Method, device and storage medium for determining imaging position of vehicle window glass

Abstract

This invention discloses a method, device, and storage medium for determining the imaging position of a vehicle window glass, relating to the field of automotive glass imaging. The method includes the following steps: determining a reflection point on the projection when the line connecting the eye point and the emitting point can form a projection on the vehicle glass, based on a preset reflection length ratio; determining a convergence value of the reflection length ratio based on the positions of the eye point, the emitting point, and the reflection point; adjusting the position of the reflection point based on the convergence value of the reflection length ratio, wherein the adjustment is completed when the difference between the incident angle and the reflection angle of the reflection point is within a specified threshold; and using the adjusted reflection point as the imaging point corresponding to the eye point and the emitting point. This invention can quickly find the actual imaging position of the emitting point on the glass without using dedicated optical software, significantly reducing R&D costs, shortening the development cycle, and improving R&D efficiency.

Description

Technical Field

[0001] This invention relates to the field of automotive glass imaging, and more specifically to a method, device, and storage medium for determining the imaging position of a vehicle window. Background Technology

[0002] With the development of automotive intelligence, the human-machine interaction between drivers and vehicles is becoming increasingly rich, and the number and size of bright objects inside the car (such as the instrument cluster screen and the central control screen) are also increasing. The luminous screens of these bright objects will create bright areas on the car glass (mainly the windshield) (the specific brightness of the bright areas can be set according to different cars or needs), and these bright areas may affect the driver's driving (i.e., glare).

[0003] To adapt to changes in high-brightness areas and reduce their impact on driving, screen suppliers for high-brightness objects use protective films to reduce screen brightness at night. At the same time, car manufacturers also assess whether high-brightness areas will affect the driver's driving. If so, they need to adjust the position of the high-brightness objects or reduce their screen brightness.

[0004] Currently, automotive glass is typically variable curvature glass. The method for determining the imaging position on automotive glass is to use specialized optical software for simulation calculation, verification, and determination.

[0005] However, using specialized optical software for simulation and verification is not only costly but also involves cumbersome calculations and low R&D efficiency. At the same time, it requires professional personnel, such as CAE (Computer Aided Engineering) personnel, which further increases R&D costs and prolongs the R&D cycle. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the technical problem solved by this invention is: how to determine the imaging position of a light source on a car window without the need for dedicated optical software, thereby reducing R&D costs and shortening the R&D cycle.

[0007] To achieve the above objectives, in a first aspect, embodiments of this application provide a method for determining the imaging position of a vehicle window, comprising the following steps:

[0008] When it is determined that the line connecting the eye point and the light source point can form a projection on the vehicle glass, the reflection point is determined on the projection according to the preset reflection length ratio;

[0009] Based on the positions of the eye point, the luminous point, and the reflection point, determine the convergence value of the reflection length ratio;

[0010] The position of the reflection point is adjusted according to the convergence value of the reflection length ratio. The condition for the adjustment to be completed is that the difference between the incident angle and the reflection angle of the reflection point is within a specified threshold.

[0011] The adjusted reflection point is used as the imaging point corresponding to the eye point and the luminous point.

[0012] In conjunction with the first aspect, in one implementation, the process of determining the convergence value of the reflection length ratio based on the positions of the eye point, the emitting point, and the reflecting point includes:

[0013] Define the eye point as A, the light source as B, the reflection point as H, and the projection of line segment AB onto the car window glass as CD;

[0014] Define CE as the line segment that is basically perpendicular to the vehicle glass and intersects line segment AB;

[0015] Define DF as a line segment that is basically perpendicular to the vehicle glass and intersects line segment AB;

[0016] Define a point G on line segment HB such that HG = HA;

[0017] Define a line segment HJ that is substantially perpendicular to the vehicle glass and intersects with line segment AG;

[0018] Define a plane P that is basically perpendicular to line segment HJ, and define points K, L and M on plane P; line segments AK, GL and BM are all basically parallel to line segment HJ.

[0019] Determine the convergence value of the reflection length ratio based on line segments AB, EF, AH, AJ, GH, GJ, KL, and KM.

[0020] In conjunction with the first aspect, in one embodiment, the formula for calculating the convergence value Rea of ​​the reflection length ratio is:

[0021] Rea = Rea2 + Rea1 * Rea5 * Rea6;

[0022] Where Rea1 = AB / EF; Rea2 represents the preset reflection length ratio, Rea2 = CH / CD; Rea5 = KL / KM;

[0023] Rea6=(Rea3-Rea4) / (2*Rea3+2*Rea4); Rea3=AH / AJ; Rea4=GH / GJ.

[0024] In conjunction with the first aspect, in one embodiment, the process of adjusting the position of the reflection point based on the convergence value of the reflection length ratio includes:

[0025] The convergence value is determined as the new reflection length ratio, and the position of the new reflection point is determined based on the new reflection length ratio.

[0026] In conjunction with the first aspect, in one implementation, the method further includes the following steps:

[0027] If the convergence value of the reflection length ratio obtained in two consecutive tests is greater than 1, or the convergence value of the reflection length ratio obtained in two consecutive tests is less than 0, it is determined that the eye point and the imaging point do not correspond to the luminous point.

[0028] In conjunction with the first aspect, in one embodiment, the condition for determining that the line connecting the eye point and the light-emitting point can form a projection on the vehicle glass is:

[0029] It is possible to create a projection of the line connecting the eye point and the light point on the car window glass.

[0030] In conjunction with the first aspect, in one implementation, the process of determining the reflection point on the projection according to a preset reflection length ratio includes:

[0031] Determine the projection of the line connecting the eye point and the light source onto the vehicle glass, and then determine the reflection point on the projection according to the preset reflection length ratio.

[0032] In conjunction with the first aspect, in one implementation, the method further includes the following steps:

[0033] After all the eye points and the imaging points corresponding to all the luminous points are determined, the imaging region is formed based on all the imaging points.

[0034] In a second aspect, embodiments of this application provide an electronic device, including a memory and a processor, wherein the processor is used to execute an executable program stored in the memory, characterized in that: when the executable program is executed, it implements the method provided in the first aspect.

[0035] Thirdly, embodiments of this application provide a storage medium storing a computer program, which, when executed, implements the method provided in the first aspect.

[0036] Compared with the prior art, the advantages of the present invention are as follows:

[0037] This invention utilizes the geometric relationship between the eyepoint, the emitting point, and the reflecting point to converge a preset reflecting point, thereby obtaining the position of the emitting point's imaging point on the vehicle glass. This method is simple and easy to implement, quickly finding the actual imaging position of the emitting point on the glass without the need for specialized optical software in existing technologies (according to the method of this invention, a specific execution plan for rapid calculation can be designed in CAD software), thus significantly reducing R&D costs, shortening the development cycle, and improving R&D efficiency. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram illustrating the ratio of the calculated bus segment to the corresponding projected line segment in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram illustrating the calculation of the length ratio convergence value in an embodiment of the present invention;

[0041] Figure 3 This is a flowchart illustrating the method for determining the imaging position of a vehicle window glass in an embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of the interface design for imaging points on a vehicle window glass based on a CATIA knowledge engineering template. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0046] The method for determining the imaging position of a vehicle window glass in this embodiment of the invention includes the following steps: when the line connecting the eye point (one point in the set of eye points) and the luminous point (one point in all luminous points of a bright object) can form a projection on the vehicle glass (curved surface), a reflection point is determined on the projection according to a preset reflection length ratio; based on the positions (geometric relationship) of the current eye point, the current luminous point, and the current reflection point, a convergence value of the reflection length ratio is determined; the position of the current reflection point is adjusted according to the convergence value of the reflection length ratio, and the condition for the adjustment to be completed is that the difference between the incident angle and the reflection angle of the reflection point is within a specified threshold; the adjusted reflection point is used as the imaging point corresponding to the current eye point and the current luminous point.

[0047] Therefore, this invention utilizes the geometric relationship between the eyepoint, the luminescent point, and the reflection point to converge a preset reflection point, thereby obtaining the position of the luminescent point's imaging point on the vehicle glass. This method is simple and easy to implement, quickly finding the actual imaging position of the luminescent point on the glass without requiring specialized optical software (according to the method of this invention, a rapid calculation implementation scheme can be designed in CAD software), thus significantly reducing R&D costs, shortening the development cycle, and improving R&D efficiency.

[0048] In one embodiment, the process of determining that the line connecting the eye point and the light-emitting point can form a projection on the vehicle glass (curved surface) includes: establishing a vehicle coordinate system, and determining the positions of the window glass, the eye point, and the light-emitting point (all are 3D data, i.e., three-dimensional coordinate data) in the vehicle coordinate system. It is then determined whether a projection of the line connecting the eye point and the light-emitting point can be created on the window glass. If so, it is determined that the line connecting the eye point and the light-emitting point can form a projection on the vehicle glass (curved surface); otherwise, it is determined that the line connecting the eye point and the light-emitting point cannot form a projection on the vehicle glass (curved surface).

[0049] For example, see Figure 1 As shown, the eye point is A, the light source point is B, and the projection curve of line segment AB on the vehicle glass is CD.

[0050] In one embodiment, the process of determining the reflection point on the projection according to a preset reflection length ratio includes: determining the projection of the line connecting the eye point and the light-emitting point on the vehicle glass, and determining the reflection point on the projection according to the preset reflection length ratio.

[0051] For example, see Figure 1 and Figure 2 As shown, the reflection point ( Figure 2 If the assumed projection point is H, and the preset reflection length ratio is 0.5, then CH / CD = 0.5.

[0052] In one embodiment, the process of determining the convergence value of the reflection length ratio based on the positions of the current eye point A, the current emitting point B, and the current reflecting point H includes:

[0053] See Figure 1 As shown, construct line segment CE, which is basically perpendicular to the vehicle glass and intersects line segment AB at point E; construct line segment DF, which is basically perpendicular to the vehicle glass and intersects line segment AB at point F. See also... Figure 2 As shown, take point G on line segment HB such that HG = HA; construct line segment HJ that is basically perpendicular to the vehicle glass and intersects line segment AG at J; determine points K, L, and M on plane P that is basically perpendicular to line segment HJ, and line segments AK, GL, and BM are all basically parallel to line segment HJ. Determine the convergence value of the reflection length ratio based on line segments AB, EF, AH, AJ, GH, GJ, KL, and KM.

[0054] Specifically, the formula for calculating the convergence value Rea of ​​the reflection length ratio is:

[0055] Rea = Rea2 + Rea1 * Rea5 * Rea6;

[0056] Where Rea1 = AB / EF; Rea2 represents the preset reflection length ratio, Rea2 = CH / CD; Rea5 = KL / KM; Rea6 = (Rea3-Rea4) / (2*Rea3+2*Rea4); Rea3 = AH / AJ, Rea4 = GH / GJ.

[0057] Based on this, the process of adjusting the position of the current reflection point according to the convergence value of the reflection length ratio includes: determining the convergence value as the new reflection length ratio, and redetermining the position of the new reflection point (i.e., the new H) according to the new reflection length ratio.

[0058] Furthermore, the method also includes the following steps: if the convergence value of the reflection length ratio obtained twice consecutively is greater than 1, or the convergence value of the reflection length ratio obtained twice consecutively is less than 0, then it is determined that the current eye point and the imaging point do not correspond to the current luminous point.

[0059] Furthermore, the process for completing the adjustments includes: see [link / reference] Figure 3 As shown, determine whether the difference between the incident angle (∠AHJ) and the reflection angle (∠JHG) of the adjusted reflection point (i.e., the new H mentioned above) is within the specified threshold. If yes, the adjustment is completed; otherwise, it is determined that the adjustment needs to continue and the adjustment is carried out again according to the above method (i.e., recalculate the convergence value of the reflection point and adjust the position according to the convergence value).

[0060] It should be noted that the specified threshold can be set to 0.1° to 0.0001°. The smaller the value, the higher the precision, but the longer the calculation process. The specific value is determined according to different needs. In this embodiment, it is set to 0.001°.

[0061] In one embodiment, the above method further includes the following steps: after the imaging points corresponding to all eye points and all light-emitting points are determined, an imaging region is formed based on all imaging points.

[0062] See below. Figure 3 As shown, the above method is illustrated through a specific embodiment.

[0063] S1: See Figure 1 As shown, establish the vehicle coordinate system, obtain the three-dimensional coordinates of the window glass (curved surface), eye point A and light source point B in the three-dimensional coordinate system, and then switch to S2.

[0064] S2: Determine whether a projection of the line connecting the eye point and the light source can be created on the vehicle window glass. If yes, determine that the line connecting the eye point and the light source can form a projection on the vehicle window glass and proceed to S3. Otherwise, determine that the line connecting the eye point and the light source cannot form a projection on the vehicle window glass and end.

[0065] S3: See also Figure 1 As shown, create the projection curve CD of line segment AB onto the vehicle glass; see [link to documentation]. Figure 2 As shown, draw line segment CE that is basically perpendicular to the vehicle glass and intersects line segment AB at point E; draw line segment DF that is basically perpendicular to the vehicle glass and intersects line segment AB at point F, then go to S4.

[0066] S4: See also Figure 2 As shown, according to the preset reflection length ratio (0.5), set the reflection point H on the projection curve CD, CH / CD = 0.5, and then switch to S5.

[0067] S5: See also Figure 2 As shown, take point G on line segment HB such that HG = HA; construct line segment HJ perpendicular to the vehicle glass and intersecting line segment AG at J; determine points K, L, and M on plane P that is basically perpendicular to line segment HJ, and line segments AK, GL, and BM are all basically parallel to line segment HJ. Determine whether the difference between the incident angle (∠AHJ) and the reflection angle (∠JHG) of the current reflection point is within the specified threshold (0.01). If so, take the current reflection point as the imaging point corresponding to the current eye point and the current emitting point, and end; otherwise, go to S6.

[0068] S6: Based on line segments AB, EF, AH, AJ, GH, GJ, KL, and KM, determine the convergence value Rea of ​​the reflection length ratio. The calculation formula is Rea = Rea2 + Rea1 * Rea5 * Rea6. Proceed to S7.

[0069] S7: Determine the convergence value in S6 as the new reflection length ratio, and then redetermine the new reflection point as the current reflection point H based on the new reflection length ratio, before proceeding to S5.

[0070] If, during the execution of S5 to S7, the convergence values ​​obtained in two consecutive steps are both greater than 1 or both are less than 0, then there is no corresponding imaging point for the current eye point and the process ends directly.

[0071] The process from S1 to S7 can be completed automatically using CATIA engineering design software. (See [link]) Figure 4 As shown, you can input the eye point, luminous point, and window glass in the super copy and then have the CATIA software automatically calculate and generate the corresponding imaging points.

[0072] This invention also provides an electronic device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities. The device includes a memory, a processor, a communication interface, and a communication bus. The memory stores a computer program that runs on the processor, and the processor executes the computer program to implement the aforementioned method.

[0073] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0074] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used to interconnect devices within the aforementioned electronic equipment, as well as interfaces used to interconnect the aforementioned electronic equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0075] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0076] The processor can be a general-purpose processor, which can call the imaging position determination program for the vehicle window glass stored in the memory and execute the imaging position determination method for the vehicle window glass provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the imaging position determination program for the vehicle window glass is called can be referred to in the various embodiments of the imaging position determination method for the vehicle window glass in this application, and will not be repeated here.

[0077] This invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the above-described method. It should be noted that the storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, ROM (Read-Only Memory), RAM (Random Access Memory), a magnetic disk, or an optical disk.

[0078] As is known to those skilled in the art, the term computer-readable storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer-readable storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0079] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0080] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0081] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0082] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0083] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0084] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0085] The above are merely specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the scope of the claims.

Claims

1. A method for determining the imaging position of a vehicle window glass, characterized in that, The method includes the following steps: When it is determined that the line connecting the eye point and the light source point can form a projection on the vehicle glass, the reflection point is determined on the projection according to the preset reflection length ratio; Based on the positions of the eye point, the luminous point, and the reflection point, determine the convergence value of the reflection length ratio; The position of the reflection point is adjusted according to the convergence value of the reflection length ratio. The condition for the adjustment to be completed is that the difference between the incident angle and the reflection angle of the reflection point is within a specified threshold. The adjusted reflection point is used as the imaging point corresponding to the eye point and the luminous point; The process for determining the convergence value of the reflection length ratio based on the positions of the eye point, the emitting point, and the reflecting point includes: Define the eye point as A, the light source as B, the reflection point as H, and the projection of line segment AB onto the car window glass as CD; Define CE as the line segment that is basically perpendicular to the vehicle glass and intersects line segment AB; Define DF as a line segment that is basically perpendicular to the vehicle glass and intersects line segment AB; Define a point G on line segment HB such that HG = HA; Define a line segment HJ that is substantially perpendicular to the vehicle glass and intersects with line segment AG; Define a plane P that is basically perpendicular to line segment HJ, and define points K, L and M on plane P; line segments AK, GL and BM are all basically parallel to line segment HJ. Determine the convergence value of the reflection length ratio based on line segments AB, EF, AH, AJ, GH, GJ, KL, and KM.

2. The method for determining the imaging position of a vehicle window glass as described in claim 1, characterized in that, The formula for calculating the convergence value Rea of ​​the reflection length ratio is: Rea = Rea2 + Rea1 * Rea5 * Rea6; Where Rea1 = AB / EF; Rea2 represents the preset reflection length ratio, Rea2 = CH / CD; Rea5 = KL / KM; Rea6=(Rea3-Rea4) / (2*Rea3+2*Rea4); Rea3=AH / AJ; Rea4=GH / GJ.

3. The method for determining the imaging position of a vehicle window glass as described in claim 1, characterized in that, The process of adjusting the position of the reflection point based on the convergence value of the reflection length ratio includes: The convergence value is determined as the new reflection length ratio, and the position of the new reflection point is determined based on the new reflection length ratio.

4. The method for determining the imaging position of a vehicle window glass as described in claim 3, characterized in that, The method also includes the following steps: If the convergence value of the reflection length ratio obtained in two consecutive tests is greater than 1, or the convergence value of the reflection length ratio obtained in two consecutive tests is less than 0, it is determined that there is no corresponding imaging point between the eye point and the luminous point.

5. The method for determining the imaging position of a vehicle window glass as described in any one of claims 1 to 4, characterized in that, The condition under which the line connecting the eye point and the light-emitting point can form a projection on the vehicle glass is: It is possible to create a projection of the line connecting the eye point and the light point on the car window glass.

6. The method for determining the imaging position of a vehicle window glass as described in any one of claims 1 to 4, characterized in that, The process of determining the reflection point on the projection according to the preset reflection length ratio includes: Determine the projection of the line connecting the eye point and the light source onto the vehicle glass, and then determine the reflection point on the projection according to the preset reflection length ratio.

7. The method for determining the imaging position of a vehicle window glass as described in any one of claims 1 to 4, characterized in that, The method also includes the following steps: After all the eye points and the imaging points corresponding to all the luminous points are determined, the imaging region is formed based on all the imaging points.

8. An electronic device comprising a memory and a processor, the processor being configured to execute an executable program stored in the memory, characterized in that: When the executable program is executed, it implements the method described in any one of claims 1 to 7.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed, it implements the method according to any one of claims 1 to 7.

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