Linkage control method of electric gate and lifting column and related device

Abstract

The invention discloses a linkage control method, linkage control device and linkage control equipment for an electric gate and a lifting column and a computer readable storage medium, and the method comprises the steps: determining the in-out state information of a current object based on a visual recognition system; determining a corresponding scene operation instruction based on the in-out state information; wherein the scene operation instruction comprises a normal opening instruction, a special opening instruction or an emergency opening instruction; and performing linkage operation on an electric gate and a lifting column based on the scene operation instruction. The electric gate control effect is improved, and the passing efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical equipment control, and more specifically, relates to a linkage control method of an electric door and a lifting column, a linkage control device, a linkage control device, and a computer-readable storage medium. Background Art

[0002] In modern building and venue management, the control and management of entrances and exits are crucial. As common control facilities, the design of linkage functions of electric gates and lifting columns is of great significance for improving safety, convenience and management efficiency.

[0003] In the related art, electric gates and lifting columns are usually controlled separately, lacking an effective linkage mechanism. This independent control method has many inconveniences in practical applications. For example, in scenarios where gates and lifting columns need to be frequently controlled, such as parking lots with frequent vehicle traffic, gates of enterprises and institutions, etc., operators need to operate the electric gates and lifting columns separately, which increases the operation steps and time cost and reduces the traffic efficiency. Moreover, in some emergency situations, such as when emergency vehicles need to pass quickly, single operation is likely to delay the timing and affect the emergency response speed.

[0004] Therefore, how to improve the effect of electric door control and improve traffic efficiency is a key issue that technicians in this field are concerned about. Summary of the invention

[0005] The purpose of the present application is to provide a linkage control method, linkage control device, linkage control equipment, and computer-readable storage medium for an electric door and a lifting column, so as to improve the control effect of the electric door and improve the traffic efficiency.

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a linkage control method for an electric door and a lifting column, comprising:

[0007] Determine the entry and exit status information of the current object based on the visual recognition system;

[0008] Determine the corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction;

[0009] Based on the scene operation instructions, the electric door and the lifting column are subjected to linkage operation.

[0010] Optionally, the entry and exit status information of the current object is determined based on a visual recognition system, including:

[0011] The obtained image is identified by the visual recognition system to obtain vehicle information; wherein the vehicle information includes: identity information and category information; wherein the category information includes: normal vehicle, temporary vehicle, important vehicle, special vehicle, emergency vehicle, and fast-release vehicle;

[0012] The vehicle information is searched through a database to obtain the entry and exit status information.

[0013] Optionally, determining a corresponding scene operation instruction based on the entry and exit status information includes:

[0014] When the entry and exit status information is normal passage, the door opening instruction and the same-side descending instruction are used as the scene operation instructions;

[0015] When the entry and exit status information is special passage, the door opening instruction and the intermediate descending instruction are used as the scene operation instructions;

[0016] When the entry and exit status information is emergency passage, the door opening instruction and the single-side descending instruction are used as the scene operation instructions.

[0017] Optionally, performing linkage operation on the electric door and the lifting column based on the scene operation instruction includes:

[0018] When the scene operation instruction is a gate opening instruction and a same-side descending instruction, the electric gate is opened and the four descending levers on one side are operated to perform a descending operation.

[0019] Optionally, performing linkage operation on the electric door and the lifting column based on the scene operation instruction includes:

[0020] When the scene operation instruction is a gate opening instruction and a middle descending instruction, the electric gate is opened and the four middle descending doors are operated to perform a descending operation.

[0021] Optionally, performing linkage operation on the electric door and the lifting column based on the scene operation instruction includes:

[0022] When the scene operation instruction is a gate opening instruction and a single-side descending instruction, the electric gate is opened and the two descending levers on one side are operated to perform a descending operation.

[0023] The present application also provides a linkage control device for an electric door and a lifting column, comprising:

[0024] A visual recognition module, used to determine the entry and exit status information of the current object based on the visual recognition system;

[0025] An operation instruction determination module is used to determine a corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction;

[0026] The interconnection operation module is used to perform linkage operations on the electric door and the lifting column based on the scene operation instructions.

[0027] Optionally, the visual recognition module is specifically used to identify the acquired image through the visual recognition system to obtain vehicle information; wherein the vehicle information includes: identity information, type information; wherein the type information includes: normal vehicles, temporary vehicles, important vehicles, special vehicles, emergency vehicles, and quick-release vehicles; the vehicle information is searched through a database to obtain the entry and exit status information.

[0028] The present application also provides a linkage control device, comprising:

[0029] Memory for storing computer programs;

[0030] A processor is used to implement the steps of the linkage control method as described above when executing the computer program.

[0031] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the linkage control method as described above are implemented.

[0032] The present application provides a linkage control method for an electric door and a lifting column, comprising: determining the entry and exit status information of the current object based on a visual recognition system; determining corresponding scene operation instructions based on the entry and exit status information; wherein the scene operation instructions include: a normal opening instruction, a special opening instruction, or an emergency opening instruction; and performing linkage operation on the electric door and the lifting column based on the scene operation instructions.

[0033] It has the following beneficial effects:

[0034] By identifying the entry and exit status information of the current object and determining the corresponding scene operation instructions, the electric gate and the lifting column can work efficiently together. Through precise linkage operation, the need for manual intervention is reduced and the degree of automation of entrance and exit control is improved. It can quickly respond to traffic needs in different scenarios. For example, in an emergency, it can quickly open the gate and lower some lifting columns to ensure that emergency vehicles can pass quickly, thereby improving the emergency response speed. At the same time, precise linkage operation also helps to extend the service life of the equipment, reduce damage to the equipment caused by misoperation or uncoordinated operation, reduce equipment maintenance costs, and improve the reliability and stability of the entire entrance and exit control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application 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 only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A flow chart of a linkage control method for an electric door and a lifting column provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of a linkage control device for an electric door and a lifting column provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the structure of the linkage control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The purpose of the present application is to provide a linkage control method, linkage control device, linkage control equipment, and computer-readable storage medium for an electric door and a lifting column, so as to improve the control effect of the electric door and improve the traffic efficiency.

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] The following describes a linkage control method for an electric door and a lifting column provided by the present application through an embodiment.

[0042] Please refer to Figure 1 , Figure 1 A flow chart of a linkage control method for an electric door and a lifting column provided in an embodiment of the present application.

[0043] In this embodiment, the method may include:

[0044] S101, determining the entry and exit status information of the current object based on the visual recognition system;

[0045] The visual recognition system in this step uses image acquisition devices such as cameras to obtain image information of the entrance and exit areas. By processing and analyzing these images, the vehicle features such as vehicle appearance and license plate number are identified, and then the vehicle information is obtained. The identity information in the vehicle information can be used to uniquely identify the vehicle (such as the license plate number corresponds to the owner's identity), and the type information is used to classify the vehicle type, including normal vehicles (daily vehicles), temporary vehicles (such as visitor vehicles), important vehicles (such as VIP vehicles), special vehicles (such as police cars, fire trucks, etc.), emergency vehicles (vehicles that perform emergency tasks and need to pass quickly), and fast-release vehicles (vehicles that need to pass quickly under specific circumstances). Then the obtained vehicle information is compared with the information in the database. The database pre-stores different vehicle types and their corresponding entry and exit permissions, traffic rules and other information. The entry and exit status information of the current vehicle is determined by comparison, such as whether it is allowed to enter, whether it belongs to a special traffic category, etc.

[0046] The hardware of the visual recognition system includes a high-definition camera, which should be installed in a position that ensures that the entire vehicle and license plate can be clearly captured. The camera converts the collected analog image signal into a digital signal and transmits it to the image processing unit. The image processing unit uses advanced image processing algorithms, such as target detection algorithms based on deep learning, to locate and extract features of vehicles in the image, thereby identifying vehicle information. In terms of software, it is necessary to develop a vehicle information recognition program that interacts with the database management system. The database management system is responsible for storing and managing vehicle information and related rule data. The vehicle recognition program sends the recognized vehicle information to the database management system, which performs a search operation and returns the entry and exit status information to the linkage control device.

[0047] Improved the accuracy and intelligence of vehicle identification. Compared with traditional manual identification or simple inductive identification, the visual recognition system can more accurately determine the type and identity of the vehicle and reduce misjudgment. Vehicle classification management is realized. According to the entry and exit status information of different types of vehicles, more targeted instructions can be provided for subsequent linkage operations, the entrance and exit management process can be optimized, and the overall traffic efficiency and safety can be improved. For example, special access treatment can be quickly given to important vehicles, and unauthorized vehicles can be blocked from entering in time.

[0048] S102, determining a corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction;

[0049] On the basis of S101, according to the entry and exit status information determined by the visual recognition system, the corresponding scene operation instructions are matched according to the preset rules. When the entry and exit status information is normal passage, it means that the vehicle is in normal daily entry and exit. At this time, the corresponding scene operation instructions are the gate opening instruction and the same-side descent instruction, that is, the vehicle is allowed to enter or leave normally from one side, and the lifting column on that side is lowered. When the entry and exit status information is special passage, such as the passage of important vehicles or special vehicles, higher passage guarantees are required. The corresponding scene operation instructions are the gate opening instruction and the middle descent instruction. The lowering of the middle lifting column can provide a more spacious and safe passage for special vehicles. When the entry and exit status information is emergency passage, such as emergency rescue vehicles, etc., the passage needs to be opened quickly. The corresponding scene operation instructions are the gate opening instruction and the single-side descent instruction. Only part of the lifting column on one side is lowered to achieve passage at the fastest speed.

[0050] A rule engine is built into the linkage control device, which pre-sets the mapping relationship between different entry and exit status information and scene operation instructions. After receiving the entry and exit status information, the rule engine performs logical judgment according to the preset rules to determine the corresponding scene operation instructions. For example, when receiving the entry and exit status information of "normal passage", the rule engine searches the mapping relationship table to find the corresponding "gate opening instruction and same-side descending instruction", and then outputs the instruction to the subsequent linkage operation module.

[0051] It realizes intelligent command generation according to the needs of different scenarios. It can quickly and accurately provide appropriate operation instructions according to the actual situation of the vehicle, improving the flexibility and adaptability of linkage control. It ensures that different types of vehicles can be properly handled in different scenarios. For example, while ensuring the efficiency of normal vehicle traffic, it can give priority to meeting the traffic needs of special vehicles and emergency vehicles, improving the overall efficiency and safety of entrance and exit management, and reducing traffic delays or safety hazards caused by improper operation or mismatched instructions.

[0052] S103, performing linkage operation on the electric door and the lifting column based on the scene operation instruction.

[0053] On the basis of S102, after receiving the scene operation instruction, the linkage control device sends control signals to the electric door drive device and the lifting column drive device respectively to realize the coordinated action of the two. For the electric door, according to the door opening instruction, the drive device controls the motor to operate, driving the door to open along the track or hinge and other mechanisms. For the lifting column, according to the same-side descent instruction, the middle descent instruction or the unilateral descent instruction, the lifting column drive device at the corresponding position controls the lifting motor of the lifting column, so that the lifting column performs the rising or falling operation according to the instruction requirements, thereby realizing the linkage with the electric door, and jointly constructing a suitable entrance and exit state to meet the vehicle traffic needs.

[0054] The electric gate drive device and the lifting column drive device are connected to the linkage control device through wired or wireless communication, such as industrial Ethernet, Wi-Fi or Bluetooth communication protocols. The linkage control device decomposes the scene operation instructions into specific control signals for the electric gate and lifting column, and sends them to the corresponding drive devices respectively. After the electric gate drive device receives the door opening instruction, the controller of the drive motor controls the motor speed, direction and other parameters according to the instruction to achieve smooth and rapid opening of the gate. After receiving the descending instruction, the lifting column drive device also controls the operation of the lifting column motor so that the lifting column accurately descends to the specified position. At the same time, a position feedback sensor, such as an encoder, can also be set in the drive device to monitor the position status of the electric gate and the lifting column in real time, and feed back the information to the linkage control device for precise control and fault detection.

[0055] The electric gate and the lifting column can work together efficiently. Through precise linkage operation, the need for manual intervention is reduced and the degree of automation of access control is improved. It can quickly respond to traffic needs in different scenarios. For example, in an emergency, it can quickly open the gate and lower some lifting columns to ensure that emergency vehicles can pass quickly, thereby improving the speed of emergency response. At the same time, precise linkage operation also helps to extend the service life of the equipment, reduce damage to the equipment caused by misoperation or uncoordinated operation, reduce equipment maintenance costs, and improve the reliability and stability of the entire access control system.

[0056] In summary, this embodiment realizes the efficient coordination of the electric gate and the lifting column by identifying the entry and exit status information of the current object and determining the corresponding scene operation instructions. Through precise linkage operation, the need for manual intervention is reduced and the degree of automation of entrance and exit control is improved. It can quickly respond to the passage needs in different scenarios. For example, in an emergency, it can quickly open the gate and lower some lifting columns to ensure the rapid passage of emergency vehicles, thereby improving the emergency response speed. At the same time, precise linkage operation also helps to extend the service life of the equipment, reduce damage to the equipment caused by misoperation or uncoordinated operation, reduce equipment maintenance costs, and improve the reliability and stability of the entire entrance and exit control system.

[0057] Optionally, the entry and exit status information of the current object is determined based on a visual recognition system, including:

[0058] The acquired image is recognized by the visual recognition system to obtain vehicle information; the vehicle information includes: identity information and type information; the type information includes: normal vehicles, temporary vehicles, important vehicles, special vehicles, emergency vehicles, and fast-release vehicles; the vehicle information is searched through the database to obtain entry and exit status information.

[0059] Optionally, determining a corresponding scene operation instruction based on the entry and exit status information includes:

[0060] When the entry and exit status information is normal passage, the gate opening instruction and the same-side descent instruction are used as scene operation instructions; when the entry and exit status information is special passage, the gate opening instruction and the middle descent instruction are used as scene operation instructions; when the entry and exit status information is emergency passage, the gate opening instruction and the single-side descent instruction are used as scene operation instructions.

[0061] Optionally, based on scene operation instructions, the electric door and lifting column can be linked, including:

[0062] When the scene operation instructions are the gate opening instruction and the same-side descending instruction, the electric gate is opened and the four descending levers on one side are operated to perform the descending operation.

[0063] Optionally, based on scene operation instructions, the electric door and lifting column can be linked, including:

[0064] When the scene operation instructions are the gate opening instruction and the middle descending instruction, the electric gate is opened and the 4 descending buttons in the middle are operated to perform the descending operation.

[0065] Optionally, based on scene operation instructions, the electric door and lifting column can be linked, including:

[0066] When the scene operation instructions are the gate opening instruction and the single-side descending instruction, the electric gate is opened and the two descending levers on one side are operated to perform the descending operation.

[0067] A linkage control device for an electric door and a lifting column provided in an embodiment of the present application is introduced below. A linkage control device for an electric door and a lifting column and a linkage control method for an electric door and a lifting column described below can correspond to each other.

[0068] Please refer to Figure 2 , Figure 2 A schematic structural diagram of a linkage control device for an electric door and a lifting column provided in an embodiment of the present application.

[0069] In this embodiment, the device may include:

[0070] A visual recognition module 100, used to determine the entry and exit status information of the current object based on a visual recognition system;

[0071] The operation instruction determination module 200 is used to determine the corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction;

[0072] The interconnection operation module 300 is used to perform linkage operations on the electric door and the lifting column based on scene operation instructions.

[0073] Optionally, a visual recognition module is specifically used to identify the acquired image through a visual recognition system to obtain vehicle information; wherein the vehicle information includes: identity information, type information; wherein the type information includes: normal vehicles, temporary vehicles, important vehicles, special vehicles, emergency vehicles, and quick-release vehicles; the vehicle information is searched through a database to obtain entry and exit status information.

[0074] This application also provides linkage control equipment, please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of a linkage control device provided in an embodiment of the present application. The linkage control device may include:

[0075] Memory for storing computer programs;

[0076] The processor is used to implement the steps of any one of the above-mentioned linkage control methods for electric gates and lifting columns when executing a computer program.

[0077] like Figure 3 , which is a schematic diagram of the structure of the linkage control device, the linkage control device may include: a processor 10, a memory 11, a communication interface 12 and a communication bus 13. The processor 10, the memory 11 and the communication interface 12 communicate with each other through the communication bus 13.

[0078] In the embodiment of the present application, the processor 10 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic devices.

[0079] The processor 10 may call a program stored in the memory 11. Specifically, the processor 10 may execute operations in an embodiment of the abnormal IP identification method.

[0080] The memory 11 is used to store one or more programs, which may include program codes, and the program codes include computer operation instructions. In the embodiment of the present application, the memory 11 at least stores programs for implementing the following functions:

[0081] Determine the entry and exit status information of the current object based on the visual recognition system;

[0082] Determine the corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction;

[0083] Perform linkage operations on electric gates and lifting columns based on scene operation instructions.

[0084] In a possible implementation, the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0085] In addition, the memory 11 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0086] The communication interface 12 may be an interface of a communication module, and is used to connect to other devices or systems.

[0087] Of course, it should be noted that Figure 3 The structure shown does not constitute a limitation on the linkage control device in the embodiment of the present application. In actual applications, the linkage control device may include Figure 3 More or fewer components than shown, or combinations of certain components.

[0088] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for controlling the linkage of an electric door and a lifting column can be implemented.

[0089] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0090] For an introduction to the computer-readable storage medium provided in this application, please refer to the above method embodiment, and this application will not go into details here.

[0091] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0092] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0093] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0094] The above is a detailed introduction to the linkage control method, linkage control device, linkage control equipment, and computer-readable storage medium of an electric door and a lifting column provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A linkage control method for an electric door and a lifting column, characterized in that: include: Determine the entry and exit status information of the current object based on the visual recognition system; Determine the corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction; Based on the scene operation instructions, the electric door and the lifting column are subjected to linkage operation.

2. The linkage control method according to claim 1, characterized in that: Based on the visual recognition system, the entry and exit status information of the current object is determined, including: The obtained image is identified by the visual recognition system to obtain vehicle information; wherein the vehicle information includes: identity information and category information; wherein the category information includes: normal vehicle, temporary vehicle, important vehicle, special vehicle, emergency vehicle, and fast-release vehicle; The vehicle information is searched through a database to obtain the entry and exit status information.

3. The linkage control method according to claim 1, characterized in that: Determining a corresponding scene operation instruction based on the entry and exit status information includes: When the entry and exit status information is normal passage, the door opening instruction and the same-side descending instruction are used as the scene operation instructions; When the entry and exit status information is special passage, the door opening instruction and the intermediate descending instruction are used as the scene operation instructions; When the entry and exit status information is emergency passage, the door opening instruction and the single-side descending instruction are used as the scene operation instructions.

4. The linkage control method according to claim 1, characterized in that: Based on the scene operation instruction, the electric door and the lifting column are linked to each other, including: When the scene operation instruction is a gate opening instruction and a same-side descending instruction, the electric gate is opened and the four descending levers on one side are operated to perform a descending operation.

5. The linkage control method according to claim 1, characterized in that: Based on the scene operation instruction, the electric door and the lifting column are linked to each other, including: When the scene operation instruction is a gate opening instruction and a middle descending instruction, the electric gate is opened and the four middle descending doors are operated to perform a descending operation.

6. The linkage control method according to claim 1, characterized in that: Based on the scene operation instruction, the electric door and the lifting column are linked to each other, including: When the scene operation instruction is a gate opening instruction and a single-side descending instruction, the electric gate is opened and the two descending levers on one side are operated to perform a descending operation.

7. A linkage control device for an electric door and a lifting column, characterized in that: include: A visual recognition module, used to determine the entry and exit status information of the current object based on the visual recognition system; An operation instruction determination module is used to determine a corresponding scene operation instruction based on the entry and exit status information; wherein the scene operation instruction includes: a normal opening instruction, a special opening instruction, or an emergency opening instruction; The interconnection operation module is used to perform linkage operations on the electric door and the lifting column based on the scene operation instructions.

8. The linkage control device according to claim 7, characterized in that: The visual recognition module is specifically used to identify the acquired image through the visual recognition system to obtain vehicle information; wherein the vehicle information includes: identity information, type information; wherein the type information includes: normal vehicles, temporary vehicles, important vehicles, special vehicles, emergency vehicles, and fast-release vehicles; the vehicle information is searched through a database to obtain the entry and exit status information.

9. A linkage control device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the linkage control method according to any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the linkage control method according to any one of claims 1 to 6 are implemented.

Images