Vehicle modeling method, device and equipment
By dividing the vehicle model into vehicle framework and devices, and constructing it using Subd and Nurbs models respectively, the problems of long modeling cycles and low efficiency in the existing technology are solved, and faster and higher-precision vehicle model construction is achieved.
Patent Information
- Application Number
- CN202411960916.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-05-13
AI Technical Summary
In the prior art, during the automotive model design process based on Alias software, Nurbs modeling techniques have a long period of model construction, single model overlapping techniques, complex modeling and difficult to modify, and the overall modeling efficiency is low.
By dividing the vehicle model to be constructed into a vehicle frame and a vehicle device, the vehicle frame is constructed based on Alias' subdivided modeling Subd model, the vehicle device is constructed based on the non-uniform rational B-spline Nurbs model, and each vehicle device is filled into the corresponding fill area, completing the construction of the vehicle model.
It improves the speed and accuracy of vehicle model construction, simplifies the profile overlapping skills, enhances the flexibility of profile modification, and improves overall modeling efficiency.
Smart Images
Figure CN119992007A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle manufacturing, and specifically to a vehicle modeling method, device and equipment. Background Art
[0002] As competition in the automotive market becomes increasingly fierce, the demand for vehicle model development and replacement by automakers has also increased, and the development cycle has continued to shrink. At the same time, under the trend of intelligence, networking, electrification and sharing, automotive styling design continues to try to seek innovation and breakthroughs with new design forms and methods. Digital design is a key link in styling design. Facing a new round of great development and great changes, it is particularly important to always maintain the advancement of technology and improve its own efficiency.
[0003] Alias is an advanced surface modeling software developed by Autodesk, which is widely used in the field of automotive A-class surface modeling. In the process of designing automobile models based on Alias software, the existing Nurbs modeling technique has a long modeling cycle, a single surface overlap technique, a complex surface that is difficult to modify, and a low overall modeling efficiency. Summary of the invention
[0004] In view of this, the present application provides a vehicle modeling method, device and equipment to help solve the problems of long modeling cycle and low efficiency in the prior art.
[0005] In a first aspect, an embodiment of the present application provides a vehicle modeling method, comprising:
[0006] In response to the construction requirement of the vehicle model, the vehicle model to be constructed is divided into a vehicle framework and vehicle components;
[0007] Constructing a vehicle frame of the vehicle model based on a subdivision modeling Subd model of modeling software Alias, wherein the vehicle frame includes a plurality of filling areas;
[0008] Constructing vehicle components of the vehicle model based on the Alias non-uniform rational B-spline Nurbs model, each vehicle component matches a filling area;
[0009] Each vehicle component is filled into the corresponding filling area to obtain the vehicle model.
[0010] In an optional embodiment, in response to the construction requirements of the vehicle model, the vehicle model to be constructed is divided into a vehicle framework and vehicle components, including:
[0011] In response to the requirements for building the vehicle model, determining the refinement of each module in the vehicle model;
[0012] Modules in the vehicle model with a precision less than a first threshold are divided into the vehicle framework, and modules in the vehicle model with a precision not less than the first threshold are divided into the vehicle devices.
[0013] In an optional embodiment, the modification flexibility of the vehicle components constructed based on the Nurbs model is higher than the modification flexibility of the vehicle framework constructed based on the Subd model.
[0014] In an optional embodiment, the vehicle device includes a surface model;
[0015] The vehicle device for constructing the vehicle model based on the non-uniform rational B-spline Nurbs model of Alias includes:
[0016] Create a multi-span curve based on the Alias line drawing tool;
[0017] Based on the Alias polysurface stretching msdraft tool, the span curve is stretched to obtain a corresponding smooth surface;
[0018] Based on the control point tool aligns of the Alias, multiple control points are attached to the smooth surface to generate the surface model.
[0019] In an optional embodiment, the method further includes:
[0020] In response to a demand for adjusting the curved surface model, adaptively adjusting the smooth curved surface;
[0021] The control points are attached to the adjusted smooth surface based on the Alias control point tool aligns.
[0022] In an optional embodiment, the method further includes:
[0023] In response to a modification of any vehicle component, extracting the corresponding vehicle component from the vehicle model;
[0024] Modify the current vehicle device based on the Nurbs model of the Alias;
[0025] The modified vehicle components are re-embedded into the vehicle model.
[0026] In an optional embodiment, for any module in the vehicle model, the speed of constructing the current module based on the Subd model of the Alias is greater than the speed of constructing the current module based on the Nurbs model of the Alias.
[0027] In a second aspect, an embodiment of the present application provides a vehicle modeling device, comprising:
[0028] A processing module, configured to divide the vehicle model to be constructed into a vehicle framework and vehicle components in response to a construction requirement of the vehicle model;
[0029] A first construction module is used to construct a vehicle frame of the vehicle model based on a subdivision modeling Subd model of a modeling software Alias, wherein the vehicle frame includes a plurality of filling areas;
[0030] A second construction module is used to construct vehicle components of the vehicle model based on the non-uniform rational B-spline Nurbs model of Alias, each vehicle component matches a filling area;
[0031] The filling module is used to fill each vehicle component into the corresponding filling area to obtain the vehicle model.
[0032] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute any one of the methods described in the first aspect above.
[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any method described in the first aspect.
[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes executable instructions. When the executable instructions are executed on a computer, the computer executes any method described in the first aspect.
[0035] By adopting the solution provided in the embodiment of the present application, in response to the construction requirements of the vehicle model, the vehicle model to be constructed is divided into a vehicle frame and vehicle components; the vehicle frame of the vehicle model is constructed based on the subdivision modeling Subd model of the modeling software Alias, and the vehicle frame includes multiple filling areas; the vehicle components of the vehicle model are constructed based on the non-uniform rational B-spline Nurbs model of Alias, and each vehicle component matches a filling area; each vehicle component is filled into the corresponding filling area to obtain the vehicle model. The vehicle frame can be quickly constructed based on the Subd model, and more complex vehicle components can be accurately constructed based on the Nurbs model. The vehicle model is comprehensively constructed based on the characteristics of different models, which can not only improve the speed of vehicle model construction, but also ensure the high-precision display of the vehicle model, thereby improving the overall modeling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0037] Figure 1 A schematic diagram of a vehicle modeling method provided in an embodiment of the present application;
[0038] Figure 2 An exemplary schematic diagram of a vehicle modeling method provided in an embodiment of the present application;
[0039] Figure 3 An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0040] Figure 4a An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0041] Figure 4b An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0042] Figure 4c An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0043] Figure 5a An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0044] Figure 5b An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0045] Figure 5c An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0046] Figure 6a An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0047] Figure 6b An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0048] Figure 7 An exemplary schematic diagram of another vehicle modeling method provided in an embodiment of the present application;
[0049] Figure 8 A schematic diagram of the structure of a vehicle modeling device provided in an embodiment of the present application;
[0050] Fig. 9A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0051] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.
[0052] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.
[0053] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.
[0054] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0055] Alias is an advanced surface modeling software developed by Autodesk, which is widely used in the field of automotive A-class surface modeling. Nowadays, when designers use Alias software for vehicle modeling, they usually build all the contents of the vehicle based on the Non-Uniform Rational B-Splines (Nurbs) model. Nurbs modeling creates curves from points, curves form surfaces, and then surfaces form model surfaces. Curves have control points that can control the curvature, direction, and length of curves. Curves can be created with measured cloud points, or the user's required curves can be outlined from raster images. According to the created curves, large-area surfaces can be created using options such as over-curves, ruled lines, over-curve meshes, and sweeps. Nurbs uses complex mathematical algorithms to calculate the model surface, which means it is more suitable for models that require high precision. In addition, the cycle of building a vehicle model based on the Nurbs model is long, and the surface overlap techniques are single and difficult to modify.
[0056] In response to the above problems, an embodiment of the present application provides a vehicle modeling method, which uses different models to construct different parts of the vehicle based on the respective characteristics of the subdivision modeling Subd model and the Nurbs model, thereby improving the overall modeling efficiency.
[0057] Figure 1A flow chart of a vehicle modeling method provided in an embodiment of the present application. The method can be executed by a processing device, such as Figure 1 As shown, the method may include:
[0058] Step 101 , in response to a requirement for building a vehicle model, divide the vehicle model to be built into a vehicle frame and vehicle components.
[0059] Step 102 , constructing a vehicle frame of a vehicle model based on a subdivision modeling Subd model of modeling software Alias, wherein the vehicle frame includes a plurality of filling areas.
[0060] Step 103 : constructing vehicle components of the vehicle model based on the non-uniform rational B-spline Nurbs model of Alias, each vehicle component matches a filling area.
[0061] Before constructing the vehicle model, the processing device may determine the fineness of each module in the vehicle model, and divide each module of the vehicle model into a vehicle frame or a vehicle device based on the fineness. Optionally, based on the actual fineness of each module, a reasonable fineness threshold may be pre-configured in the processing device to divide each module. For example, the processing device may pre-store a first threshold, and for each module in the vehicle model, if the fineness is less than the first threshold, it is divided into a vehicle frame part, and if the fineness is not less than the first threshold, it is divided into a vehicle device part.
[0062] Figure 2 This is an example of a model of a vehicle hood. The portion in the dotted box pointed to by arrow 201 is a headlight module. The module has a high precision requirement, and the processing device can classify it as a vehicle component. Figure 2 Except for the lighting module, other parts have lower precision requirements and can be divided into the vehicle frame.
[0063] After the modules of the vehicle model are divided, the processing device can build a vehicle frame based on the Subd model of Alias and build vehicle components based on the Nurbs model. The vehicle frame contains multiple filling areas, and each vehicle component matches a filling area in the vehicle frame. After the vehicle frame and vehicle components are built, the processing device can fill the vehicle components into the filling areas corresponding to the vehicle frame to complete the construction of the vehicle model. Figure 2 The area of the headlight module shown is a filling area. After the processing device builds the headlight module based on the Nurbs model and builds the hood model based on the Subd model, the headlight module can be filled into the filling area of the hood model.
[0064] The vehicle model constructed based on the Subd model has low accuracy, and the vehicle model constructed based on the Nurbs model has a long cycle and low efficiency. After applying the method of the embodiment of the present application, the modules of the vehicle model are divided into vehicle frames or vehicle components in advance according to the precision, and a vehicle frame with low precision is quickly constructed based on Subd, and vehicle components with high precision are accurately constructed based on Nurbs. Afterwards, the overall construction of the vehicle model can be completed by filling the vehicle components into the filling area of the vehicle frame through Boolean operations, which can improve the construction speed of the vehicle model, ensure the precision of some modules, and improve the overall construction efficiency.
[0065] The following is a description of the vehicle model construction process through a specific embodiment. The designer opens the Alias software and first imports a Subd vehicle model. Figure 3 If there is no model, you can simply build a rectangular Subd model instead. Then, based on the Subd vehicle model, combine the multi-span Span curve and Nurbs model to build more complex detail features.
[0066] Taking the door seam as an example, the designer can first use Alias's line drawing tool to draw a multi-span curve, such as Figure 4a After adjusting the curve position, use the projection tool to project a cosine line from the right view, as shown in Figure 4b After that, by setting relevant parameters, the designer can obtain a door seam line, such as Figure 4c Do not delete the historical information of the cos line here. You can adjust the position of the door seam quickly and in real time by adjusting the curve control points.
[0067] Taking the hood surface as an example, designers can build a surface model based on the Nurbs model. First, create a multi-span curve based on the Alias line drawing tool, such as Figure 5a Then, based on Alias's polysurface stretching msdraft tool, the span curve is stretched and the corresponding parameters are set to obtain the corresponding smooth surface, as shown in Figure 5b Afterwards, multiple control points are attached to the smooth surface based on the Alias control point tool aligns and the corresponding parameters are set to generate a surface model, as shown in Figure 5c As shown. If the designer wants to adjust the surface model, he can first make adaptive adjustments to the smooth surface, and then attach the control points to the adjusted smooth surface based on Alias's control point tool aligns to obtain the adjusted surface model. Compared with the existing method of manually adjusting the control points to adjust the surface model, the present application first adjusts the smooth surface and then reattaches the control points to the adjusted smooth surface, which can improve the overall adjustment efficiency and has higher accuracy.
[0068] With the help of the Nurbs model and the Nurbs modeling tool, the control points of the hood surface are located with high precision, which helps the Subd model overcome the disadvantage of insufficient precision. This allows the originally rough Subd model to be expressed with high precision and quickly improves the smoothness of the hood surface.
[0069] Taking the headlight model as an example, the designer first builds a set of curves based on Alias's line drawing tools, such as Figure 6a Then, based on the Alias polysurface stretching msdraft tool, the span curve is stretched and the corresponding parameters are set to obtain the corresponding headlight model, as shown in Figure 6b After the headlight model is built, the designer can fill it into the corresponding area of the vehicle frame. Figure 2 .
[0070] After the designer fills all the vehicle components into the corresponding area of the vehicle frame, the designer can obtain Figure 7 The vehicle model shown. Generally speaking, during the vehicle model construction process, the number of modifications to the vehicle components is generally higher than that to the vehicle framework. The modification flexibility of the vehicle components built based on the Nurbs model is higher than that of the vehicle framework built based on the Subd model. Therefore, when the designer wants to modify any vehicle component, the vehicle component can be extracted from the vehicle model and then modified based on the Nurbs model. After the modification is completed, the designer re-embeds the modified vehicle component into the vehicle model.
[0071] By building a vehicle model through multi-model fusion, the characteristic disadvantages of various modeling techniques are eliminated. The surface overlapping techniques are flexible and the surface is easy to modify, which can maximize the efficiency of various modeling ideas.
[0072] Figure 8 This is a schematic diagram of the structure of a vehicle modeling device provided in an embodiment of the present application. Figure 8 As shown, the device may include:
[0073] The processing module 810 is used to divide the vehicle model to be constructed into a vehicle frame and vehicle components in response to the construction requirements of the vehicle model.
[0074] The first construction module 820 is used to construct a vehicle frame of a vehicle model based on a subdivision modeling Subd model of the modeling software Alias, wherein the vehicle frame includes a plurality of filling areas.
[0075] The second construction module 830 is used to construct vehicle components of the vehicle model based on the Alias non-uniform rational B-spline Nurbs model, and each vehicle component matches a filling area.
[0076] The filling module 840 is used to fill each vehicle component into the corresponding filling area to obtain a vehicle model.
[0077] Corresponding to the above embodiments, the present application also provides an electronic device. Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, the electronic device 900 may include: a processor 901, a memory 902 and a communication unit 903. These components communicate through one or more buses, and those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiment of the present application, it can be a bus structure or a star structure, and can also include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.
[0078] The communication unit 903 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.
[0079] The processor 901 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs, instructions, and / or modules stored in the memory 902, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 901 can include only a central processing unit (CPU). In the embodiment of the present application, the CPU can be a single computing core or multiple computing cores.
[0080] The memory 902 is used to store the execution instructions of the processor 901. The memory 902 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
[0081] When the execution instructions in the memory 902 are executed by the processor 901 , the electronic device 900 is enabled to execute part or all of the steps in the above embodiments.
[0082] In a specific implementation, the present application further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the vehicle modeling method provided in the present application. The storage medium may be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.
[0083] In a specific implementation, the present application also provides a computer program product, wherein the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer executes part or all of the steps in each embodiment of the vehicle modeling method provided in the present application.
[0084] An embodiment of the present application also provides a non-temporary computer-readable storage medium, which stores computer instructions, and the computer instructions enable the computer to execute the vehicle modeling method provided by the embodiment of the present application.
[0085] The above-mentioned non-temporary computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (Read Only Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (ErasableProgrammable Read Only Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.
[0086] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.
[0087] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
[0088] Those skilled in the art can clearly understand that the technology in the embodiments of the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application or some parts of the embodiments.
[0089] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.
Claims
1. A vehicle modeling method, characterized in that: include: In response to the construction requirement of the vehicle model, the vehicle model to be constructed is divided into a vehicle framework and vehicle components; Constructing a vehicle frame of the vehicle model based on a subdivision modeling Subd model of modeling software Alias, wherein the vehicle frame includes a plurality of filling areas; Constructing vehicle components of the vehicle model based on the Alias non-uniform rational B-spline Nurbs model, each vehicle component matches a filling area; Each vehicle component is filled into the corresponding filling area to obtain the vehicle model.
2. The method according to claim 1, characterized in that The step of dividing the vehicle model to be constructed into a vehicle framework and vehicle components in response to the construction requirements of the vehicle model includes: In response to the requirements for building the vehicle model, determining the refinement of each module in the vehicle model; Modules in the vehicle model with a precision less than a first threshold are divided into the vehicle framework, and modules in the vehicle model with a precision not less than the first threshold are divided into the vehicle devices.
3. The method according to claim 1, characterized in that The modification flexibility of the vehicle components constructed based on the Nurbs model is higher than the modification flexibility of the vehicle framework constructed based on the Subd model.
4. The method according to claim 1, characterized in that: The vehicle device includes a surface model; The vehicle device for constructing the vehicle model based on the non-uniform rational B-spline Nurbs model of Alias includes: Create a multi-span curve based on the Alias line drawing tool; Based on the Alias polysurface stretching msdraft tool, the span curve is stretched to obtain a corresponding smooth surface; Based on the control point tool aligns of the Alias, multiple control points are attached to the smooth surface to generate the surface model.
5. The method according to claim 4, characterized in that The method further comprises: In response to a demand for adjusting the curved surface model, adaptively adjusting the smooth curved surface; The control points are attached to the adjusted smooth surface based on the Alias control point tool aligns.
6. The method according to claim 1, characterized in that The method further comprises: In response to a modification of any vehicle component, extracting the corresponding vehicle component from the vehicle model; Modify the current vehicle device based on the Nurbs model of the Alias; The modified vehicle components are re-embedded into the vehicle model.
7. The method according to claim 1, characterized in that For any module in the vehicle model, the speed of constructing the current module based on the Subd model of the Alias is faster than the speed of constructing the current module based on the Nurbs model of the Alias.
8. A vehicle modeling device, characterized in that: include: A processing module, configured to divide the vehicle model to be constructed into a vehicle framework and vehicle components in response to a construction requirement of the vehicle model; A first construction module is used to construct a vehicle frame of the vehicle model based on a subdivision modeling Subd model of a modeling software Alias, wherein the vehicle frame includes a plurality of filling areas; A second construction module is used to construct vehicle components of the vehicle model based on the non-uniform rational B-spline Nurbs model of Alias, each vehicle component matches a filling area; The filling module is used to fill each vehicle component into the corresponding filling area to obtain the vehicle model.
9. An electronic device, characterized in that: The electronic device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.