Pipeline detection method, system, terminal device and storage medium based on mileage wheel

Abstract

The present application is applicable to the technical field of pipeline detection, and provides a pipeline detection method, system, terminal device and storage medium based on the odometer wheel, wherein the method includes obtaining the real-time position information of the detector in the pipeline; obtaining the first detection feature information of the detector in the pipeline and the second detection feature information of the odometer wheel; determining the position credibility information of the real-time position information according to the first detection feature information, the second detection feature information and the preset position credibility calculation formula, wherein the position credibility information is used to describe the credibility of the real-time position information. The present application can help detection personnel to know the credibility of the positioning data, and help detection personnel to comprehensively analyze the detection data of the detector in the pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular, to a pipeline detection method, system, terminal device and storage medium based on an odometer. Background Art

[0002] Pipeline transportation plays an important role in industrial development and urban modernization, and can bring huge economic benefits to industrial development and people's lives. In the transportation of energy such as oil or natural gas, pipeline transportation is usually used. Pipelines may have quality defects after long-term use, so effective inspections must be carried out on the pipelines.

[0003] At present, the overall structure of the pipeline is complex and long and narrow, and the inner wall of the pipeline is usually inspected using an in-pipe detector equipped with an odometer wheel. Since the odometer wheel may have processing errors, wear and tear, slipping during inspection, and jamming during inspection, there will be positioning errors in the positioning result of the odometer wheel. The detection distance of the in-pipe detector is usually tens or hundreds of kilometers. The longer the detection distance of the in-pipe detector, the greater the accumulated positioning error and the lower the accuracy of the positioning data. At present, there is a lack of a pipeline inspection method that can evaluate the credibility of positioning data, which is not conducive to the inspection personnel to know the credibility of the positioning data, and needs further improvement. Summary of the invention

[0004] Based on this, the embodiments of the present application provide a pipeline detection method, system, terminal device and storage medium based on an odometer to solve the problem in the prior art that it is not easy for detection personnel to know the reliability of positioning data.

[0005] In a first aspect, an embodiment of the present application provides a pipeline detection method based on an odometer wheel, which is applicable to a pipeline detector, wherein the pipeline detector is equipped with a plurality of odometer wheels, and the method comprises:

[0006] Obtaining real-time position information of the detector in the pipeline;

[0007] Acquire first detection characteristic information of the in-pipe detector and second detection characteristic information of the mileage wheel;

[0008] The location credibility information of the real-time location information is determined based on the first detection feature information, the second detection feature information and a preset location credibility calculation formula, wherein the location credibility information is used to describe the credibility of the real-time location information.

[0009] Compared with the prior art, the beneficial effect is as follows: in the pipeline detection method based on the odometer wheel provided in the embodiment of the present application, the terminal device can first obtain the real-time position information of the detector in the pipeline, and then obtain the first detection feature information of the detector in the pipeline and the second detection feature information of the odometer wheel, and then determine the position credibility information of the real-time position information based on the first detection feature information, the second detection feature information and the position credibility calculation formula, and accurately quantify the credibility of the real-time position information through the position credibility information, providing a reference quantity for the detection personnel to know the credibility of the positioning data, which to a certain extent solves the current problem that it is not conducive for the detection personnel to know the credibility of the positioning data.

[0010] In a second aspect, an embodiment of the present application provides a pipeline detection system based on an odometer wheel, which is applicable to a pipeline in-pipe detector, wherein the pipeline in-pipe detector is equipped with a plurality of odometer wheels, and the system comprises:

[0011] Real-time position information acquisition module: used to obtain the real-time position information of the detector in the pipeline;

[0012] Detection characteristic information acquisition module: used to acquire the first detection characteristic information of the detector in the pipeline and the second detection characteristic information of the mileage wheel;

[0013] Location credibility information determination module: used to determine the location credibility information of the real-time location information based on the first detection feature information, the second detection feature information and a preset location credibility calculation formula, wherein the location credibility information is used to describe the credibility of the real-time location information.

[0014] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0015] 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 steps of the method of the first aspect described above are implemented.

[0016] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0018] Figure 1It is a flow chart of a pipeline detection method provided in an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the structure of a pipeline detector provided by an embodiment of the present application;

[0020] Figure 3 is a flow chart of step S200 in the pipeline detection method provided in one embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the flow chart after step S300 in the pipeline detection method provided in one embodiment of the present application;

[0022] Figure 5 is a module block diagram of a pipeline detection system provided by an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0025] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0027] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0028] See also Figure 1 , Figure 1: is a flow chart of the pipeline detection method based on the mileage wheel provided in the embodiment of the present application. In the present embodiment, the execution subject of the pipeline detection method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiment of the present application does not impose any restrictions on the specific types of terminal devices.

[0029] See also Figure 1 The pipeline detection method provided in the embodiment of the present application includes but is not limited to the following steps:

[0030] In S100, real-time position information of the detector in the pipeline is obtained.

[0031] Specifically, the real-time position information is used to describe the real-time position of the in-pipe detector in the pipeline; the terminal device can obtain the real-time position information of the in-pipe detector.

[0032] For example, see Figure 2 The pipeline detection method is applicable to the pipeline detector, and the pipeline detector can be installed with multiple odometers at equal intervals, and the multiple odometers are arranged in a ring; during the detection process of the pipeline detector, the odometer is in contact with the inner wall of the pipeline; the terminal device can determine the travel distance of the pipeline detector in the pipeline by the number of rotations of the odometer and the circumference of the odometer, and then the terminal device can determine the real-time position information of the pipeline detector based on the initial position and travel distance of the pipeline detector entering the pipeline.

[0033] In S200, first detection feature information of the detector in the pipeline and second detection feature information of the odometer are obtained.

[0034] Specifically, after the terminal device obtains the real-time location information, the terminal device can obtain the first detection feature information of the detector in the pipeline and the second detection feature information of the odometer.

[0035] In some possible implementations, to help determine the reliability of positioning data, see Figure 3 Step S200 includes but is not limited to the following steps:

[0036] In S210, first detection feature information of the detector in the pipeline is obtained.

[0037] Specifically, the terminal device can first obtain the first detection characteristic information of the detector in the pipeline, wherein the first detection characteristic information includes calibration time interval information and calibration distance interval information, the calibration time interval information is used to describe the time interval from the last time the accurate position of the detector in the pipeline was determined, and the calibration distance interval information is used to describe the interval distance from the last time the accurate position of the detector in the pipeline was determined; exemplarily, when the detector in the pipeline just enters the pipeline and starts detection work, the terminal device can determine that the position corresponding to the pipeline hole is the accurate position of the detector in the pipeline, and then when the detector in the pipeline performs detection work in the pipeline for 72.5 minutes (i.e., 1 hour, 12 minutes and 30 seconds), and the distance traveled by the detector in the pipeline is 26.1 kilometers (i.e., 26,100 meters), the calibration time interval information can be 72.5; the calibration distance interval information can be 26.1.

[0038] In some possible implementations, in order to improve the scope of application of the pipeline detection method, the detection personnel can install an external positioning device on the ground above the pipeline. The external positioning device can determine whether the detector in the pipeline passes through the location of the external positioning device based on the magnetic principle. The external positioning device is used to calibrate the exact location of the detector in the pipeline. Since the walls of modern pipelines are getting thicker and thicker, and the external positioning device has poor penetration ability in the pipeline, the external positioning device usually does not cover the entire pipeline. When the detector in the pipeline passes the location of the external positioning device, the terminal device can determine that the location of the external positioning device is the exact location of the detector in the pipeline.

[0039] In S220, second detection feature information of the odometer is obtained.

[0040] Specifically, after the terminal device obtains the first detection characteristic information, the terminal device can obtain the second detection characteristic information of the mileage wheel, wherein the second detection characteristic information includes cumulative usage time information and current usage time information, the cumulative usage time information is used to describe the cumulative usage time of the mileage wheel, and the current usage time information is used to describe the usage time of the mileage wheel in the current detection process.

[0041] In S300, the location credibility information of the real-time location information is determined according to the first detection feature information, the second detection feature information and a preset location credibility calculation formula.

[0042] Specifically, the location credibility information is used to describe the credibility of the real-time location information; after the terminal device obtains the first detection feature information and the second detection feature information, the terminal device can input the first detection feature information and the second detection feature information into a preset location credibility calculation formula to determine the location credibility information of the real-time location information.

[0043] In some possible implementations, in order to accurately determine the credibility of the real-time location information, step S300 includes but is not limited to the following steps:

[0044] In S310, the first detection feature information and the second detection feature information are input into a preset position credibility calculation formula to determine the position credibility information of the real-time position information.

[0045] Specifically, the terminal device can input the first detection feature information and the second detection feature information into a preset location credibility calculation formula to accurately determine the location credibility information of the real-time location information.

[0046] In some possible implementations, the above position credibility calculation formula may be:

[0047]

[0048] In the formula, Reliability Lie Indicates the location credibility information. The greater the location credibility information, the lower the credibility of the real-time location information. Time Indicates calibration time interval information; represents the preset first weight value, The value range of represents 0.1 to 3. The first weight value can be selected according to the actual detection situation. For example, when the time interval between the in-pipe detector and the last accurate position determination is less than or equal to 2 minutes, the first weight value can be 0.1. When the time interval between the in-pipe detector and the last accurate position determination is less than or equal to 45 minutes, the first weight value can be 1.6. When the time interval between the in-pipe detector and the last accurate position determination is greater than 45 minutes, the first weight value can be 3.

[0049] In the formula, Span Space Indicates the calibration distance interval information; Slot Time_2 Indicates the current usage time information; Indicates the accumulated usage time information; represents the preset second weight value, The value range of is 0.5 to 0.8. The second weight value can be selected according to the actual detection situation. For example, when the mileage wheel on the pipeline detector enters the pipeline for detection for the first time after being manufactured, the current usage time information is equal to the cumulative usage time information. The value of the second weight value can be 0.8. When the cumulative usage time of the mileage wheel is greater than 4320 minutes, the value of the second weight value can be 0.5.

[0050] Exemplarily, when the first weight value is 3, the calibration time interval information is 72.5, the calibration distance interval information is 26.1, the second weight value is 0.5, the cumulative usage time information is 7200 and the current usage time information is 210, the location credibility information can be 0.888; when the first weight value is 0.1, the calibration time interval information is 1.5, the calibration distance interval information is 0.54, the second weight value is 0.6, the cumulative usage time information is 2880 and the current usage time information is 1.5, the location credibility information can be 0.115.

[0051] In some possible implementations, in order to facilitate the inspection personnel to analyze the positioning data of the detector in the pipeline, please refer to Figure 4 After step S300, the method further includes but is not limited to the following steps:

[0052] In S400, the location credibility information is compared with a preset credibility threshold.

[0053] Specifically, after the terminal device determines the location credibility information of the real-time location information, the terminal device may compare the location credibility information with a preset credibility threshold, and the value of the credibility threshold may be 0.55.

[0054] In S410, if the location credibility information is greater than the credibility threshold, a suspicious data packet is generated according to the location credibility information and the real-time location information.

[0055] Specifically, if the location credibility information is greater than the credibility threshold, it means that the credibility of the real-time location information is low, and the terminal device can generate a suspicious data packet based on the location credibility information and the real-time location information.

[0056] Without loss of generality, if the location credibility information is less than or equal to the credibility threshold, it means that the credibility of the real-time location information is relatively high, and the real-time location information has a certain validity.

[0057] In S420, the suspicious data packet is sent to a designated terminal.

[0058] Specifically, after the terminal device generates a suspicious data packet, the terminal device can send the suspicious data packet to a designated terminal, which is helpful for detection personnel to analyze the positioning data of the detector in the pipeline.

[0059] In some possible implementations, in order to further facilitate the inspector to analyze the positioning data of the detector in the pipeline, after step S410, the method further includes but is not limited to the following steps:

[0060] In S411, based on a preset pipeline distribution map, the real-time location information is highlighted to generate a highlighted pipeline map.

[0061] Specifically, the pipeline distribution map records the corresponding positions of multiple pipelines in a specified area; based on the preset pipeline distribution map, the terminal device can highlight the corresponding position of the real-time location information in the pipeline distribution map to generate a highlighted pipeline map.

[0062] Accordingly, step S420 includes but is not limited to the following steps:

[0063] In S421, the suspicious data packet and the highlighted pipeline map are sent to a designated terminal.

[0064] Specifically, after the terminal device generates a highlighted pipeline map, the terminal device can send suspicious data packets and the highlighted pipeline map to a designated terminal, which further facilitates the inspector to analyze the positioning data of the detector in the pipeline.

[0065] The implementation principle of the pipeline detection method based on the odometer wheel in the embodiment of the present application is: the terminal device can first obtain the real-time position information of the detector in the pipeline, and then the terminal device can obtain the first detection feature information of the detector in the pipeline and the second detection feature information of the odometer wheel, and then input the first detection feature information and the second detection feature information into the position credibility calculation formula to determine the position credibility information of the real-time position information, thereby providing the detection personnel with a reference quantity (i.e., position credibility information) for knowing the credibility of the positioning data. The credibility of the real-time position information can be accurately quantified through the position credibility information, which is helpful for the detection personnel to know the credibility of the positioning data.

[0066] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0067] The embodiment of the present application also provides a pipeline detection system based on an odometer wheel, which is applicable to a pipeline detector. The pipeline detector is equipped with multiple odometer wheels. For ease of description, only the parts related to the present application are shown, such as Figure 5 As shown, the system 50 includes:

[0068] Real-time position information acquisition module 51: used to acquire real-time position information of the detector in the pipeline;

[0069] The detection characteristic information acquisition module 52 is used to acquire the first detection characteristic information of the detector in the pipeline and the second detection characteristic information of the mileage wheel;

[0070] Position credibility information determination module 53: used to determine the position credibility information of the real-time position information according to the first detection feature information, the second detection feature information and a preset position credibility calculation formula, wherein the position credibility information is used to describe the credibility of the real-time position information.

[0071] Optionally, the detection feature information acquisition module 52 includes:

[0072] A first detection characteristic information acquisition submodule: used to acquire first detection characteristic information of the detector in the pipeline, wherein the first detection characteristic information includes calibration time interval information and calibration distance interval information;

[0073] The second detection characteristic information acquisition submodule is used to acquire the second detection characteristic information of the mileage wheel, wherein the second detection characteristic information includes the accumulated usage time information and the current usage time information.

[0074] Optionally, the location credibility information determination module 53 includes:

[0075] A location credibility information determination submodule: used to input the first detection feature information and the second detection feature information into a preset location credibility calculation formula to determine the location credibility information of the real-time location information;

[0076] The above position credibility calculation formula is:

[0077]

[0078] In the formula, Reliability Lie The location credibility information is the information about the location. The greater the location credibility information is, the lower the credibility of the real-time location information is. is the preset first weight value, The value range of Span is 0.1 to 3; Time Span is the calibration time interval information; Space To calibrate the distance interval information; is the preset second weight value, The value range of is 0.5 to 0.8; For the accumulated usage time information; Slot Time_2 It is the current usage time information.

[0079] Optionally, the system 50 further includes:

[0080] Location credibility information comparison module: used to compare location credibility information with a preset credibility threshold;

[0081] Suspicious data packet generation module: used to generate a suspicious data packet according to the location credibility information and the real-time location information if the location credibility information is greater than the credibility threshold;

[0082] Suspicious data packet sending module: used to send suspicious data packets to the specified terminal.

[0083] Optionally, the system 50 further includes:

[0084] Highlight pipeline map generation module: used to highlight the real-time location information based on the preset pipeline distribution map to generate a highlighted pipeline map, wherein the pipeline distribution map records the corresponding locations of multiple pipelines in a specified area;

[0085] Accordingly, the suspicious data packet sending module includes:

[0086] Suspicious data packet sending submodule: used to send suspicious data packets and highlighted pipeline maps to the specified terminal.

[0087] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0088] The present application also provides a terminal device, such as Figure 6 As shown, the terminal device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61. When the processor 61 executes the computer program 63, the steps in the above-mentioned traffic processing method embodiment are implemented, for example Figure 1 Steps S100 to S300 shown; or, when the processor 61 executes the computer program 63, the functions of each module in the above device are realized, for example Figure 5 The functions of modules 51 to 53 are shown.

[0089] The terminal device 60 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 60 includes but is not limited to a processor 61 and a memory 62. Those skilled in the art will appreciate that Figure 6 It is only an example of the terminal device 60 and does not constitute a limitation of the terminal device 60. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 60 may also include input and output devices, network access devices, buses, etc.

[0090] Among them, the processor 61 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0091] The memory 62 may be an internal storage unit of the terminal device 60, such as a hard disk or memory of the terminal device 60, or an external storage device of the terminal device 60, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 60; further, the memory 62 may include both an internal storage unit and an external storage device of the terminal device 60, and the memory 62 may also store a computer program 63 and other programs and data required by the terminal device 60, and the memory 62 may also be used to temporarily store data that has been output or is to be output.

[0092] One embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0093] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A pipeline detection method based on an odometer wheel, applicable to a pipeline in-pipe detector, wherein the pipeline in-pipe detector is equipped with a plurality of odometer wheels, characterized in that: The method comprises: Obtaining real-time position information of the detector in the pipeline; Acquire first detection characteristic information of the in-pipe detector and second detection characteristic information of the odometer, wherein the first detection characteristic information includes calibration time interval information and calibration distance interval information, and the second detection characteristic information includes accumulated use time information and current use time information; Determine the location credibility information of the real-time location information according to the first detection feature information, the second detection feature information and a preset location credibility calculation formula, wherein the location credibility information is used to describe the credibility of the real-time location information; Wherein, determining the location credibility information of the real-time location information according to the first detection feature information, the second detection feature information and a preset location credibility calculation formula includes: Inputting the first detection feature information and the second detection feature information into a preset position credibility calculation formula to determine the position credibility information of the real-time position information; The calculation formula of the position credibility is: In the formula, Reliability Lie is the location credibility information, the greater the location credibility information is, the lower the credibility of the real-time location information is; is the preset first weight value, The value range of Span is 0.1 to 3; Time is the calibration time interval information; Span Space The calibration distance interval information; is the preset second weight value, The value range of is 0.5 to 0.8; The accumulated usage time information; Slot Time_2 is the current usage time information.

2. The method according to claim 1, characterized in that After determining the location credibility information of the real-time location information according to the first detection feature information, the second detection feature information and a preset location credibility calculation formula, the method further includes: Comparing the location credibility information with a preset credibility threshold; If the location credibility information is greater than the credibility threshold, generating a suspicious data packet according to the location credibility information and the real-time location information; The suspicious data packet is sent to a designated terminal.

3. The method according to claim 2, characterized in that After generating a suspicious data packet according to the location credibility information and the real-time location information if the location credibility information is less than the credibility threshold, the method further includes: Based on a preset pipeline distribution map, the real-time location information is highlighted to generate a highlighted pipeline map, wherein the pipeline distribution map records corresponding locations of multiple pipelines in a specified area; Accordingly, sending the suspicious data packet to a designated terminal includes: The suspicious data packet and the highlighted pipeline map are sent to a designated terminal.

4. A pipeline detection system based on an odometer wheel, suitable for an in-pipeline detector, wherein the in-pipeline detector is equipped with a plurality of odometer wheels, characterized in that: The system comprises: Real-time position information acquisition module: used to obtain the real-time position information of the detector in the pipeline; Detection characteristic information acquisition module: used to acquire first detection characteristic information of the in-pipe detector and second detection characteristic information of the mileage wheel, wherein the first detection characteristic information includes calibration time interval information and calibration distance interval information, and the second detection characteristic information includes accumulated use time information and current use time information; A location credibility information determination module: used to determine the location credibility information of the real-time location information according to the first detection feature information, the second detection feature information and a preset location credibility calculation formula, wherein the location credibility information is used to describe the credibility of the real-time location information; Wherein, the location credibility information determination module includes: A location credibility information determination submodule: used for inputting the first detection feature information and the second detection feature information into a preset location credibility calculation formula to determine the location credibility information of the real-time location information; The calculation formula of the position credibility is: In the formula, Reliability Lie is the location credibility information, the greater the location credibility information is, the lower the credibility of the real-time location information is; is the preset first weight value, The value range of Span is 0.1 to 3; Time is the calibration time interval information; Span Space The calibration distance interval information; is the preset second weight value, The value range of is 0.5 to 0.8; The accumulated usage time information; Slot Time_2 is the current usage time information.

5. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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