Method and device for downloading star window data of star sensor

Abstract

The invention provides a method and a device for downloading star window data of a star sensor, and the method comprises the following steps: storing the star window data based on a received storage instruction to obtain storage data; receiving a downloading instruction, and downloading the storage data based on the downloading instruction; acquiring the downloading time of the storage data in the specified time; and controlling downloading of the storage data according to the downloading time and a preset time threshold. According to the scheme, the intelligent storage and downloading of the star window data are realized, and the downloading control efficiency is improved while the total amount of the transmitted data is ensured.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, and in particular to a method and device for transmitting star window data of a star sensor. Background Art

[0002] As a high-precision attitude measurement component, star sensors are widely used in spacecraft such as satellites and spacecraft. The basic principle is to use image sensors to capture star images and obtain the inertial attitude of the spacecraft through image processing calculation. The raw star window data of the star sensor is sent to the data processor of the data transmission subsystem through the communication interface of the star sensor, so as to perform fault diagnosis, accuracy assessment, on-orbit calibration, etc. through the raw star window data. At present, the data volume of a single frame image of a general star sensor is more than 1Mbytes, and the data volume of a single frame image of a high-precision star sensor is more than 4Mbytes. The star map can be taken more than 10 frames per second. Not only is the data volume large, but the data processor also has the design constraint of the maximum daily transmission data volume. Therefore, it is necessary to control the downlink data to meet this constraint. However, the existing downlink control method is mostly manually controlled by the control personnel, which is not only cumbersome and error-prone, but also affects work efficiency. Therefore, there is an urgent need for an efficient downlink method and device for star sensor star window data. Summary of the invention

[0003] The present invention provides a method for transmitting star window data of a star sensor, which realizes automatic storage and transmission of star window data, and improves transmission control efficiency while ensuring the total amount of transmitted data.

[0004] In a first aspect, the present invention provides a method for transmitting star window data of a star sensor, comprising:

[0005] storing the star window data based on the received storage instruction to obtain storage data;

[0006] receiving a download instruction, and downloading the stored data based on the download instruction;

[0007] Obtaining the download time of the stored data within a specified time;

[0008] The downloading of the stored data is controlled according to the downloading time and a preset time threshold.

[0009] Optionally, the storage instruction includes: a storage instruction by day and a storage instruction by imaging time;

[0010] The step of storing the star window data based on the received storage instruction to obtain the stored data includes:

[0011] According to the daily storage instruction, obtain the storage start time and storage period;

[0012] storing the star window data with the storage start time as the start time within the storage period to obtain the stored data;

[0013] or,

[0014] According to the instruction for storing the images by imaging time, the imaging start time and the imaging end time are obtained;

[0015] The star window data acquired between the imaging start time and the imaging end time are stored to obtain the stored data.

[0016] Optionally, the receiving a download instruction, and downloading the stored data based on the download instruction, includes:

[0017] The time when the download instruction is obtained is used as the starting time of the download cycle;

[0018] At the end of the download cycle, determining the star image download state of the star sensor;

[0019] According to the star map downloading status, the starting time of the next downloading cycle is determined.

[0020] Optionally, determining the starting time of the next round of downloading cycle according to the star map downloading state includes:

[0021] When the star map download state is the star window download state, the end time of the previous download cycle is determined as the start time of the next download cycle;

[0022] When the star map download state is a non-star window download state, the time when the download instruction is received again is determined as the starting time of the next round of download cycle.

[0023] Optionally, obtaining the download time of the stored data within a specified time includes:

[0024] The cumulative download time of the stored data within the specified time is counted to obtain the download time.

[0025] Optionally, controlling the download of the stored data according to the download time and a preset time threshold includes:

[0026] Determine whether the download time is greater than or equal to the preset time threshold;

[0027] If the judgment result is yes, a stop download instruction is sent; the stop download instruction is used to instruct to stop downloading the stored data;

[0028] If the judgment result is no, then continue to download the stored data based on the download instruction.

[0029] Optionally, at the beginning of each round of the specified time, the download time is reset.

[0030] In a second aspect, the present invention provides a device for transmitting star window data of a star sensor, comprising:

[0031] A storage module, used to store the star window data based on the received storage instruction to obtain storage data;

[0032] A download module, used for receiving a download instruction and downloading the stored data based on the download instruction;

[0033] The control module is used to obtain the download time of the stored data within a specified time; and control the download of the stored data according to the download time and a preset time threshold.

[0034] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any first aspect of this specification is implemented.

[0035] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any first aspect of this specification.

[0036] In a fifth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any first aspect of this specification are implemented.

[0037] The embodiment of the present invention provides a method and device for transmitting star window data of a star sensor. The method stores the star window data based on a received storage instruction to obtain the stored data, and then transmits the stored data based on the received transmission instruction, and controls the transmission of the stored data by comparing the transmission time of the stored data within a specified time with a preset time threshold, thereby realizing automatic transmission and stopping of the star window data of the star sensor. In this way, based on the preset time threshold and the transmission time, it is ensured that the total transmission amount does not exceed the limit amount of the satellite data transmission subsystem. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1This is a flow chart of a method for downloading star window data of a star sensor provided by an embodiment of the present invention;

[0040] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0041] Figure 3 The present invention is a schematic structural diagram of a device for transmitting star window data of a star sensor provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] The specific implementation of the concept of this application is described below.

[0044] Please refer to Figure 1 The embodiment of the present invention provides a method for transmitting star window data of a star sensor, the method comprising:

[0045] Step 100, storing the star window data based on the received storage instruction to obtain storage data;

[0046] Step 102, receiving a download instruction, and downloading the stored data based on the download instruction;

[0047] Step 104, obtaining the download time of the stored data within a specified time;

[0048] Step 106: Control the downloading of the stored data according to the downloading time and a preset time threshold.

[0049] In the embodiment of the present invention, the star window data is stored by receiving the storage instruction to obtain the storage data, and then the storage data is downloaded based on the received download instruction, and the download of the storage data is controlled by comparing the download time of the storage data within the specified time with the preset time threshold, so as to realize the automatic download and stop of the star window data of the star sensor. In this way, based on the preset time threshold and the download time, it is ensured that the total amount of transmission does not exceed the limit amount of the satellite data transmission subsystem.

[0050] Described below Figure 1 How the various steps are performed.

[0051] First, in step 100, the storage instruction includes: a storage instruction by day and a storage instruction by imaging time.

[0052] In step 100, the star window data is stored based on the received storage instruction to obtain the stored data, including two ways:

[0053] The first method: according to the daily storage instruction, obtain the storage start time and storage period;

[0054] The star window data with the storage start time as the start time is stored within the storage period to obtain the stored data.

[0055] Specifically, the time when the control subsystem onboard computer receives the daily storage instruction is used as the start storage time of the period T1 (for example, 4 days), and the onboard computer generates an instruction to store a fixed number of frames at the beginning of each T1 period and sends it to the star sensor, that is, the star window data is started to be stored to obtain the stored data. The instruction to store the fixed number of frames includes the image storage control switch, image type, storage length, storage frame number, storage time, storage frequency, the first block number stored, the starting number of the erased block, the total number of erased blocks, etc.

[0056] The second method: obtaining the imaging start time and the imaging end time according to the instruction for storing the imaging time;

[0057] The star window data acquired between the imaging start time and the imaging end time are stored to obtain the stored data.

[0058] Specifically, the satellite data control subsystem sends an imaging start and end time data packet to the control subsystem onboard computer 120 seconds before the start of imaging, and the content includes the payload imaging start time and imaging end time. At the start time of imaging, the control subsystem onboard computer sends a storage instruction according to imaging time to the star sensor to start the storage of star window data. At the end time of imaging, the control subsystem onboard computer sends a stop instruction of storage according to imaging time to the star sensor to stop the storage of star window data. Among them, the format of the storage instruction according to imaging time includes image storage control switch, image type, storage length, storage frame number, storage time, storage frequency, first block number of storage, starting number of erase block, total number of erase blocks, etc.

[0059] With respect to step 102, the receiving a download instruction and downloading the stored data based on the download instruction includes:

[0060] The time when the download instruction is obtained is used as the starting time of the download cycle;

[0061] At the end of the download cycle, determining the star image download state of the star sensor;

[0062] According to the star map downloading status, the starting time of the next downloading cycle is determined.

[0063] Specifically, after completing the storage of the star window data, it is determined whether the star sensor receives a download instruction. When the download instruction is received, the moment is used as the starting moment of the download cycle T2, and the stored data begins to be downloaded. At the end of the current download cycle, the starting moment of the next round of download cycle is determined according to the star map download state of the star sensor, or the continued download of the stored data is controlled or stopped according to the download time of the acquired stored data within the specified time and the preset time threshold.

[0064] It should be noted that when it is necessary to stop the download, the stop download command is sent to the star sensor. The download command and the stop download command are generated according to the TC_IMGDOWNLOAD command format, and the format includes the image download control switch, download mode, continuous download mode, download length, image type, download frame number, continuous download time, download sampling interval, and the first block number of the download.

[0065] In the present invention, when the stop download instruction is not received, the start time of the next download cycle can be determined according to the star map download status, so as to realize automatic download of star window data without manual control by the operator, thereby improving work efficiency.

[0066] In a preferred embodiment, determining the starting time of the next round of download cycle according to the star map download status includes:

[0067] When the star map download state is the star window download state, the end time of the previous download cycle is determined as the start time of the next download cycle;

[0068] When the star map download state is a non-star window download state, the time when the download instruction is received again is determined as the starting time of the next round of download cycle.

[0069] It should be noted that after the current download cycle ends, if the star map download state is the star window download state, it means that the historical storage star window is being downloaded, and the download of historical storage data is not completed. The end time of the current download cycle will be used as the start time of the next download cycle, and the historical storage data that has not been downloaded will continue to be downloaded. When the current download cycle ends, if the star map download state is not the star window download state, the time when the download instruction is received again will be determined as the start time of the next download cycle.

[0070] In the present invention, before the amount of data being downloaded reaches the daily maximum data transmission amount of the data processor, for the historical storage data that has not been downloaded, the download cycle is continuous, and the end time of the current download cycle is the start time of the next download cycle; for the historical storage data that has been downloaded, the time when the download instruction is received is the start time of each download cycle, so that automatic download can be achieved based on the existing stored data.

[0071] In step 104, the obtaining of the download time of the stored data within a specified time includes:

[0072] The cumulative download time of the stored data within the specified time is counted to obtain the download time.

[0073] It should be noted that the storage data download time in each download cycle is less than or equal to the download cycle, that is, data may not be downloaded every moment in each download cycle, so it is necessary to count the download time for download processing. Among them, the download cycle is less than or equal to the specified time.

[0074] In step 106, controlling the download of the stored data according to the download time and a preset time threshold includes:

[0075] Determine whether the download time is greater than or equal to the preset time threshold;

[0076] If the judgment result is yes, a stop download instruction is sent; the stop download instruction is used to instruct to stop downloading the stored data;

[0077] If the judgment result is no, then continue to download the stored data based on the download instruction.

[0078] In the present invention, in order to ensure that the amount of data transmitted by the star sensor within the specified time does not exceed the maximum daily transmission data amount, the specified time can be set to 1 day. Since the transmission time and the specific storage data transmitted are known, the total amount of data transmitted within the transmission time can be calculated to achieve intelligent control of the amount of data transmitted. In this way, the present invention sets a preset time threshold and determines that when the transmission time is greater than or equal to the preset time threshold, the total amount of data transmitted has reached the maximum transmission data amount within the specified time. At this time, a stop transmission instruction needs to be generated to stop the transmission of the stored data. However, if the transmission time is less than the preset time threshold, step 102 is continued to be executed to determine the starting time of the next round of transmission cycle according to the star map transmission state.

[0079] In some preferred implementations, at the beginning of each round of the specified time, the download time is reset.

[0080] For example, if the specified time is equal to the download cycle, the download time is reset at the beginning of each download cycle so that the download time can be recalculated within the new specified time to meet the limit of the maximum amount of transmitted data.

[0081] In some preferred implementations, when a download instruction is received in the current download cycle, no further download instruction is sent to the star sensor.

[0082] In a preferred embodiment, after the judgment result is no, continuing to download the stored data based on the download instruction, the method further includes:

[0083] Determine whether the download time is greater than a preset warning time threshold; wherein the preset time threshold is greater than the preset warning time threshold;

[0084] If the judgment result is yes, then for each of the download cycles within the specified time, the following steps are executed:

[0085] Obtain the sub-download time and the data type of the stored data within the download cycle;

[0086] Determining the current amount of data being downloaded according to the data type of the stored data and the sub-download time;

[0087] Determine whether the current amount of data being downloaded is greater than or equal to a preset maximum amount of stored data;

[0088] If the judgment result is yes, a stop downloading instruction is sent; the stop downloading instruction is used to instruct to stop downloading the stored data.

[0089] In a more preferred embodiment, the current amount of downlink data is calculated by the following formula:

[0090]

[0091] Where Q is the current amount of data being downloaded; n is the number of download cycles within the specified time; q i is the data download amount per unit time in the ith download cycle; c i is the sub-download time of the ith download cycle.

[0092] In the present invention, the warning preset time threshold is less than the preset time threshold. When the warning preset time threshold is reached, in order to further avoid the amount of downloaded data exceeding the maximum storage data amount, the current amount of downloaded data can also be calculated based on the data type and the corresponding sub-download time, so as to more accurately control the download instructions.

[0093] like Figure 2 , Figure 3As shown, an embodiment of the present invention provides a device for transmitting star window data of a star sensor. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 2 As shown, it is a hardware architecture diagram of a computing device where a star sensor star window data download device provided by an embodiment of the present invention is located, except Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and runs it. This embodiment provides a device for transmitting star window data of a star sensor, and the device includes:

[0094] The storage module 300 is used to store the star window data based on the received storage instruction to obtain storage data;

[0095] The download module 302 is used to receive a download instruction and download the stored data based on the download instruction;

[0096] The control module 304 is used to obtain the download time of the stored data within a specified time; and control the download of the stored data according to the download time and a preset time threshold.

[0097] In some specific implementations, the storage module 300 may be used to execute the above step 100 , the download module 302 may be used to execute the above step 102 , and the control module 304 may be used to execute the above steps 104 and 106 .

[0098] In one embodiment of the present invention, the storage instruction includes: a storage instruction by day and a storage instruction by imaging time.

[0099] In one embodiment of the present invention, the storage module 300 is further configured to perform the following operations:

[0100] According to the daily storage instruction, obtain the storage start time and storage period;

[0101] storing the star window data with the storage start time as the start time within the storage period to obtain the stored data;

[0102] or,

[0103] According to the instruction for storing the images by imaging time, the imaging start time and the imaging end time are obtained;

[0104] The star window data acquired between the imaging start time and the imaging end time are stored to obtain the stored data.

[0105] In one embodiment of the present invention, the download module 302 is further configured to perform the following operations:

[0106] The time when the download instruction is obtained is used as the starting time of the download cycle;

[0107] At the end of the download cycle, determining the star image download state of the star sensor;

[0108] When the star map download state is the star window download state, the end time of the previous download cycle is determined as the start time of the next download cycle;

[0109] When the star map download state is a non-star window download state, the time when the download instruction is received again is determined as the starting time of the next round of download cycle.

[0110] In one embodiment of the present invention, the control module 304 is further configured to perform the following operations:

[0111] Counting the cumulative download time of the stored data within the specified time to obtain the download time;

[0112] Determine whether the download time is greater than or equal to the preset time threshold;

[0113] If the judgment result is yes, a stop download instruction is sent; the stop download instruction is used to instruct to stop downloading the stored data;

[0114] If the judgment result is no, then continue to download the stored data based on the download instruction.

[0115] In one embodiment of the present invention, the control module 304 is further configured to perform the following operations:

[0116] If the result of the judgment is no, the stored data is continuously downloaded based on the download instruction;

[0117] Determine whether the download time is greater than a preset warning time threshold; wherein the preset time threshold is greater than the preset warning time threshold;

[0118] If the judgment result is yes, then for each of the download cycles within the specified time, the following steps are executed:

[0119] Obtain the sub-download time and the data type of the stored data within the download cycle;

[0120] The current amount of data to be downloaded is determined according to the data type of the stored data and the sub-download time; the current amount of data to be downloaded is calculated by the following formula:

[0121]

[0122] Where Q is the current amount of data being downloaded; n is the number of download cycles within the specified time; q i is the data download amount per unit time in the ith download cycle; c i is the sub-download time of the ith download cycle; judging whether the current download data volume is greater than or equal to the preset maximum storage data volume;

[0123] If the judgment result is yes, a stop downloading instruction is sent; the stop downloading instruction is used to instruct to stop downloading the stored data.

[0124] In one embodiment of the present invention, at the beginning of each round of the specified time, the download time is cleared.

[0125] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a device for transmitting star window data of a star sensor. In other embodiments of the present invention, a device for transmitting star window data of a star sensor may include more or fewer components than those shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0126] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0127] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for transmitting star window data of a star sensor in any embodiment of the present invention is implemented.

[0128] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a method for transmitting star window data of a star sensor in any embodiment of the present invention.

[0129] An embodiment of the present application further provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes a method for transmitting star window data of a star sensor as described in any of the above embodiments.

[0130] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0131] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0132] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0133] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling the operating system on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0134] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0135] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0136] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for transmitting star window data of a star sensor, characterized in that: include: storing the star window data based on the received storage instruction to obtain storage data; receiving a download instruction, and downloading the stored data based on the download instruction; Obtaining the download time of the stored data within a specified time; The downloading of the stored data is controlled according to the downloading time and a preset time threshold.

2. The method according to claim 1, characterized in that The storage instructions include: storage instructions by day and storage instructions by imaging time; The step of storing the star window data based on the received storage instruction to obtain the stored data includes: According to the daily storage instruction, obtain the storage start time and storage period; storing the star window data with the storage start time as the start time within the storage period to obtain the stored data; or, According to the instruction for storing the images by imaging time, the imaging start time and the imaging end time are obtained; The star window data acquired between the imaging start time and the imaging end time are stored to obtain the stored data.

3. The method according to claim 1, characterized in that The receiving the download instruction and downloading the stored data based on the download instruction includes: The time when the download instruction is obtained is used as the starting time of the download cycle; At the end of the download cycle, determining the star image download state of the star sensor; According to the star map downloading status, the starting time of the next downloading cycle is determined.

4. The method according to claim 3, characterized in that Determining the starting time of the next round of download cycle according to the star map download state includes: When the star map download state is the star window download state, the end time of the previous download cycle is determined as the start time of the next download cycle; When the star map download state is a non-star window download state, the time when the download instruction is received again is determined as the starting time of the next round of download cycle.

5. The method according to claim 3, characterized in that: The obtaining of the download time of the stored data within the specified time includes: The cumulative download time of the stored data within the specified time is counted to obtain the download time.

6. The method according to any one of claims 1 to 5, characterized in that: The controlling the downloading of the stored data according to the downloading time and the preset time threshold comprises: Determine whether the download time is greater than or equal to the preset time threshold; If the judgment result is yes, a stop download instruction is sent; the stop download instruction is used to instruct to stop downloading the stored data; If the judgment result is no, then continue to download the stored data based on the download instruction.

7. The method according to any one of claims 1 to 5, characterized in that: At the beginning of each round of the specified time, the download time is reset.

8. A device for transmitting star window data of a star sensor, characterized in that: include: A storage module, used to store the star window data based on the received storage instruction to obtain storage data; A download module, used for receiving a download instruction and downloading the stored data based on the download instruction; A control module, used for obtaining the download time of the stored data within a specified time; And according to the download time and the preset time threshold, the download of the stored data is controlled.

9. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 7.

Images