Control method of holder, mobile platform and computer readable storage medium
阅读说明:本技术 云台的控制方法、云台、移动平台和计算机可读存储介质 (Control method of holder, mobile platform and computer readable storage medium ) 是由 范庆鹤 马天航 于 2018-11-28 设计创作,主要内容包括:一种云台(100)的控制方法、云台(100)、移动平台和计算机可读存储介质(400)。控制方法包括:在检测到指示云台(100)进入收纳模式的触发事件时,控制转轴结构(10)转动至设定位置,以使得云台(100)满足预设的收纳形态(01);控制转轴结构(10)在设定位置保持预设时长(02)。(A control method of a pan/tilt head (100), a mobile platform and a computer-readable storage medium (400). The control method comprises the following steps: when a trigger event indicating that the cradle head (100) enters the storage mode is detected, controlling the rotating shaft structure (10) to rotate to a set position so that the cradle head (100) meets a preset storage form (01); and controlling the rotating shaft structure (10) to be kept at the set position for a preset time (02).)
1. A method of controlling a head, the head comprising at least one pivot structure, the method comprising:
when a trigger event indicating that the holder enters a storage mode is detected, controlling the rotating shaft structure to rotate to a set position so that the holder meets a preset storage form;
and controlling the rotating shaft structure to keep a preset time length at the set position.
2. The method of claim 1, wherein after said controlling said spindle structure to remain in said set position for a preset length of time, said method further comprises:
and controlling the cradle head to enter a shutdown mode, or controlling the cradle head to enter a standby mode.
3. The method of claim 1, wherein said controlling said spindle structure to rotate to a set position comprises:
controlling the rotating shaft structure to rotate to a preset joint angle;
the control the pivot structure is in set position keeps for a preset duration, includes:
and controlling the rotating shaft structure to keep the preset duration at the preset joint angle.
4. The method of claim 3, wherein said controlling said spindle structure to rotate to a preset articulation angle comprises:
determining joint angle deviation between the current joint angle and a preset joint angle of the rotating shaft structure;
and controlling the rotating shaft structure to rotate to the preset joint angle according to the joint angle deviation.
5. The method of claim 3, wherein at least one of the shaft structures comprises at least one of a roll shaft structure configured to rotate about a roll axis, a pitch shaft structure configured to rotate about a pitch axis, and a yaw shaft structure configured to rotate about a yaw axis.
6. The method of claim 5, wherein when the roll axis, the pitch axis and the yaw axis are orthogonal, the joint angle of the roll axis structure is a first set joint angle, and an absolute difference between a preset joint angle corresponding to the roll axis structure and the first set joint angle is 90 degrees; and/or
When the transverse roller shaft, the pitching shaft and the yawing shaft are respectively orthogonal, the joint angle of the pitching rotating shaft structure is a second set joint angle, and the absolute difference value between the preset joint angle corresponding to the pitching rotating shaft structure and the second set joint angle is 0 degree; and/or
When the transverse roller shaft, the pitching shaft and the yawing shaft are respectively orthogonal, the joint angle of the yawing rotating shaft structure is a third set joint angle, and the absolute difference value between the preset joint angle corresponding to the yawing rotating shaft structure and the third set joint angle is 90 degrees.
7. The method of claim 1, wherein the pan/tilt head comprises a handheld portion, at least one of the pivot structures is disposed on the handheld portion, and the controlling the pivot structure to rotate to a set position comprises:
controlling the rotating shaft structure to rotate to a preset posture relative to the handheld part;
the control the pivot structure is in set position keeps for a preset duration, includes:
and controlling the rotating shaft structure to keep the preset time length in the preset posture.
8. The method of claim 7, wherein controlling the spindle structure to rotate to a predetermined attitude relative to the hand-held portion comprises:
determining a posture deviation between a current posture of the rotating shaft structure relative to the handheld part and a preset posture of the rotating shaft structure relative to the handheld part;
and controlling the rotating shaft structure to rotate to the preset posture relative to the handheld part according to the posture deviation.
9. The method of any one of claims 1 to 8, wherein said controlling said spindle structure to rotate to a set position comprises:
and controlling the rotating shaft structure to rotate to the set position at a preset speed.
10. The method according to claim 9, characterized in that the preset speed has a trend of increasing and then decreasing.
11. The method of claim 9, wherein the preset speed is determined based on a difference between a current position of the spindle structure and the set position.
12. The method according to any one of claims 1 to 8, further comprising:
judging whether a starting event occurs or not within the preset time length;
and when the starting event occurs, controlling the holder to exit the storage mode and switching to the starting mode.
13. The method according to claim 12, wherein the triggering event and/or the power-on event is triggered by one or more of a button press, a touch operation of a person, a biometric verification of a person, a movement of the pan/tilt head, a change in a state of the pan/tilt head.
14. The method according to any one of claims 1 to 8, wherein before controlling the rotation of the rotating shaft structure to a set position so that the holder satisfies a preset storage configuration, the method further comprises:
detecting whether the holder meets the preset accommodating form or not;
if the holder does not meet the preset storage form, the control is triggered to be executed to control the rotating shaft structure to rotate to a set position, so that the holder meets the preset storage form.
15. The method according to claim 14, wherein after detecting whether the cradle head satisfies the preset stowed configuration, the method further comprises:
and if the holder meets the preset storage form, controlling the holder to keep the preset duration in the preset storage form.
16. A cloud platform, its characterized in that, cloud platform includes at least one pivot structure and treater, its characterized in that, the treater is used for:
when a trigger event indicating that the holder enters a storage mode is detected, controlling the rotating shaft structure to rotate to a set position so that the holder meets a preset storage form;
and controlling the rotating shaft structure to keep a preset time length at the set position.
17. A head according to claim 16, wherein said processor is further configured to:
and after the rotating shaft structure is controlled to be kept at the set position for a preset time, the cradle head is controlled to enter a shutdown mode, or the cradle head is controlled to enter a standby mode.
18. A head according to claim 16, wherein said processor is configured to:
controlling the rotating shaft structure to rotate to a preset joint angle;
and controlling the rotating shaft structure to keep the preset duration at the preset joint angle.
19. A head according to claim 18, wherein said processor is configured to:
determining joint angle deviation between the current joint angle and a preset joint angle of the rotating shaft structure;
and controlling the rotating shaft structure to rotate to the preset joint angle according to the joint angle deviation.
20. A head according to claim 18, wherein at least one of said spindle arrangements comprises at least one of a roll spindle arrangement configured to rotate about a roll axis, a pitch spindle arrangement configured to rotate about a pitch axis and a yaw spindle arrangement configured to rotate about a yaw axis.
21. A head according to claim 20, wherein when said roll axis, said pitch axis and said yaw axis are respectively orthogonal, the joint angle of said roll axis structure is a first set joint angle, and the absolute difference between the preset joint angle corresponding to said roll axis structure and said first set joint angle is 90 degrees; and/or
When the transverse roller shaft, the pitching shaft and the yawing shaft are respectively orthogonal, the joint angle of the pitching rotating shaft structure is a second set joint angle, and the absolute difference value between the preset joint angle corresponding to the pitching rotating shaft structure and the second set joint angle is 0 degree; and/or
When the transverse roller shaft, the pitching shaft and the yawing shaft are respectively orthogonal, the joint angle of the yawing rotating shaft structure is a third set joint angle, and the absolute difference value between the preset joint angle corresponding to the yawing rotating shaft structure and the third set joint angle is 90 degrees.
22. A head according to claim 16, wherein said head comprises a hand-held portion, at least one of said hinge structures being provided on said hand-held portion, said processor being configured to:
controlling the rotating shaft structure to rotate to a preset posture relative to the handheld part;
and controlling the rotating shaft structure to keep the preset time length in the preset posture.
23. A head according to claim 22, wherein said processor is adapted to:
determining a posture deviation between a current posture of the rotating shaft structure relative to the handheld part and a preset posture of the rotating shaft structure relative to the handheld part;
and controlling the rotating shaft structure to rotate to the preset posture relative to the handheld part according to the posture deviation.
24. A head according to any one of claims 16 to 23, wherein said processor is configured to:
and controlling the rotating shaft structure to rotate to the set position at a preset speed.
25. A head according to claim 24, wherein said preset speed has a trend which increases and then decreases.
26. A head according to claim 24, wherein said preset speed is determined as a function of the difference between the current position of said spindle structure and said set position.
27. A head according to any one of claims 16 to 23, wherein said processor is further configured to:
judging whether a starting event occurs or not within the preset time length;
and when the starting event occurs, controlling the holder to exit the storage mode and switching to the starting mode.
28. A head according to claim 27, wherein said triggering event and/or said powering-on event is triggered by one or more of a button press, a touch operation of a person, a biometric verification of a person, a movement of said head, a change of state of said head.
29. A head according to any one of claims 16 to 23, wherein said processor is further configured to:
detecting whether the holder meets the preset accommodating form or not;
if the holder does not meet the preset storage form, the control is triggered to be executed to control the rotating shaft structure to rotate to a set position, so that the holder meets the preset storage form.
30. A head according to claim 29, wherein said processor is further configured to:
and if the holder meets the preset storage form, controlling the holder to keep the preset duration in the preset storage form.
31. A mobile platform, characterized in that it comprises a body and a head according to any one of claims 16 to 30, said head being arranged on said body.
32. A computer-readable storage medium on which a computer program is stored, the computer program being executable by a processor to perform the control method of any one of claims 1 to 15.
Technical Field
The present invention relates to the field of a pan/tilt head technology, and in particular, to a pan/tilt head control method, a pan/tilt head, a mobile platform, and a computer-readable storage medium.
Background
The cloud platform can the complete machine fall the power down after shutting down, and the cloud platform probably is in arbitrary form this moment, and if the user wants to put into the receiver with the cloud platform, need with two hands with the form of cloud platform earlier put into predetermined form, then just can put into the receiver. This is difficult to operate and wastes a long time for the user.
Disclosure of Invention
The embodiment of the invention provides a control method of a cloud deck, the cloud deck, a mobile platform and a computer readable storage medium.
The control method of the embodiment of the invention is used for a cloud deck, the cloud deck comprises at least one rotating shaft structure, and the method comprises the following steps: when a trigger event indicating that the holder enters a storage mode is detected, controlling the rotating shaft structure to rotate to a set position so that the holder meets a preset storage form; and controlling the rotating shaft structure to keep a preset time length at the set position.
The cloud platform of the embodiment of the invention comprises at least one rotating shaft structure and a processor, wherein the processor is used for: when a trigger event indicating that the holder enters a storage mode is detected, controlling the rotating shaft structure to rotate to a set position so that the holder meets a preset storage form; and controlling the rotating shaft structure to keep a preset time length at the set position.
The mobile platform comprises a body and the cloud platform, wherein the cloud platform is arranged on the body.
A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program executable by a processor to perform the above-described control method.
The embodiment of the invention provides a control method of a cloud deck, the cloud deck, a mobile platform and a computer readable storage medium. In the control method of the holder, the rotating shaft structure is controlled to rotate to the set position, so that the holder meets the preset containing form, a user can conveniently place the holder into the containing box without swinging the holder, and the time required by the user to contain the holder can be saved.
Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a control method of a pan-tilt head according to some embodiments of the present invention;
fig. 2 is a schematic structural view of a head according to some embodiments of the present invention;
fig. 3 to 5 are schematic flow charts of a control method of a pan-tilt head according to some embodiments of the present invention;
FIG. 6 is a schematic illustration of a joint angle closed loop control mode according to some embodiments of the present invention;
fig. 7 and 8 are schematic flow charts of a control method of a pan and tilt head according to some embodiments of the present invention;
FIG. 9 is a schematic illustration of attitude closed loop control mode of certain embodiments of the present invention;
fig. 10 to 12 are schematic flow charts of a control method of a pan and tilt head according to some embodiments of the present invention;
FIG. 13 is a schematic view of a mobile platform according to some embodiments of the present invention;
fig. 14 is a schematic diagram of a connection between a pan and tilt head and a computer readable storage medium according to some embodiments of the present invention.
Description of the drawings with the main elements symbols:
the aircraft 1000, the pan/
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1 and fig. 2, the control method according to the embodiment of the present invention may be applied to a pan/
01: when a trigger event indicating that the
02: the
With continued reference to fig. 2, the pan/
That is, the control method of the embodiment of the present invention may be implemented by the pan/
It is to be understood that the location of the processor shown in fig. 2 is for illustrative purposes only and is not to be construed as limiting, and that the following description is not repeated.
It is understood that the setting position may be set before the
According to the control method of the
In one embodiment, the preset duration is 5 seconds, so that the requirement of the user for accommodating the
With continued reference to fig. 2, in some embodiments, the
Referring to fig. 3, in some embodiments, after
03: controlling the
Taking the
That is,
Specifically, when the
After the
Referring to fig. 4, in some embodiments,
011: controlling the
021: the rotating
Taking the handheld pan/
That is,
Specifically, the
Referring to fig. 5, in some embodiments,
0112: determining the joint angle deviation between the current joint angle and the preset joint angle of the
0114: and controlling the
Taking the handheld pan/
That is,
Specifically, referring to fig. 6, when the
With continued reference to fig. 2, in some embodiments, the at least one
In some embodiments, the
In some embodiments, when the roll axis, the pitch axis and the yaw axis are orthogonal, the joint angle of the
Specifically, in some embodiments, when the roll axis, the pitch axis, and the yaw axis are orthogonal, respectively, the first set joint angle, the second set joint angle, and the third set joint angle may all be considered to be 0 degrees, i.e., the
In the embodiment of the present invention, the joint angle is a vector, and it is possible to define that one rotation direction of the
Of course, the first set joint angle, the second set joint angle, and the third set joint angle may be other set values, for example, 20 degrees, 90 degrees, 125 degrees, and the like. The preset joint angle corresponding to the roll rotating
Referring to fig. 2 and 7, in some embodiments, the
012: controlling the
022: the rotating
Taking the
That is,
Specifically, the
When the joint angle is implemented by a joint angle closed loop, reference may be made to the contents of the embodiment shown in fig. 4 and the embodiment shown in fig. 5, which are not described herein again.
Referring to fig. 8, in some embodiments, the control of the attitude is implemented by an attitude closed-loop control method, and step 012 includes:
0122: determining a posture deviation between a current posture of the
0124: the rotation of the
Taking the handheld pan/
That is, steps 0122 and 0124 may be implemented by the
Referring to fig. 9, specifically, when the
In some embodiments, the current posture of the
qcam=qbase·qbase→out·qout→mid·qmid→inn
wherein q iscamFor the target attitude of the load on the pan/
After the target posture is obtained, the corresponding target posture of the
In some embodiments, the controlling of the attitude is performed according to the joint angle of the
Take three ZXY three-axis pan/
In the process of converting the desired joint angular velocity into the desired euler angular velocity, the conversion relationship between the pan-tilt joint angular coordinate system and the pan-tilt body coordinate system is related to the configuration of the pan-tilt 100, and the pan-tilt configurations are different and the conversion relationships are different.
In the present embodiment, the rotation axis V of the coordinate axis of the yaw axis joint angleoutzIs [0, 0, 1 ]]Axis of rotation V of the axis of rotation of the roll axis joint anglemidxIs [1, 0 ]]Rotation axis V of coordinate axis of pitch axis joint angleinnyIs [0, 1, 0 ]]. Will Voutz、Vmidx、VinnyRespectively converting to a cloud platform body coordinate system:
Voutz→b=Ry'*Rx'*Rz'*Voutz
Vmidx→b=Ry'*Rx'*Vmidx
Vinny→b=Ry'*Vinny
wherein, Ry ', Rx ', Rz ' respectively correspond to the transpose of Ry, Rx, Rz, Ry, Rx, Rz respectively are the rotation matrix of the joint angle coordinate system from Y axis (pitch axis), X axis (roll axis), Z axis (yaw axis) to the reference coordinate system. For example, Ry, Rx, Rz may be as follows:
the reference coordinate system is a coordinate system with a joint angle of 0, and A is a conversion angle from the joint angle coordinate system to the reference coordinate system.
Specifically, the desired body angular velocity WbThe calculation formula of (a) is as follows:
Wb=Rj→b*Wj;
wherein R isj→bThe conversion relationship between the cloud platform joint angular coordinate system and the cloud platform body coordinate system is as follows:
wherein inn _ joint _ ang _ rad is an inner frame joint angle, and mid _ joint _ ang _ rad is an inner frame joint angle.
Aiming at a two-axis tripod head, a conversion relation R between a tripod head joint angular coordinate system and a tripod head body coordinate systemj→bThe conversion of (c) is as follows:
further, the expected body angular velocity may be converted into the expected euler angular velocity according to the expected body angular velocity, the conversion relationship between the cloud platform body coordinate system and the euler coordinate system. Wherein the desired Euler angular velocity
The calculation formula of (a) is as follows:
wherein the content of the first and second substances,
the conversion relationship between the cloud platform body coordinate system and the Euler coordinate system is as follows:
wherein inn _ euler _ ang _ rad is an inner frame euler angle, mid _ euler _ ang _ rad is a middle frame euler angle, and the inner frame euler angle and the middle frame euler angle are both the expected euler angle of the
In this way, the desired joint angular velocity can be converted into the desired euler angular velocity through the yuntai body coordinate system by the above procedure. And after determining the desired euler angular velocity, the desired attitude of the pan/
wherein, tar _ euler _ roll (t) is a component of a corresponding roll shaft in the expected attitude, tar _ euler _ pitch (t) is a component of a corresponding pitch shaft in the expected attitude, tar _ euler _ yaw (t) is a component of a corresponding yaw shaft in the expected attitude, Wx is an expected euler angular velocity of a corresponding roll shaft, Wy is an expected euler angular velocity of a corresponding pitch shaft, Wz is an expected euler angular velocity of a corresponding yaw shaft, tar _ euler _ roll _ init is an euler angle of a corresponding roll shaft in the current attitude, tar _ euler _ pitch _ init is an euler angle of a corresponding pitch shaft in the current attitude, and tar _ euler _ yaw _ init is an euler angle of a corresponding yaw shaft in the current attitude.
In summary, according to the movement time t and the preset joint angle of the pan/
In the above example, the
It can be understood that, when there are a plurality of
In some embodiments, when the roll axis, the pitch axis, and the yaw axis are orthogonal, and the first set joint angle, the second set joint angle, and the third set joint angle are all 0 degrees, the
For example, when the posture of the
In this way, it can be seen that, in the case where the rotation range of the
Referring to fig. 10, in some embodiments,
013: the rotating
Taking the
That is,
Specifically, when the
Referring to fig. 11, in some embodiments, the method further comprises:
04: judging whether a starting event occurs or not within a preset time length;
05: when the power-on event occurs, the
Taking the handheld pan/
That is,
Specifically, when the
In some embodiments, the triggering event and/or the power-on event is triggered by one or more of a button press, a touch operation of a person, a biometric verification of a person, a movement of the pan/
In some embodiments, the trigger event for entering the storage mode and/or the power-on event is triggered by pressing a button, which may be: the
It is understood that the storage mode and the shutdown mode of the
In some embodiments, the button may also be a virtual button, such as an icon on a touch display screen of the
In some embodiments, the triggering event and/or the power-on event is triggered by biometric verification of a person, and may be: triggering a trigger event and/or a starting event for entering the storage mode through a face recognition mode, an iris recognition mode, a fingerprint recognition mode and the like, for example, triggering the trigger event for entering the storage mode when a left index finger of a user is detected through the fingerprint recognition; when the left thumb of the user is detected by fingerprint recognition, a power-on event is triggered. Of course, the biometric verification may also be implemented by a remote control in communication with the
In some embodiments, the triggering event and/or the power-on event is triggered by the movement of the pan/
In some embodiments, the triggering event and/or the power-on event is triggered by a state change of the pan/
Referring to fig. 12, in some embodiments, before controlling the rotation of the
06: detecting whether the
07: if the
Taking the handheld pan/
That is,
Specifically, before rotating the
Referring again to fig. 12, in some embodiments, after
08: if the
Taking the handheld pan/
That is,
So, can detect when
The
Referring to fig. 13, in the embodiment of the present invention, taking a mobile platform as an example of an aircraft 1000, the aircraft 1000 includes a
In an embodiment, the aircraft 1000 further has a receiving slot (not shown), and when a trigger event indicating that the
It can be understood that the aircraft 1000 may not be provided with a storage groove, and the aircraft 1000 may be stored conveniently by controlling the position of the
Referring to fig. 14, a computer-
For example, referring to fig. 1 and 14, a computer program may be executed by the
01: when a trigger event indicating that the
02: the
As another example, referring to fig. 3 and 14, the computer program may be further executable by the
03: controlling the
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the above method may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be executed in the form of hardware or in the form of a software functional module. The integrated module, if executed in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
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