An image acquisition method, apparatus and electronic device

Abstract

An image acquisition method, apparatus, and electronic device are disclosed. The method includes: obtaining first exposure parameters of a first sensor and second exposure parameters of a second sensor of an image acquisition device; calculating a first exposure duration based on the first exposure parameters and a second exposure duration based on the second exposure parameters; acquiring a first image corresponding to the first exposure duration and a second image corresponding to the second exposure duration according to a preset time difference; and performing fusion and noise reduction processing on the first and second images to obtain a fused image. By acquiring images corresponding to each exposure duration according to the preset time difference, the start and end exposure time differences of the first and second sensors in the image acquisition device are consistent, thereby ensuring that the first and second exposure times are evenly distributed within the image acquisition time, resulting in a clearer fused image.

Description

Technical Field

[0001] This application relates to the field of image processing technology, and in particular to an image acquisition method, apparatus and electronic device. Background Technology

[0002] To acquire clear images at different times, image acquisition devices typically use dual CMOS image sensors to sense the light information of the target object. A beam splitter separates the infrared and visible light from the acquired light information. All the separated infrared light is input into an infrared CMOS image sensor, and all the separated visible light is input into a CMOS image sensor that filters out infrared light. The image processing unit then fuses the color image and the infrared brightness image, thus obtaining a high-brightness image even under low white light illumination.

[0003] In practical applications, the light information collected by dual CMOS image sensors is inconsistent. When images are collected under high white light illumination, the exposure parameters of the dual CMOS image sensors are the same, which will result in the same exposure time for the dual CMOS image sensors. Therefore, the fused image will be overexposed, resulting in an unclear fused image.

[0004] Furthermore, to obtain a clear fused image, the exposure parameters of the dual CMOS image sensors will be adjusted so that the exposure times of the two CMOS image sensors are different. A schematic diagram of the exposure times of the dual CMOS image sensors is shown below. Figure 1 As shown, in Figure 1 In the process, when the exposure time of image sensor 1 reaches t, image sensor 2 begins to expose. If there is a moving object within the time t, it will cause insufficient brightness or color in the fused image, or the image of the moving object will be lost, which will also result in an unclear fused image. Summary of the Invention

[0005] This application provides an image acquisition method, apparatus, and electronic device for improving the clarity of fused images obtained by image acquisition devices.

[0006] In a first aspect, this application provides an image acquisition method, the method comprising:

[0007] The first exposure parameters of the first sensor of the image acquisition device and the second exposure parameters of the second sensor are obtained, wherein the first exposure parameters and the second exposure parameters are different;

[0008] The first exposure duration is calculated based on the first exposure parameters, and the second exposure duration is calculated based on the second exposure parameters;

[0009] The first image corresponding to the first exposure duration is obtained according to the preset time difference, and the second image corresponding to the second exposure duration is obtained.

[0010] The first image and the second image are fused and denoised to obtain a fused image.

[0011] By using the above method, the first exposure time and the second exposure time are evenly distributed during the process of the image acquisition device obtaining the fused image, thereby reducing the probability of the fused image being unclear due to uneven sensor exposure time difference in the acquired image, and thus improving the clarity of the fused image.

[0012] In one possible design, acquiring the first image corresponding to the first exposure duration and the second image corresponding to the second exposure duration according to a preset time difference includes:

[0013] The first light information corresponding to the first exposure time is determined, and the second light information corresponding to the second exposure time is determined;

[0014] The first sensor is controlled to generate a first image based on the first light information, and the second sensor is controlled to generate a second image based on the second light information.

[0015] By using the above method, a first image is obtained based on the first sensor and a second image is obtained based on the second sensor, which realizes the extraction of images based on the dimensions of color path and light path, which is beneficial to improving the clarity of the fused image.

[0016] In one possible design, after acquiring the first image corresponding to the first exposure duration and the second image corresponding to the second exposure duration according to a preset time difference, the method further includes:

[0017] The first endpoint value and the second endpoint value corresponding to the first exposure duration are determined, and the third endpoint value and the fourth endpoint value corresponding to the second exposure duration are determined;

[0018] The initial exposure time difference is calculated based on the first endpoint value and the third endpoint value, and the end exposure time difference is calculated based on the second endpoint value and the fourth endpoint value;

[0019] The start exposure time difference and the end exposure time difference are controlled to be equal to the preset time difference.

[0020] By using the above method, the start exposure time difference and the end exposure time difference are made equal, and the first exposure time and the second exposure time are evenly distributed within the image acquisition period, thereby ensuring that the accuracy of the fused image can be improved.

[0021] In one possible design, the step of fusing and denoising the first image and the second image to obtain a fused image includes:

[0022] The first image and the second image are respectively subjected to image noise reduction processing to obtain the first target graphic and the second target image;

[0023] The target first image and the target second image are fused based on a preset fusion method to generate a third image;

[0024] The third image is subjected to a preset image enhancement process, and the enhanced third image is used as the fused image.

[0025] By using the above method, the first graphic and the second image are subjected to noise reduction and enhancement processing, making the fused image determined based on the first image and the second image clearer and ensuring the clarity of the fused image.

[0026] Secondly, this application provides an image acquisition device, the device comprising:

[0027] The acquisition module is used to acquire the first exposure parameters of the first sensor of the image acquisition device and the second exposure parameters of the second sensor;

[0028] The calculation module is used to calculate a first exposure duration based on the first exposure parameters and a second exposure duration based on the second exposure parameters;

[0029] The image module is used to acquire a first image corresponding to the first exposure duration according to a preset time difference, and to acquire a second image corresponding to the second exposure duration;

[0030] The fusion module is used to perform fusion and noise reduction processing on the first image and the second image to obtain a fused image.

[0031] In one possible design, the image module is specifically used to determine first light information corresponding to the first exposure time and second light information corresponding to the second exposure time, control the first sensor to generate a first image based on the first light information, and control the second sensor to generate a second image based on the second light information.

[0032] In one possible design, the image module is further configured to determine a first endpoint value and a second endpoint value corresponding to the first exposure duration, and to determine a third endpoint value and a fourth endpoint value corresponding to the second exposure duration, calculate an initial exposure time difference based on the first endpoint value and the third endpoint value, and calculate an end exposure time difference based on the second endpoint value and the fourth endpoint value, and control the start exposure time difference and the end exposure time difference to be equal to the preset time difference.

[0033] In one possible design, the fusion module is specifically used to perform image noise reduction processing on the first image and the second image respectively to obtain a target first image and a target second image, fuse the target first image and the target second image based on a preset fusion method to generate a third image, perform preset image enhancement processing on the third image, and use the enhanced third image as the fused image.

[0034] Thirdly, this application provides an electronic device, comprising:

[0035] Memory, used to store computer programs;

[0036] When the processor executes the computer program stored in the memory, it implements the above-described image acquisition method steps.

[0037] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the image acquisition method described above.

[0038] For details on each of the above-mentioned aspects one through four, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect. These details will not be repeated here. Attached Figure Description

[0039] Figure 1 A schematic diagram illustrating the exposure time of the dual CMOS image sensor provided in this application;

[0040] Figure 2 A flowchart of the steps of an image acquisition method provided in this application;

[0041] Figure 3 A schematic diagram showing the exposure time of the first sensor and the second sensor provided in this application;

[0042] Figure 4 A schematic diagram of the structure of an image acquisition device provided in this application;

[0043] Figure 5This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operational methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. A connected to B can represent: A and B directly connected, and A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for distinguishing the purpose of description and should not be construed as indicating or implying relative importance or order.

[0045] In previous technologies, because the exposure times of the dual CMOS image sensors in the image acquisition device were different during image acquisition, and the distribution of the exposure times of each dual CMOS image sensor was different during the image acquisition process, reference... Figure 1 The time difference between the start and end exposure times is t. If there is a moving object within t, the fused image will be insufficient in brightness or color, or the image of the moving object will be lost, resulting in an unclear fused image.

[0046] To address the problems described above, this application provides an image acquisition method for obtaining clearer fused images. The methods and apparatus described in this application are based on the same technical concept. Since the principles by which the methods and apparatus solve the problems are similar, embodiments of the apparatus and methods can be referred to interchangeably, and repeated details will not be repeated.

[0047] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0048] Reference Figure 2 This application provides an image acquisition method that can acquire a clearer fused image. The implementation process of this method is as follows:

[0049] Step S21: Obtain the first exposure parameters of the first sensor of the image acquisition device and the second exposure parameters of the second sensor.

[0050] When an image acquisition device acquires a fused image, the beam splitter in the image acquisition device needs to distinguish the light information acquired by the sensor according to two dimensions: color and brightness, and generate color images and black and white images respectively. The clarity of the color images and black and white images will affect the clarity of the fused image.

[0051] The shutter of the image acquisition device can be a rolling shutter. The exposure method of a rolling shutter is a series of progressive exposures, line by line. For details on progressive exposure, please refer to [link / reference needed]. Figure 1 In terms of exposure modes, the shutter of the image acquisition device can also be a global shutter, where the sensor exposes all pixels at the same time.

[0052] Because the color path and luminance path of the image acquisition device have different supplementary lighting or photosensitive characteristics, different exposure parameters need to be set in the sensors of the color path and luminance path. The first sensor can be the color path sensor and the second sensor can be the luminance path sensor. The image acquisition device obtains the first exposure parameter of the first sensor and the second exposure parameter of the second sensor. The first exposure parameter and the second exposure parameter are different.

[0053] Step S22: Calculate the first exposure duration based on the first exposure parameters, and calculate the second exposure duration based on the second exposure parameters.

[0054] Substituting the first exposure parameter into the exposure time formula allows us to calculate the first exposure duration, and substituting the second exposure parameter into the exposure time formula allows us to calculate the second exposure duration. Since the exposure time formula is a technique known to those skilled in the art, it will not be elaborated upon here.

[0055] Step S23: Obtain the first image corresponding to the first exposure time and the second image corresponding to the second exposure time according to the preset time difference.

[0056] After the image acquisition device determines the first exposure time and the second exposure time, the first sensor will collect the first light information during the first exposure time, and the second sensor will collect the second light information during the second exposure time. The A / D converter in the image acquisition device will convert the light signals in the first light information and the second light information into charges. The stronger the light signal, the more charges are converted. The image acquisition device can control the first sensor to generate the first image based on the first light information, and control the second sensor to generate the second image based on the second light information.

[0057] Because the start and end exposure time differences of the CMOS image sensor are unevenly distributed within the exposure time period of the image acquisition device, in order to prevent insufficient color or brightness imbalance in the fused image caused by uneven distribution, a first endpoint value and a second endpoint value corresponding to the first exposure time, as well as a third endpoint value and a fourth endpoint value for the second exposure time, are determined. The first endpoint value is the time when the first sensor starts exposure from the first row, i.e., the pixel reset time of the first row. The second endpoint value is the time when the second sensor ends exposure, starts converting the first line information into charge and outputs the first image, i.e., the pixel readout time. The third endpoint value is the time when the second sensor starts exposure from the first row. The fourth endpoint value is the time when the second sensor ends exposure, starts converting the second light information into charge and outputs the second image.

[0058] Based on the first endpoint value and the third endpoint value determined above, the initial exposure time difference when the first sensor and the second sensor start exposure can be calculated, and the end exposure time difference when the first sensor and the second sensor end exposure can be calculated based on the second endpoint value and the fourth endpoint value determined above. In this embodiment of the application, the initial exposure time difference and the end exposure time difference can be made equal.

[0059] The image acquisition device can acquire a first image corresponding to a first exposure duration according to a preset time difference, and acquire a second image corresponding to a second exposure duration according to a preset time difference. The preset time difference represents the acquisition duration interval between the first image and the second image. The preset time difference can also be the end exposure time difference, or it can be the start exposure time difference when the image acquisition device acquires each frame of image.

[0060] For example: A diagram illustrating the exposure time for the first and second sensors respectively is shown below. Figure 3 As shown, in Figure 3 In this example, the initial exposure time difference and the end exposure time difference between the first sensor and the second sensor are both t / 2. The initial exposure time difference and the end exposure time difference can be adjusted based on the actual situation. This is just an example.

[0061] By using the above method, the first exposure time and the second exposure time are evenly distributed during the image acquisition process of the image acquisition device, reducing the probability of blurred fused images caused by uneven exposure time distribution, thereby improving the clarity of the fused images obtained by the image acquisition device.

[0062] Step S24: Perform fusion and noise reduction processing on the first image and the second image to obtain a fused image.

[0063] In the process of fusing the first and second images, in order to prevent the image quality of the first and second images from degrading due to noise interference, the image acquisition device needs to perform noise reduction processing on the first and second images. The noise-reduced first image is used as the target first image, and the noise-reduced second image is used as the target second image. Noise reduction processing can use Gaussian filtering, mean filtering, etc., without specific limitations here.

[0064] After identifying the first and second target images, in order to improve the spatial resolution of the fused image, the first and second target images need to be fused to generate a third image. The fusion process can employ pixel-level fusion, feature fusion, and decision fusion, etc. Since the fusion processing methods are well-known to those skilled in the art, only examples are given here.

[0065] After obtaining the third image, in order to make the details in the third image clearer, the third image needs to be subjected to a preset image enhancement process, and the enhanced third image is used as the fused image. The preset image enhancement process can be grayscale transformation enhancement, linear grayscale enhancement, etc., which will not be described in detail here.

[0066] Based on the above method, by adjusting the sensor exposure time of the image acquisition device during the image acquisition process, the distribution of the first exposure time and the second exposure time during the image acquisition process is made more uniform, thereby reducing the probability of unclear fused images caused by the difference between the initial exposure time difference and the end exposure time difference, and thus improving the image acquisition device to obtain clearer fused images.

[0067] Based on the same inventive concept, this application also provides an image acquisition device, which implements the function of an image acquisition method, as described above. Figure 4 The device includes:

[0068] The module 401 is used to obtain the first exposure parameters of the first sensor of the image acquisition device and the second exposure parameters of the second sensor.

[0069] The calculation module 402 is used to calculate a first exposure duration based on the first exposure parameters and to calculate a second exposure duration based on the second exposure parameters;

[0070] Image module 403 is used to acquire a first image corresponding to the first exposure duration according to a preset time difference, and to acquire a second image corresponding to the second exposure duration;

[0071] The fusion module 404 is used to perform fusion and noise reduction processing on the first image and the second image to obtain a fused image.

[0072] In one possible design, the image module 403 is specifically used to determine the first light information corresponding to the first exposure time and the second light information corresponding to the second exposure time, control the first sensor to generate a first image based on the first light information, and control the second sensor to generate a second image based on the second light information.

[0073] In one possible design, the image module 403 is further configured to determine a first endpoint value and a second endpoint value corresponding to the first exposure duration, and to determine a third endpoint value and a fourth endpoint value corresponding to the second exposure duration, calculate an initial exposure time difference based on the first endpoint value and the third endpoint value, and calculate an end exposure time difference based on the second endpoint value and the fourth endpoint value, and control the start exposure time difference and the end exposure time difference to be equal to the preset time difference.

[0074] In one possible design, the fusion module 404 is specifically used to perform image noise reduction processing on the first image and the second image respectively to obtain a target first image and a target second image, fuse the target first image and the target second image based on a preset fusion method to generate a third image, perform preset image enhancement processing on the third image, and use the enhanced third image as the fused image.

[0075] Based on the same inventive concept, this application also provides an electronic device that can perform the functions of the aforementioned image acquisition device. (Refer to...) Figure 5 The electronic device includes:

[0076] At least one processor 501 and a memory 502 connected to at least one processor 501. In this embodiment, the specific connection medium between the processor 501 and the memory 502 is not limited. Figure 5 The example shown is the connection between processor 501 and memory 502 via bus 500. Bus 500 is... Figure 5 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The Bus 500 can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 5 The term 501 is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 501 can also be called a controller; there is no restriction on the name.

[0077] In this embodiment, memory 502 stores instructions executable by at least one processor 501. By executing the instructions stored in memory 502, at least one processor 501 can perform an image acquisition method as described above. Processor 501 can implement... Figure 4 The functions of each module in the device shown.

[0078] The processor 501 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 502 and calling data stored in memory 502, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0079] In one possible design, processor 501 may include one or more processing units. Processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0080] Processor 501 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of an image acquisition method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or being executed by a combination of hardware and software modules within the processor.

[0081] Memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 502 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 502 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 502 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0082] By designing and programming the processor 501, the code corresponding to the image acquisition method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute it during operation. Figure 2 The illustrated embodiment presents an image acquisition step. How to design and program the processor 501 is a technique well-known to those skilled in the art and will not be described further here.

[0083] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform an image acquisition method as described above.

[0084] In some possible implementations, various aspects of the image acquisition method provided by this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in an image acquisition method according to various exemplary embodiments of this application as described above.

[0085] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0087] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0088] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0089] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An image acquisition method, characterized in that, include: The first exposure parameters of the first sensor of the image acquisition device and the second exposure parameters of the second sensor are obtained, wherein the first exposure parameters and the second exposure parameters are different; The first exposure duration is calculated based on the first exposure parameters, and the second exposure duration is calculated based on the second exposure parameters; The first endpoint value and the second endpoint value corresponding to the first exposure duration are determined, and the third endpoint value and the fourth endpoint value corresponding to the second exposure duration are determined; The initial exposure time difference between the first sensor and the second sensor at the start of exposure is calculated based on the first endpoint value and the third endpoint value, and the end exposure time difference between the first sensor and the second sensor at the end of exposure is calculated based on the second endpoint value and the fourth endpoint value. Control the initial exposure time difference and the end exposure time difference to be equal to the preset time difference; According to the preset time difference, obtain the first image corresponding to the first exposure time and the second image corresponding to the second exposure time; The first image and the second image are fused and denoised to obtain a fused image.

2. The method as described in claim 1, characterized in that, The step of acquiring the first image corresponding to the first exposure duration according to the preset time difference, and acquiring the second image corresponding to the second exposure duration, includes: The first light information corresponding to the first exposure time is determined, and the second light information corresponding to the second exposure time is determined; The first sensor is controlled to generate a first image based on the first light information, and the second sensor is controlled to generate a second image based on the second light information.

3. The method as described in claim 1, characterized in that, The step of fusing and denoising the first image and the second image to obtain a fused image includes: The first image and the second image are respectively subjected to image noise reduction processing to obtain the target first image and the target second image; The target first image and the target second image are fused based on a preset fusion method to generate a third image; The third image is subjected to a preset image enhancement process, and the enhanced third image is used as the fused image.

4. An image acquisition device, characterized in that, include: The acquisition module is used to acquire the first exposure parameters of the first sensor of the image acquisition device and the second exposure parameters of the second sensor; The calculation module is used to calculate a first exposure duration based on the first exposure parameters and a second exposure duration based on the second exposure parameters; The image module is used to determine the first endpoint value and the second endpoint value corresponding to the first exposure time, and to determine the third endpoint value and the fourth endpoint value corresponding to the second exposure time; The initial exposure time difference between the first sensor and the second sensor at the start of exposure is calculated based on the first endpoint value and the third endpoint value, and the end exposure time difference between the first sensor and the second sensor at the end of exposure is calculated based on the second endpoint value and the fourth endpoint value; the initial exposure time difference and the end exposure time difference are controlled to be equal to a preset time difference; According to the preset time difference, obtain the first image corresponding to the first exposure time and the second image corresponding to the second exposure time; The fusion module is used to perform fusion and noise reduction processing on the first image and the second image to obtain a fused image.

5. The apparatus as described in claim 4, characterized in that, The image module is specifically used to determine the first light information corresponding to the first exposure time and the second light information corresponding to the second exposure time, control the first sensor to generate a first image based on the first light information, and control the second sensor to generate a second image based on the second light information.

6. The apparatus as claimed in claim 4, characterized in that, The fusion module is specifically used to perform image noise reduction processing on the first image and the second image respectively to obtain a target first image and a target second image, to fuse the target first image and the target second image based on a preset fusion method to generate a third image, to perform preset image enhancement processing on the third image, and to use the enhanced third image as the fused image.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method according to any one of claims 1-3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-3.

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