Cooking state recognition method, household appliance control method, range hood and electronic equipment

Abstract

The invention discloses a cooking state recognition method, a household appliance control method, a range hood and electronic equipment. The cooking state identification method comprises the following steps: acquiring infrared thermal imaging data and visible light imaging data of a kitchen range table board; fusing the infrared thermal imaging data and the visible light imaging data to obtain fused data; and determining a cooking state according to the fusion data. The infrared thermal imaging data and the visible light imaging data are fused, advantage complementation is carried out, the fused data with the temperature information is obtained, the cooking state is reliably and accurately recognized, the intelligent degree of the range hood is improved, the use safety of a user is improved, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliance control, in particular to a cooking state recognition method, a household appliance control method, a range hood and an electronic device. Background Art

[0002] The existing technology collects data through sensors to meet the needs of temperature detection, but it cannot accurately identify the location and material of the cooking pot at room temperature, and thus cannot accurately identify the cooking state. It is impossible to determine whether there is dry burning, overflowing, etc. in the current cooking process. Moreover, the size of the oil smoke generated in different cooking states is constantly changing. The existing technology cannot accurately identify the cooking state, resulting in the user having to manually adjust the air volume of the range hood fan according to the size of the oil smoke. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defect that the cooking state cannot be accurately identified in the prior art, and to provide a cooking state identification method, a home appliance control method, a range hood and an electronic device.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] In a first aspect, a cooking state recognition method is provided, the cooking state recognition method comprising:

[0006] Collect infrared thermal imaging data and visible light imaging data of the stove table;

[0007] fusing the infrared thermal imaging data and the visible light imaging data to obtain fused data;

[0008] A cooking status is determined based on the fused data.

[0009] Optionally, the infrared thermal imaging data includes a temperature field data image; the visible light imaging data includes a visible light image; and fusing the infrared thermal imaging data and the visible light imaging data includes:

[0010] Performing image registration on the temperature field data image and the visible light image through an optical axis calibration algorithm;

[0011] The temperature field data image and visible light image after fusion image registration.

[0012] Optionally, determining the cooking state according to the fused data includes:

[0013] The fused data is input into a cooking semantic analysis model to obtain the cooking status according to the cooking semantic analysis model; wherein the cooking semantic analysis model is obtained by training a neural network with fused data samples labeled with the cooking status.

[0014] Optionally, determining the cooking state according to the fused data includes:

[0015] Determine the change of oil smoke on the stove table by using the fusion data, and when the oil smoke change meets the oil smoke escape condition, determine that the cooking state is an oil smoke escape state;

[0016] and / or, determining the temperature of the stove top through the fusion data, and determining that the cooking state is a dry-burning state when the temperature of the stove top is greater than a dry-burning temperature threshold;

[0017] And / or, the temperature change of the stove table is determined by the fusion data, and when the temperature change meets the overflowing condition, the cooking state is determined to be the overflowing state.

[0018] Optionally, before collecting infrared thermal imaging data of the stove table, the method includes:

[0019] Identifying the material of the stove top and the material of the pot on the stove top;

[0020] Adjusting the infrared thermal imaging module so that the infrared temperature measurement emissivity of the infrared thermal imaging module matches the material of the stove top and the material of the pot;

[0021] The infrared thermal imaging module is triggered to collect the infrared thermal imaging data.

[0022] In a second aspect, a method for controlling a home appliance is provided, the method comprising:

[0023] Determine a cooking state; the cooking state is obtained according to the above-mentioned cooking state identification method;

[0024] An operation matching the cooking state is performed.

[0025] Optionally, the household appliance includes a range hood; and the performing of an operation matching the cooking state includes:

[0026] When the cooking state includes a dry-burning state and / or an overflowing pot state, an early warning is output and / or the cooktop is controlled to be shut down.

[0027] Optionally, the household appliance includes a range hood, and the range hood includes a fan; and the performing of the operation matching the cooking state further includes:

[0028] When the cooking state includes a fume escaping state, the wind force of the fan is increased.

[0029] In a third aspect, a range hood is provided, wherein the range hood comprises:

[0030] Range hood body;

[0031] A camera module, arranged on the range hood body, and used to collect visible light imaging data of the cooker table;

[0032] An infrared thermal imaging module, which is arranged on the range hood body and is used to collect infrared thermal imaging data of the cooker table;

[0033] A controller is used to execute the above-mentioned cooking state identification method and home appliance control method.

[0034] In a fourth aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned cooking status identification method and home appliance control method when executing the computer program.

[0035] The positive progressive effect of the present invention is that the present invention integrates infrared thermal imaging data and visible light imaging data to complement each other's advantages, obtains fused data with temperature information, reliably and accurately identifies the cooking status, improves the intelligence level of the range hood, improves the safety of users when using it, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flowchart of a cooking state identification method provided by an exemplary embodiment of the present invention;

[0037] Figure 2 A flowchart of a household appliance control method provided by an exemplary embodiment of the present invention;

[0038] Figure 3 A schematic diagram of a module of a cooking status recognition device provided by an exemplary embodiment of the present invention;

[0039] Figure 4 A schematic diagram of a module of a home appliance control device provided by an exemplary embodiment of the present invention;

[0040] Figure 5 The present invention is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0042] The present invention provides a cooking state recognition method. Figure 1 The cooking state recognition method comprises the following steps:

[0043] Step 101: Collect infrared thermal imaging data and visible light imaging data of a stove table.

[0044] The infrared thermal imaging data is collected by the infrared thermal imaging module installed on the range hood body, and the visible light imaging data is collected by the camera module installed on the range hood body. The infrared thermal imaging data includes the temperature field data image and temperature matrix of the stove top, and the visible light imaging data includes the visible light image of the stove top.

[0045] Step 102: Fuse the infrared thermal imaging data and the visible light imaging data to obtain fused data.

[0046] Specifically, a dual-wave image-level fusion solution is adopted to fuse the infrared band of infrared thermal imaging data and the visible band of visible light imaging data to obtain fused data, which is a dual-wave fusion data frame with temperature dimension information and visible light dimension information. The temperature dimension information can reflect the temperature field on the surface of the stove countertop, and the visible light dimension information can facilitate the subsequent accurate identification of the position and material of the pot on the stove countertop at normal temperature.

[0047] Step 103: Determine the cooking status according to the fused data.

[0048] In this embodiment, by fusing infrared thermal imaging data and visible light imaging data to complement each other's advantages, fused data with temperature information is obtained, the cooking status can be reliably and accurately identified, the intelligence level of the range hood is improved, the safety of users during use is improved, and the user experience is improved.

[0049] In one embodiment, the infrared thermal imaging data includes a temperature field data image; the visible light imaging data includes a visible light image; step 102 specifically includes:

[0050] The temperature field data image and the visible light image are registered through the optical axis calibration algorithm;

[0051] The temperature field data image and visible light image after fusion image registration.

[0052] Specifically, the temperature field data image and the visible light image are aligned through the optical axis calibration algorithm, and a dual-wave image level fusion scheme is adopted. The dual-wave image level fusion scheme is characterized in that the infrared light band of the temperature field data image and the visible light band of the visible light image are fused, and the obtained fused data is a dual-wave fusion data frame with temperature information.

[0053] In this embodiment, the temperature field data image and the visible light image are aligned through the optical axis calibration algorithm, and then the temperature field data image and the visible light image are fused to complement each other's advantages, thereby obtaining fused data with temperature dimension information and visible light dimension information, which can reflect the temperature field on the surface of the stove countertop and facilitate the subsequent accurate identification of the cooking status.

[0054] In one embodiment, step 103 includes:

[0055] The fused data is input into the cooking semantic analysis model to obtain the cooking status according to the cooking semantic analysis model.

[0056] The cooking semantic analysis model is obtained by training the neural network with fused data samples labeled with cooking status. After reasoning the fused data, the cooking semantic analysis model outputs the recognized cooking status, which includes but is not limited to the status of adding main ingredients, stir-frying, lifting the lid, covering the lid, removing the pot, moving the pot in, overflowing the pot, dry burning, and fume escaping.

[0057] In this embodiment, the fused data is analyzed through the cooking semantic analysis model, so as to accurately identify the cooking status, facilitate the subsequent execution of operations that match the cooking status, improve the intelligence level of the range hood, and enhance the user experience.

[0058] In one embodiment, step 103 includes:

[0059] The changes in oil fume on the stove countertop are determined by fusing data. When the changes in oil fume meet the conditions for oil fume escape, the cooking state is determined to be an oil fume escape state.

[0060] Specifically, the fume concentration is identified by fusing the visible light image in the data, and the fume temperature curve is formed by combining the temperature matrix. The fume temperature curve can monitor the fume changes in two dimensions: fume temperature and fume concentration. If the fume temperature is higher than the fume temperature threshold and the fume concentration is higher than the concentration threshold, it is judged that the fume change meets the fume escape condition, and the cooking state is determined to be the fume escape state. On the contrary, if the fume temperature is not higher than the fume temperature threshold or the fume concentration is not higher than the concentration threshold, it is judged that the fume change does not meet the fume escape condition, and the cooking state is determined not to be the fume escape state. Among them, the concentration threshold is determined according to the actual situation. It can be understood that a high fume temperature cannot represent a large fume, and a high fume concentration cannot represent a large fume. There may be interference from water vapor.

[0061] In this embodiment, the oil fume changes on the stove countertop are determined by fusion data, and then combined with the temperature matrix to form an oil fume temperature curve. The oil fume changes are monitored more accurately through the two dimensions of oil fume temperature and oil fume concentration, so as to judge whether the cooking state is an oil fume escape state, so as to facilitate the subsequent execution of matching operations according to the cooking state, thereby improving the intelligence level of the range hood.

[0062] In one embodiment, the oil fume change is determined by the oil fume temperature curve. Specifically, if the slope of the oil fume temperature curve is greater than a preset value, it is determined that the oil fume change meets the oil fume escape condition, thereby determining that the cooking state is an oil fume escape state. The preset value is determined by actual conditions.

[0063] In this embodiment, the oil fume temperature curve is analyzed to obtain the slope of the oil fume temperature curve, and whether the current oil fume change meets the oil fume escape conditions is judged based on the slope. The oil fume change can be quantitatively judged, the accuracy of the judgment is improved, and the subsequent determination of the cooking status is facilitated.

[0064] It should be noted that, in addition to characterizing the oil fume change by the slope of the oil fume temperature curve, the oil fume change can also be characterized by the curvature of the oil fume temperature curve. Of course, the oil fume change can also be characterized by other characteristics of the oil fume temperature curve.

[0065] In one embodiment, step 103 further includes:

[0066] The temperature of the stove top is determined by fusion data. When the temperature of the stove top is greater than the dry-burning temperature threshold, the cooking state is determined to be a dry-burning state.

[0067] Among them, the dry burning temperature threshold is determined according to the actual situation.

[0068] In this embodiment, whether the cooking state is a dry-burning state is determined based on the fused data, so that matching operations can be performed according to the cooking state, thereby improving the intelligence level of the range hood.

[0069] In one embodiment, step 103 further includes:

[0070] The temperature change of the stove surface is determined by fusing the data. When the temperature change meets the overflow condition, the cooking state is determined to be the overflow state.

[0071] In this embodiment, whether the cooking state is an overflowing state is determined based on the fused data, so that matching operations can be performed according to the cooking state, thereby improving the intelligence level of the range hood.

[0072] In one embodiment, before step 101, the following steps are included:

[0073] Identify the material of the cooktop and the material of the pots and pans on the cooktop.

[0074] Adjust the infrared thermal imaging module so that the infrared temperature measurement emissivity of the infrared thermal imaging module matches the material.

[0075] Trigger the infrared thermal imaging module to collect infrared thermal imaging data.

[0076] Specifically, the material of the stove top and the material of the pot on the stove top are identified through an image recognition algorithm, and the infrared thermal imaging module is adjusted according to the material of the stove top and the material of the pot.

[0077] In this embodiment, image recognition is used to identify the material of the stove top and the material of the pot, thereby adjusting the infrared temperature measurement emissivity of the infrared thermal imaging module, improving the accuracy of the infrared thermal imaging data collected by the infrared thermal imaging module, and thus improving the accuracy of cooking status recognition.

[0078] The embodiment of the present invention also provides a method for controlling a home appliance. Figure 2 The household appliance control method comprises:

[0079] Step 201, determine the cooking status.

[0080] The cooking status is obtained according to the cooking status recognition method provided in any of the above embodiments.

[0081] Step 202: Execute an operation matching the cooking state.

[0082] In this embodiment, by determining the cooking state and executing operations matching the cooking state, automatic control of the range hood is achieved, the intelligence level of the range hood is improved, the safety of users during use is improved, and the user experience is improved.

[0083] In one embodiment, the household appliance includes a range hood. Step 202 includes:

[0084] When the cooking status includes a dry-burning status and / or an overflowing pot status, an early warning is output.

[0085] In this embodiment, whether it is necessary to output an early warning is determined based on the cooking status. In the dry-burning state and overflowing state, an early warning is used to remind the user to pay attention to the current cooking status, thereby improving the safety of the user during use and improving the user experience.

[0086] In one embodiment, the household appliance includes a range hood. Step 202 also includes:

[0087] When the cooking state includes a dry-burning state and / or an overflowing pot state, the cooktop is controlled to be turned off.

[0088] In this embodiment, whether the stove needs to be shut down is determined according to the cooking status. In the dry-burning state and the pot overflowing state, the stove is shut down, thereby improving the safety of the user when using it.

[0089] In one embodiment, the household appliance includes a range hood, and the range hood includes a fan. Step 202 also includes:

[0090] When the cooking state includes the state of oil smoke escaping, the wind force of the fan is increased.

[0091] Specifically, according to the oil fume temperature curve obtained by the above cooking state recognition method, the adaptive wind force is determined according to a preset relationship, wherein the preset relationship is a linear equation in which the wind force is positively correlated with the oil fume temperature curve.

[0092] In this embodiment, when the oil smoke is escaping, the wind force of the fan is increased to improve the adaptive ability of the range hood to changes in cooking status. The user does not need to manually adjust the wind force of the fan, thereby improving the intelligence level of the range hood.

[0093] The embodiment of the present invention further provides a range hood.

[0094] The range hood comprises: a range hood body, a camera module, an infrared thermal imaging module and a controller.

[0095] It should be noted that the camera module is provided on the range hood body to collect visible light imaging data of the cooker surface. The infrared thermal imaging module is provided on the range hood body to collect infrared thermal imaging data of the cooker surface. The controller is used to execute the cooking state recognition method or the home appliance control method provided in any of the above embodiments.

[0096] In this embodiment, by adding a camera module, an infrared thermal imaging module and a controller to the range hood, the above-mentioned cooking status recognition method and home appliance control method are executed to achieve the needs of wind control, dry burning warning and overflow recognition, thereby improving the intelligence level of the range hood.

[0097] In one embodiment, the range hood further comprises a display.

[0098] It should be noted that the display can be used to display the temperature of the stove table collected in the above-mentioned cooking state recognition method, and can also display a warning icon according to the warning output in the above-mentioned home appliance control method.

[0099] In this embodiment, a display is added to the range hood to display the temperature of the stove top and a warning icon, so that the user can timely understand the temperature of the stove top, and the warning can remind the user to pay attention to the current cooking status, thereby improving the safety of the user during use and improving the user experience.

[0100] In one embodiment, the range hood further includes a buzzer.

[0101] When the above-mentioned home appliance control method outputs an early warning, the buzzer is used to issue an early warning.

[0102] In this embodiment, a buzzer is added to the range hood to remind the user of the current cooking status, thereby improving the safety of the user during use and improving the user experience.

[0103] Corresponding to the above-mentioned cooking status recognition method embodiment, the embodiment of the present invention further provides a cooking status recognition device.

[0104] Figure 3 A schematic diagram of a cooking state recognition device provided by an exemplary embodiment of the present invention. The cooking state recognition device comprises:

[0105] The acquisition module 41 is used to acquire infrared thermal imaging data and visible light imaging data of the stove table;

[0106] A fusion module 42, used for fusing the infrared thermal imaging data and the visible light imaging data to obtain fused data;

[0107] The determination module 43 is used to determine the cooking state according to the fused data.

[0108] Optionally, the fusion module 42 includes:

[0109] A registration unit, used for performing image registration on the temperature field data image and the visible light image through an optical axis calibration algorithm;

[0110] The fusion unit is used to fuse the temperature field data image and the visible light image after image registration.

[0111] Optionally, the determination module 43 includes:

[0112] An input unit is used to input the fused data into a cooking semantic analysis model to obtain the cooking state according to the cooking semantic analysis model; wherein the cooking semantic analysis model is obtained by training a neural network with fused data samples labeled with the cooking state.

[0113] Optionally, the determination module 43 is specifically configured to:

[0114] Determine the change of oil smoke on the stove table through the fusion data, and when the oil smoke change meets the preset oil smoke escape condition, determine that the cooking state is an oil smoke escape state;

[0115] and / or, determining the temperature of the stove top through the fusion data, and determining that the cooking state is a dry-burning state when the temperature of the stove top is greater than a dry-burning temperature threshold;

[0116] And / or, the temperature change of the stove table is determined by the fusion data, and when the temperature change meets the overflowing condition, the cooking state is determined to be the overflowing state.

[0117] Optionally, the cooking state recognition device further includes:

[0118] An identification module, used to identify the material of the stove top and the material of the pot on the stove top;

[0119] An adjustment module, used for adjusting the infrared thermal imaging module so that the infrared temperature measurement emissivity of the infrared thermal imaging module matches the material;

[0120] The trigger module is used to trigger the infrared thermal imaging module to collect the infrared thermal imaging data.

[0121] Corresponding to the aforementioned home appliance control method embodiment, the embodiment of the present invention further provides a home appliance control device.

[0122] Figure 4 A schematic diagram of a module of a home appliance control device provided by an exemplary embodiment of the present invention. The home appliance control device comprises:

[0123] A cooking state determination module 51, used to determine the cooking state;

[0124] The execution module 52 is used to execute an operation matching the cooking state.

[0125] Optionally, the execution module 52 includes:

[0126] The early warning unit is used to output an early warning when the cooking state includes a dry-burning state and / or an overflowing pot state.

[0127] Optionally, the execution module 52 further includes:

[0128] The fan control module is used to increase the wind force of the fan when the cooking state includes the state of oil smoke escaping.

[0129] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of the present invention. Those of ordinary skill in the art can understand and implement it without paying creative labor.

[0130] Figure 5 This is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention, and shows a block diagram of an exemplary electronic device 30 suitable for implementing the embodiments of the present invention. Figure 5The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0131] like Figure 5 As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0132] The bus 33 includes a data bus, an address bus, and a control bus.

[0133] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0134] The memory 32 may also include a program tool 325 (or utility) having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0135] The processor 31 executes various functional applications and data processing by running the computer program stored in the memory 32, such as the method provided in any of the above embodiments.

[0136] The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 35. Furthermore, the model-generated electronic device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. As shown, the network adapter 36 communicates with other modules of the model-generated electronic device 30 via a bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the model-generated electronic device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0137] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0138] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A cooking status recognition method, characterized in that: The cooking state recognition method comprises: Collect infrared thermal imaging data and visible light imaging data of the stove table; fusing the infrared thermal imaging data and the visible light imaging data to obtain fused data; A cooking status is determined based on the fused data.

2. The cooking state recognition method according to claim 1, characterized in that: The infrared thermal imaging data includes a temperature field data image; the visible light imaging data includes a visible light image; and the fusion of the infrared thermal imaging data and the visible light imaging data includes: Performing image registration on the temperature field data image and the visible light image through an optical axis calibration algorithm; The temperature field data image and visible light image after fusion image registration.

3. The cooking state recognition method according to claim 1, characterized in that: The determining the cooking state according to the fused data comprises: The fused data is input into a cooking semantic analysis model to obtain the cooking status according to the cooking semantic analysis model; wherein the cooking semantic analysis model is obtained by training a neural network with fused data samples labeled with the cooking status.

4. The cooking state recognition method according to claim 1, characterized in that: The determining the cooking state according to the fused data comprises: Determine the change of oil smoke on the stove table by using the fusion data, and when the oil smoke change meets the oil smoke escape condition, determine that the cooking state is an oil smoke escape state; and / or, determining the temperature of the stove top through the fusion data, and determining that the cooking state is a dry-burning state when the temperature of the stove top is greater than a dry-burning temperature threshold; And / or, the temperature change of the stove table is determined by the fusion data, and when the temperature change meets the overflowing condition, the cooking state is determined to be the overflowing state.

5. The cooking state recognition method according to claim 1, characterized in that: Before collecting the infrared thermal imaging data of the stove table, the method includes: Identifying the material of the stove top and the material of the pot on the stove top; Adjusting the infrared thermal imaging module so that the infrared temperature measurement emissivity of the infrared thermal imaging module matches the material of the stove top and the material of the pot; The infrared thermal imaging module is triggered to collect the infrared thermal imaging data.

6. A method for controlling a household appliance, characterized in that: The household appliance control method comprises: Determine a cooking state; the cooking state is obtained according to the cooking state recognition method described in any one of claims 1-5; An operation matching the cooking state is performed.

7. The home appliance control method according to claim 6, characterized in that: The household appliance includes a range hood; and the performing of an operation matching the cooking state includes: When the cooking state includes a dry-burning state and / or an overflowing pot state, an early warning is output and / or the cooktop is controlled to be shut down.

8. The home appliance control method according to claim 6, characterized in that: The household appliance includes a range hood, and the range hood includes a fan; and the performing of the operation matching the cooking state further includes: When the cooking state includes a fume escaping state, the wind force of the fan is increased.

9. A range hood, characterized in that: The range hood comprises: Range hood body; A camera module, arranged on the range hood body, and used to collect visible light imaging data of the cooker table; An infrared thermal imaging module, which is arranged on the range hood body and is used to collect infrared thermal imaging data of the cooker table; A controller, wherein the controller is used to execute the method according to any one of claims 1 to 8.

10. An electronic 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 method according to any one of claims 1 to 8 is implemented.

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