CN109601509A - Obtain method, apparatus, storage medium and the electronic equipment of ground block message - Google Patents
Obtain method, apparatus, storage medium and the electronic equipment of ground block message Download PDFInfo
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- CN109601509A CN109601509A CN201811505379.6A CN201811505379A CN109601509A CN 109601509 A CN109601509 A CN 109601509A CN 201811505379 A CN201811505379 A CN 201811505379A CN 109601509 A CN109601509 A CN 109601509A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000007613 environmental effect Effects 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
This disclosure relates to a kind of method, apparatus, storage medium and electronic equipment for obtaining ground block message, the method is used for the flight controller of unmanned plane, it is flown the described method includes: receiving flight control instruction with controlling unmanned plane in the plot to plant protection, and obtains the geographical location of the unmanned plane in real time in the flight course of the unmanned plane；According at least to the geographical location obtained in real time, determine that the ground block message in the plot, described ground block message are used to carry out plant protection operation to the plot.By the technical solution of the disclosure, the automatic acquisition for the ground block message for treating plant protection may be implemented, facilitate it is subsequent plant protection operation is carried out to the plot, compared to by the way that locality by way of block message, efficiency and accuracy rate manually can be improved.
Description
Technical field
This disclosure relates to unmanned plane plant protection technology field, and in particular, to a kind of method, apparatus of acquisition ground block message,
Storage medium and electronic equipment.
Background technique
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV), is a kind of not manned
Aircraft.Unmanned plane it is widely used, be often applied to plant protection, city management, geology, meteorology, electric power, rescue and relief work, video
The industries such as shooting.
When carrying out plant protection operation using unmanned plane, it usually needs the plot for treating plant protection carries out the acquisition of ground block message,
Plant protection operation is carried out to control unmanned plane according to collected ground block message.
In the related technology, it usually needs by the way that manually block message is acquired over the ground, this method low efficiency, accuracy are difficult to
It is guaranteed.
Summary of the invention
Purpose of this disclosure is to provide a kind of method, apparatus, storage medium and electronic equipments for obtaining ground block message, with solution
The problem of ground block message inaccuracy and low efficiency for being got when certainly using unmanned plane carrying out plant protection operation in the related technology.
To achieve the goals above, the disclosure provides a kind of method for obtaining ground block message, the flight control for unmanned plane
Device processed, comprising:
It receives flight control instruction to fly to control unmanned plane in the plot to plant protection, and in the flight of the unmanned plane
Obtain the geographical location of the unmanned plane in real time in the process；
According at least to the geographical location obtained in real time, determine the ground block message in the plot, described ground block message for pair
The plot carries out plant protection operation.
Optionally, described according at least to the geographical location obtained in real time, determine the ground block message in the plot, comprising:
According to the geographical location obtained in real time, the flight path of the unmanned plane is determined；
The ground block message in the target plot is determined according to the flight path.
Optionally, described according at least to the geographical location obtained in real time, determine the ground block message in the plot, comprising:
The request message for carrying the geographical location obtained in real time is sent to Cloud Server, the request message is for asking
Ask the Cloud Server from the ring in the preset range of real-time geographical locations for searching the unmanned plane in preset map datum
Border information；
Receive the environmental information that the Cloud Server is sent；
The ground block message in the target plot is determined according to the environmental information.
Optionally, the method also includes:
The ring of the real-time geographical locations of the unmanned plane is obtained by the image collecting device being arranged on the unmanned plane
Border image information；
It is described according at least to the geographical location obtained in real time, determine the ground block message in the plot, comprising:
According to the determination of the ambient image information of the real-time geographical locations of the unmanned plane and the real-time geographical locations
The ground block message in target plot.
Optionally, the plot information includes one or more of following information: the shape in the target plot, face
Product, height above sea level, the intramassif obstacle information of the target.
The disclosure also provides a kind of device for obtaining ground block message, the flight controller for unmanned plane, comprising:
First obtains module, is flown for receiving flight control instruction with controlling unmanned plane in the plot to plant protection, and
Obtain the geographical location of the unmanned plane in real time in the flight course of the unmanned plane；
Determining module, for determining the ground block message in the plot, describedly according at least to the geographical location obtained in real time
Block message is used to carry out plant protection operation to the plot.
Optionally, the determining module includes:
First determines submodule, for determining the flight path of the unmanned plane according to the geographical location obtained in real time；
Second determines submodule, for determining the ground block message in the target plot according to the flight path.
Optionally, the determining module includes:
Sending submodule, for the request message for carrying the geographical location obtained in real time to be sent to Cloud Server, institute
State real-time geographical locations of the request message for requesting the Cloud Server to search the unmanned plane from preset map datum
Preset range in environmental information；
Receiving submodule, the environmental information sent for receiving the Cloud Server；
Third determines submodule, for determining the ground block message in the target plot according to the environmental information.
Optionally, described device further include:
Second obtains module, obtains the unmanned plane for the image collecting device by being arranged on the unmanned plane
The ambient image information of real-time geographical locations；
The determining module includes:
4th determines submodule, for according to the real-time geographical locations of the unmanned plane and the ring of the real-time geographical locations
Border image information determines the ground block message in the target plot.
Optionally, the plot information includes one or more of following information: the shape in the target plot, face
Product, height above sea level, the intramassif obstacle information of the target.
The disclosure also provides a kind of computer readable storage medium, is stored thereon with computer program, and the program is processed
The step of method for obtaining ground block message that the disclosure provides is realized when device executes.
The disclosure also provides a kind of electronic equipment, comprising: memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize acquisition that the disclosure provides
The step of method of block message.
Technical solution provided by the present disclosure can include the following benefits:
It is flown in the plot to plant protection by control unmanned plane and obtains nobody in real time in the flight course of unmanned plane
The geographical location of machine determines the ground block message in plot according at least to the geographical location obtained in real time, may be implemented to treat plant protection
The automatic acquisition of ground block message, facilitate it is subsequent plant protection operation is carried out to the plot, compared to passing through artificial locality block message
Efficiency and accuracy rate can be improved in mode.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the flow chart of according to a kind of acquisition shown in one exemplary embodiment of the disclosure the method for block message；
Fig. 2 is the block diagram of according to a kind of acquisition shown in one exemplary embodiment of the disclosure the device of block message；
Fig. 3 be a kind of acquisition shown according to disclosure another exemplary embodiment the device of block message block diagram；
Fig. 4 is the block diagram according to a kind of electronic equipment shown in one exemplary embodiment of the disclosure.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
It should be noted that the specification and claims of the disclosure and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, and describes specific sequence or precedence without being interpreted as.
Fig. 1 is the flow chart of according to a kind of acquisition shown in one exemplary embodiment of the disclosure the method for block message, should
Method is used for the flight controller of unmanned plane, as shown in Figure 1, this method may comprise steps of:
In step s 11, it receives flight control instruction to fly to control unmanned plane in the plot to plant protection, and at nobody
The geographical location of unmanned plane is obtained in the flight course of machine in real time.
In one possible implementation, winged hand can input phase into the flight controller of unmanned plane according to the actual situation
The flight control instruction answered, the control instruction can for example including but be not limited to: fly hand setting unmanned plane flight starting point, fly
The parameters such as walking along the street diameter.The flight controller of unmanned plane controls unmanned plane from flight in response to the flight control instruction received
Point starts, and flies, and in the flight course of unmanned plane, passes through in the plot for waiting for plant protection according to parameters such as flight paths
The GPS positioning component being arranged on unmanned plane acquires the geographical location of the unmanned plane in real time.
In step s 12, according at least to the geographical location obtained in real time, the ground block message in the plot is determined, describedly
Block message is used to carry out plant protection operation to the plot.
In embodiment of the disclosure, ground block message may include the shape in plot, it is area, height above sea level, intramassif
One or more of information such as position, the height of barrier (such as earth magnetism, electric pole etc.).
In one possible implementation, which can be determined according to the geographical location of the unmanned plane obtained in real time
Flight path, and determine according to the flight path ground block message in target plot.Specifically, it can be determined according to flight path
The shape in plot can calculate the area in plot by the length of measurement flight path and the shape in plot.In addition, if flight rail
Mark shows unmanned plane in the heading consecutive variations of a certain position, it may be considered that there are barriers for the position.
In alternatively possible implementation, the request message for carrying the geographical location obtained in real time can be sent
To Cloud Server, the real-time geographical locations of the unmanned plane are searched from preset map datum according to the request message by server
Preset range in environmental information and environmental information is sent to unmanned plane, unmanned plane can determine mesh according to the environmental information
Mark the ground block message in plot.Wherein, it is half that preset range, which can be point, preset value centered on the real-time geographical locations of unmanned plane,
The border circular areas of diameter.Environmental information may include obstacle information, the boundary information in plot etc. in the preset range.
It is worth noting that asking for the geographical location can will be carried when getting the geographical location of unmanned plane every time
It asks message to be sent to Cloud Server, asking for all geographical locations got can also will be carried when unmanned plane terminates flight
Message is asked to be sent to Cloud Server.
According to above-described embodiment, the geographical location information in target plot can be obtained by unmanned plane during flying by flying hand not only,
And sent and requested from trend Cloud Server by unmanned plane, more had to obtain based on what the matching of above-mentioned geographical location information obtained
The environmental information in the target plot of value, in order to formulate operation scheme.
In some instances, above-mentioned environment carries out can be the geography obtained after server is statisticallyd analyze by big data
Environment temperature, humidity and the possible pest and disease damage at a certain moment of position or some historical informations in the geographical location, example
Such as, history crop, history pest and disease damage and history sprinkling scheme etc..
It, can also be by the image collecting device (example that is arranged on unmanned plane in some other possible implementation
Such as camera) obtain unmanned plane real-time geographical locations ambient image information, correspondingly, according to the real-time geographic position of unmanned plane
It sets and the ambient image information of real-time geographical locations can determine the ground block message in target plot.Specifically, by each
The ambient image informations of real-time geographical locations carries out a series of processing such as noise reduction, filtering, binaryzation and feature extraction, according to mentioning
The feature of taking-up can determine that whether there are obstacles around each real-time geographical locations, the type of barrier and plot
The information such as boundary.
The automatic acquisition for the ground block message for treating plant protection may be implemented in using above-mentioned acquisition the method for block message, convenient
It is subsequent that plant protection operation is carried out to the plot, compared to by the way that efficiency and accurate manually locality by way of block message, can be improved
Rate.
Fig. 2 is the block diagram of according to a kind of acquisition shown in one exemplary embodiment of the disclosure the device of block message, the dress
The flight controller for unmanned plane is set, as shown in Fig. 2, the device 200 may include: the first acquisition module 201 and determining mould
Block 202.
The first acquisition module 201 controls unmanned plane for receiving flight control instruction and flies in the plot to plant protection
It goes, and obtains the geographical location of the unmanned plane in real time in the flight course of the unmanned plane.
The determining module 202 is used to determine the ground block message in the plot, institute according at least to the geographical location obtained in real time
Ground block message is stated to be used to carry out plant protection operation to the plot.
Optionally, as shown in figure 3, the determining module 202 includes:
First determines submodule 221, for determining the flight rail of the unmanned plane according to the geographical location obtained in real time
Mark；
Second determines submodule 222, for determining the ground block message in the target plot according to the flight path.
Optionally, as shown in figure 3, the determining module 202 includes:
Sending submodule 223, for the request message for carrying the geographical location obtained in real time to be sent to Cloud Server,
The real-time geographic position that the request message is used to that the Cloud Server to be requested to search the unmanned plane from preset map datum
The environmental information in preset range set；
Receiving submodule 224, the environmental information sent for receiving the Cloud Server；
Third determines submodule 225, for determining the ground block message in the target plot according to the environmental information.
Optionally, as shown in figure 3, described device 200 further include:
Second obtains module 203, for by the image collecting device that is arranged on the unmanned plane obtain it is described nobody
The ambient image information of the real-time geographical locations of machine；
The determining module 202 includes:
4th determines submodule 226, for the real-time geographical locations and the real-time geographical locations according to the unmanned plane
Ambient image information determine the ground block message in the target plot.
Optionally, the plot information includes one or more of following information: the shape in the target plot, face
Product, height above sea level, the intramassif obstacle information of the target.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In addition, those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function
Can module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different functions
Module is completed, i.e., the internal structure of device is divided into different functional modules, described above all or part of to complete
Function.The specific work process of foregoing description functional module, can refer to corresponding processes in the foregoing method embodiment, herein not
It repeats again.
The automatic acquisition for the ground block message for treating plant protection may be implemented in using above-mentioned acquisition the device of block message, convenient
It is subsequent that plant protection operation is carried out to the plot, compared to by the way that efficiency and accurate manually locality by way of block message, can be improved
Rate.
Fig. 4 is the block diagram of a kind of electronic equipment 400 shown according to an exemplary embodiment, wherein the electronic equipment can
To be provided as a kind of device for obtaining ground block message, which can be applied to the flight controller of unmanned plane.Such as Fig. 4 institute
Show, which may include: processor 401, memory 402.The electronic equipment 400 can also include multimedia group
Part 403, one or more of input/output (I/O) interface 404 and communication component 405.
Wherein, processor 401 is used to control the integrated operation of the electronic equipment 400, to complete above-mentioned acquisition plot letter
All or part of the steps in the method for breath.Memory 402 is for storing various types of data to support in the electronic equipment
400 operation, these data for example may include any application or method for operating on the electronic equipment 400
Instruction and the relevant data of application program, such as contact data, the message of transmitting-receiving, picture, audio, video etc..This is deposited
Reservoir 402 can realize by any kind of volatibility or non-volatile memory device or their combination, for example, it is static with
Machine accesses memory (Static Random Access Memory, abbreviation SRAM), electrically erasable programmable read-only memory
(Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM), erasable programmable
Read-only memory (Erasable Programmable Read-Only Memory, abbreviation EPROM), programmable read only memory
(Programmable Read-Only Memory, abbreviation PROM), and read-only memory (Read-Only Memory, referred to as
ROM), magnetic memory, flash memory, disk or CD.Multimedia component 403 may include screen and audio component.Wherein
Screen for example can be touch screen, and audio component is used for output and/or input audio signal.For example, audio component may include
One microphone, microphone is for receiving external audio signal.The received audio signal can be further stored in storage
Device 402 is sent by communication component 405.Audio component further includes at least one loudspeaker, is used for output audio signal.I/O
Interface 404 provides interface between processor 401 and other interface modules, other above-mentioned interface modules can be keyboard, mouse,
Button etc..These buttons can be virtual push button or entity button.Communication component 405 is for the electronic equipment 400 and other
Wired or wireless communication is carried out between equipment.Wireless communication, such as Wi-Fi, bluetooth, near-field communication (Near Field
Communication, abbreviation NFC), 2G, 3G or 4G or they one or more of combination, therefore corresponding communication
Component 405 may include: Wi-Fi module, bluetooth module, NFC module.
In one exemplary embodiment, electronic equipment 400 can be by one or more application specific integrated circuit
(Application Specific Integrated Circuit, abbreviation ASIC), digital signal processor (Digital
Signal Processor, abbreviation DSP), digital signal processing appts (Digital Signal Processing Device,
Abbreviation DSPD), programmable logic device (Programmable Logic Device, abbreviation PLD), field programmable gate array
(Field Programmable Gate Array, abbreviation FPGA), controller, microcontroller, microprocessor or other electronics member
Part is realized, for executing the above-mentioned method for obtaining ground block message.
In a further exemplary embodiment, a kind of computer readable storage medium including program instruction is additionally provided, it should
The step of above-mentioned method for obtaining ground block message is realized when program instruction is executed by processor.For example, this computer-readable is deposited
Storage media can be the above-mentioned memory 402 including program instruction, and above procedure instruction can be by the processor of electronic equipment 400
401 execute to complete the above-mentioned method for obtaining ground block message.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of method for obtaining ground block message, which is characterized in that the flight controller for unmanned plane, comprising:
It receives flight control instruction to fly to control unmanned plane in the plot to plant protection, and in the flight course of the unmanned plane
In obtain the geographical location of the unmanned plane in real time；
According at least to the geographical location obtained in real time, determine that the ground block message in the plot, described ground block message are used for described
Plot carries out plant protection operation.
2. the method according to claim 1, wherein described according at least to the geographical location obtained in real time, determination
The ground block message in the plot, comprising:
According to the geographical location obtained in real time, the flight path of the unmanned plane is determined；
The ground block message in the target plot is determined according to the flight path.
3. the method according to claim 1, wherein described according at least to the geographical location obtained in real time, determination
The ground block message in the plot, comprising:
The request message for carrying the geographical location obtained in real time is sent to Cloud Server, the request message is for requesting institute
Cloud Server is stated from the environment letter in the preset range of real-time geographical locations for searching the unmanned plane in preset map datum
Breath；
Receive the environmental information that the Cloud Server is sent；
The ground block message in the target plot is determined according to the environmental information.
4. the method according to claim 1, wherein the method also includes:
The environment map of the real-time geographical locations of the unmanned plane is obtained by the image collecting device being arranged on the unmanned plane
As information；
It is described according at least to the geographical location obtained in real time, determine the ground block message in the plot, comprising:
The target is determined according to the ambient image information of the real-time geographical locations of the unmanned plane and the real-time geographical locations
The ground block message in plot.
5. method according to claim 1 to 4, which is characterized in that the plot information includes following information
One or more of: the shape in the target plot, area, height above sea level, the intramassif obstacle information of the target.
6. a kind of device for obtaining ground block message, which is characterized in that the flight controller for unmanned plane, comprising:
First obtains module, is flown for receiving flight control instruction with controlling unmanned plane in the plot to plant protection, and in institute
State the geographical location for obtaining the unmanned plane in the flight course of unmanned plane in real time；
Determining module, for determining the ground block message in the plot, the plot letter according at least to the geographical location obtained in real time
Breath is for carrying out plant protection operation to the plot.
7. device according to claim 6, which is characterized in that the determining module includes:
First determines submodule, for determining the flight path of the unmanned plane according to the geographical location obtained in real time；
Second determines submodule, for determining the ground block message in the target plot according to the flight path.
8. device according to claim 6, which is characterized in that the determining module includes:
Sending submodule, it is described to ask for the request message for carrying the geographical location obtained in real time to be sent to Cloud Server
Ask the pre- of real-time geographical locations of the message for requesting the Cloud Server to search the unmanned plane from preset map datum
If the environmental information in range；
Receiving submodule, the environmental information sent for receiving the Cloud Server；
Third determines submodule, for determining the ground block message in the target plot according to the environmental information.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of any one of claims 1 to 5 the method is realized when row.
10. a kind of electronic equipment characterized by comprising
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize any one of claims 1 to 5 institute
The step of stating method.
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