting height between the shooting device and each detection point on the second detection track. It can be seen that the present application can make an initial adjustment to the shooting distance of the current detection track by the shooting distance of the previous column of detection tracks, thereby adjusting the shooting distance in advance. And the shooting lens itself has a certain depth of field, even if the shooting distance needs to be adjusted, only the shooting distance needs to be fine-tuned, and the adjustment action can be completed quickly. In addition, the clarity of each image shooting can be guaranteed, thereby improving the accuracy of the defect detection results.

[0078] It should be noted that the modules involved in the embodiments of the present application can be implemented by software or hardware. The name of the module does not limit the module itself in some cases. For example, the acquisition module can also be described as a "module for acquiring the certificate information of the target user".

[0079] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0080] like Figure 4 As shown, this embodiment provides a computer readable medium 400, on which a computer program 411 is stored. When the computer program 411 is executed by a processor, the above Figure 2 The steps of the image capturing method.

[0081] It should be noted that in the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the above. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0082] It should be noted that the machine-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with 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 of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0083] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0084] See also Figure 5 , Figure 5 : is a schematic diagram of the hardware structure of a server provided in an embodiment of the present application. The server 500 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 522 (for example, one or more processors) and a memory 532, and one or more storage media 530 (for example, one or more mass storage devices) storing application programs 540 or data 444. Among them, the memory 532 and the storage medium 530 can be short-term storage or permanent storage. The program stored in the storage medium 530 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the server. Furthermore, the central processing unit 522 can be configured to communicate with the storage medium 530 and execute a series of instruction operations in the storage medium 530 on the server 500.

[0085] The server 500 may also include one or more power supplies 526, one or more wired or wireless network interfaces 550, one or more input and output interfaces 558, and / or one or more operating systems 541, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0086] The steps performed by the image capturing method in the above-mentioned embodiment can be based on the Figure 5 The server structure shown.

[0087] It should also be noted that according to the embodiments of the present application, the above Figure 2 The process of the image capturing method described in the flowchart in the figure can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a non-transitory computer readable medium, and the computer program includes a method for executing the above Figure 2 The program code of the method is shown in the flowchart schematic.

[0088] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0089] Although several specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present application. Certain features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0090] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. An image capturing method, characterized in that: The method is applied to an image capturing device, the image capturing device is connected to a capturing device, and the method comprises: Acquire a first shooting height between the shooting device and each detection point on the first detection track; Determine a second shooting height between the shooting device and each detection point on the second detection track according to a first shooting height between the shooting device and each detection point on the first detection track; the second shooting height between the shooting device and each detection point on the second detection track is the same as the first shooting height between the shooting device and each corresponding detection point on the first detection track; Based on a second shooting height between the shooting device and each detection point on the second detection track, controlling the shooting device to shoot an initial image of each detection point on the second detection track; The second shooting height is adjusted using the clarity of the initial image to obtain a final shooting height between the shooting device and each detection point on the second detection track.

2. The method according to claim 1, characterized in that Also includes: According to the final shooting height, the shooting device is controlled to shoot a clear image of each detection point on the second detection track.

3. The method according to claim 1, characterized in that The method of adjusting the second shooting height by using the clarity of the initial image to obtain a final shooting height between the shooting device and each detection point on the second detection path includes: Calculating the definition of the initial image to obtain a first definition; A first distance difference is obtained according to a difference between the first clarity and a median value of a clarity threshold, wherein the median value of the clarity threshold is a median value of a first clarity threshold and a second clarity threshold, and the second clarity threshold is greater than the first clarity threshold; The final shooting height is determined according to the first distance difference.

4. The method according to claim 3, characterized in that The obtaining a first distance difference according to a difference between the first clarity and a median of a clarity threshold value includes: Calculating a difference between the first clarity and a median of the clarity threshold to obtain a clarity difference; A first distance difference is obtained according to the corresponding relationship between the clarity difference and the standard distance difference.

5. The method according to claim 4, characterized in that The correspondence between the clarity difference and the standard distance difference is pre-stored in a correspondence table.

6. The method according to claim 1, characterized in that The second detection track is parallel to the first detection track.

7. The method according to claim 1, characterized in that Each detection point on the first detection track and each corresponding detection point on the second detection track are located on the same straight line perpendicular to the first detection track.

8. An image capturing device, characterized in that: The device is applied to an image capturing device, the image capturing device is connected to a capturing device, and the device comprises: An acquisition module, used for acquiring a first shooting height between the shooting device and each detection point on the first detection track; A first determination module is used to determine a second shooting height between the shooting device and each detection point on the second detection track according to a first shooting height between the shooting device and each detection point on the first detection track; the second shooting height between the shooting device and each detection point on the second detection track is the same as the first shooting height between the shooting device and each corresponding detection point on the first detection track; A first shooting module, used for controlling the shooting device to shoot an initial image of each detection point on the second detection track based on a second shooting height between the shooting device and each detection point on the second detection track; The second determination module is used to adjust the second shooting height by using the clarity of the initial image to obtain a final shooting height between the shooting device and each detection point on the second detection track.

9. An image capturing device, characterized in that: include: Memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images