Movable platform control method and device and movable platform
阅读说明：本技术 可移动平台的操控方法、装置及可移动平台 (Movable platform control method and device and movable platform ) 是由 颜江 刘昂 胡骁 于 2018-06-29 设计创作，主要内容包括：本发明实施例提供一种可移动平台的操控方法、装置及可移动平台,其中,该方法包括：在指点飞行模式中,检测用户在终端设备界面上的点击选择操作,所述指点飞行模式包括体感操控模式；当用户点击选择体感操控模式时,获取所述终端设备的运动信息；基于所述运动信息,控制可移动平台执行与所述运动信息对应的移动操作。本发明实施例提供的技术方案能够提高操控移动平台的趣味性和用户体验。(The embodiment of the invention provides a movable platform control method, a device and a movable platform, wherein the method comprises the following steps: in a pointing flight mode, detecting a click selection operation of a user on a terminal equipment interface, wherein the pointing flight mode comprises a somatosensory control mode; when a user clicks and selects a somatosensory control mode, acquiring motion information of the terminal equipment; and controlling the movable platform to execute the movement operation corresponding to the motion information based on the motion information. The technical scheme provided by the embodiment of the invention can improve the interestingness and the user experience of operating the mobile platform.)
1. A method of maneuvering a movable platform, comprising:
in a pointing flight mode, detecting a click selection operation of a user on a terminal equipment interface, wherein the pointing flight mode comprises a somatosensory control mode;
when a user clicks and selects a somatosensory control mode, acquiring motion information of the terminal equipment;
and controlling the movable platform to execute the movement operation corresponding to the motion information based on the motion information.
2. The method of claim 1, wherein the obtaining motion information of the terminal device comprises:
acquiring attitude information of the terminal equipment under a preset coordinate system.
3. The method of claim 2, further comprising:
and displaying the attitude information of the terminal equipment on the terminal equipment interface.
4. The method according to claim 3, wherein the displaying of the posture information of the terminal device on the terminal device interface comprises:
and displaying the preset coordinate system on the terminal equipment interface, and displaying the attitude information of the terminal equipment in the preset coordinate system.
5. The method according to claim 4, wherein the attitude information comprises a tilt angle and a tilt direction of the terminal device in a preset coordinate system;
the displaying the attitude information of the terminal device in the preset coordinate system comprises:
and displaying the inclination angle and the inclination direction in the preset coordinate system.
6. The method according to claim 4, wherein the attitude information includes a tilt direction of the terminal device in a preset coordinate system, and an angle change amount in the tilt direction;
the displaying the attitude information of the terminal device in the preset coordinate system comprises:
and displaying the inclination direction and the angle variation in the preset coordinate system.
7. The method according to claim 5 or 6, wherein the obtaining motion information of the terminal device further comprises:
and acquiring the inclination speed of the terminal equipment in the inclination direction.
8. The method according to any one of claims 1-7, wherein said controlling the movable platform to perform a respective movement operation based on the motion information comprises:
determining movement control information corresponding to the movement information based on a preset association relationship, wherein the association relationship is a relationship between the movement information of the terminal equipment and the movement control information of the movable platform;
controlling the movable platform to move based on the movement control information.
9. The method of claim 8, wherein the association comprises:
and the association relationship between the motion information of the terminal equipment around the first coordinate axis in the preset coordinate system and the roll control information of the movable platform.
10. The method of claim 8, wherein the association comprises:
and the association relationship between the motion information of the terminal equipment around the second coordinate axis in the preset coordinate system and the yaw control information of the movable platform.
11. The method of claim 8, wherein the association comprises:
and the terminal equipment is in the incidence relation between the motion information of the third coordinate axis in the preset coordinate system and the movable platform or the pitching control information of the holder carried on the movable platform.
12. The method of claim 8, further comprising:
displaying a graph for representing the movable platform on an interface of the terminal equipment, wherein the posture of the graph is synchronous with that of the movable platform.
13. The method according to claim 12, further comprising displaying movement control information corresponding to the gesture of the graphic on an interface of the terminal device.
14. An operating device of a movable platform is characterized by comprising a memory and a processor;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
in a pointing flight mode, detecting a click selection operation of a user on a terminal equipment interface, wherein the pointing flight mode comprises a somatosensory control mode;
when a user clicks and selects a somatosensory control mode, acquiring motion information of the terminal equipment;
and controlling the movable platform to execute the movement operation corresponding to the motion information based on the motion information.
15. The apparatus of claim 14, wherein the processor, when obtaining the motion information of the terminal device, performs the following operations:
acquiring attitude information of the terminal equipment under a preset coordinate system.
16. The apparatus of claim 15, further comprising:
and the display component is used for displaying the attitude information of the terminal equipment on the terminal equipment interface.
17. The apparatus of claim 16, wherein the display component performs the following operations when displaying the pose information of the terminal device on the terminal device interface:
and displaying the preset coordinate system on the terminal equipment interface, and displaying the attitude information of the terminal equipment in the preset coordinate system.
18. The apparatus according to claim 17, wherein the attitude information includes a tilt angle and a tilt direction of the terminal device in a preset coordinate system;
when the display component displays the attitude information of the terminal equipment in the preset coordinate system, the following operations are executed:
and displaying the inclination angle and the inclination direction in the preset coordinate system.
19. The apparatus according to claim 17, wherein the attitude information includes a tilt direction of the terminal device in a preset coordinate system, and an angle change amount in the tilt direction;
when the display component displays the attitude information of the terminal equipment in the preset coordinate system, the following operations are executed:
and displaying the inclination direction and the angle variation in the preset coordinate system.
20. The apparatus according to claim 18 or 19, wherein the processor performs the following operations when acquiring the motion information of the terminal device:
and acquiring the inclination speed of the terminal equipment in the inclination direction.
21. The apparatus according to any one of claims 14-20, wherein the processor controls the movable platform to perform the following operations when controlling the movable platform to perform the corresponding moving operation based on the motion information:
determining movement control information corresponding to the movement information based on a preset association relationship, wherein the association relationship is a relationship between the movement information of the terminal equipment and the movement control information of the movable platform;
controlling the movable platform to move based on the movement control information.
22. The apparatus of claim 21, wherein the association comprises:
and the association relationship between the motion information of the terminal equipment around the first coordinate axis in the preset coordinate system and the roll control information of the movable platform.
23. The apparatus of claim 21, wherein the association comprises:
and the association relationship between the motion information of the terminal equipment around the second coordinate axis in the preset coordinate system and the yaw control information of the movable platform.
24. The apparatus of claim 21, wherein the association comprises:
and the terminal equipment is in the incidence relation between the motion information of the third coordinate axis in the preset coordinate system and the movable platform or the pitching control information of the holder carried on the movable platform.
25. The apparatus of claim 21, wherein the display component is configured to display a graphic representing the movable platform on the interface of the terminal device, and wherein a pose of the graphic is synchronized with a pose of the movable platform.
26. The apparatus of claim 25, wherein the display component is further configured to display movement control information corresponding to the graphical gesture on an interface of the terminal device.
27. A mobile platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power for the mobile platform;
and an apparatus as claimed in any one of claims 14 to 26.
28. The mobile platform of claim 27, wherein the mobile platform comprises at least one of a drone, an automobile, and a combination thereof.
Technical Field
The present application relates to the field of control technologies, and in particular, to a method and an apparatus for controlling a movable platform, and a movable platform.
Background
Along with the popularization of unmanned aerial vehicles, the control method of the unmanned aerial vehicle is also developed in a diversified trend. At present unmanned aerial vehicle's control is mainly there are two kinds, one kind is to control through the handheld remote controller of user side, and another kind is to control through the virtual rocker on the terminal equipment, and these two kinds of interests of controlling the mode are relatively poor.
Disclosure of Invention
The embodiment of the invention provides a method and a device for operating a movable platform and the movable platform, which are used for improving the interestingness and the user experience of operating the movable platform.
A first aspect of embodiments of the present invention provides a method, including:
in a pointing flight mode, detecting a click selection operation of a user on a terminal equipment interface, wherein the pointing flight mode comprises a somatosensory control mode;
when a user clicks and selects a somatosensory control mode, acquiring motion information of the terminal equipment;
and controlling the movable platform to execute the movement operation corresponding to the motion information based on the motion information.
A second aspect of the embodiments of the present invention is to provide a manipulation apparatus for a movable platform, including a memory and a processor;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
in a pointing flight mode, detecting a click selection operation of a user on a terminal equipment interface, wherein the pointing flight mode comprises a somatosensory control mode;
when a user clicks and selects a somatosensory control mode, acquiring motion information of the terminal equipment;
and controlling the movable platform to execute the movement operation corresponding to the motion information based on the motion information.
A third aspect of an embodiment of the present invention provides a mobile platform, including:
a body;
the power system is arranged on the machine body and used for providing power for the mobile platform;
and the mobile device provided by the second aspect.
According to the embodiment of the invention, the clicking operation of the user on the terminal equipment interface is detected in the pointing flight mode, when the user clicks and selects the somatosensory control mode, the motion information of the terminal equipment is obtained, and the movable platform is controlled to execute the moving operation corresponding to the motion information based on the motion information. Compared with the traditional scheme that the mobile platform is controlled by a handheld remote controller or a virtual rocker, the technical scheme of controlling the mobile platform to move by the mobile terminal equipment has more interestingness, and the experience of controlling the mobile platform by a user is improved.
Drawings
Fig. 1 is a flowchart of a method for operating a movable platform according to an embodiment of the present invention;
fig. 2 is a schematic interface diagram of a terminal device after entering a pointing flight mode according to an embodiment of the present invention;
fig. 3 is an interface display schematic diagram of an on-body-sensing manipulation mode terminal device according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for operating a movable platform according to an embodiment of the present invention;
fig. 5 is a schematic motion diagram of a terminal device according to an embodiment of the present invention;
fig. 6 is a schematic motion diagram of a terminal device according to an embodiment of the present invention;
fig. 7 is a schematic motion diagram of a terminal device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an operating device of a movable platform according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides a control method of a movable platform, which is used for providing a somatosensory control mode. In the appointed flight mode, when a user clicks on an interface of the terminal device to select the somatosensory control mode, motion information of the terminal device is obtained, and the movable platform is controlled to execute a moving operation corresponding to the motion information based on the motion information. Compared with the existing control mode based on a handheld remote controller or a virtual rocker, the somatosensory control mode provided by the embodiment of the invention is more interesting, and the control experience of a user can be improved.
The following describes an exemplary manipulation method of the movable platform according to an embodiment of the present invention.
Fig. 1 is a flowchart of a method for manipulating a movable platform according to an embodiment of the present invention, where the method may be performed by a manipulating device (hereinafter, referred to as a manipulating device) of the movable platform, as shown in fig. 1, and the method includes the following steps:
The pointing flight mode refers to a flight mode that a user clicks a terminal device interface to determine a flight direction and the unmanned aerial vehicle flies towards the flight direction.
The somatosensory control mode is a control mode for controlling the movable platform to move by controlling the terminal device to move (such as rotation, translation, and the like, but not limited to rotation and translation). The movable platform involved in the present embodiment includes, but is not limited to: unmanned aerial vehicle and car.
The terminal device in this embodiment is provided with an application program that can be used to control the movement of the movable platform, where the application program includes a pointing flight mode that can be used to implement a pointing flight function, the pointing flight mode in this embodiment at least includes a somatosensory control mode, and the pointing flight mode in some other scenes may even include other preset control modes, such as a control mode based on a virtual joystick, an automatic flight mode, and the like, which is not specifically limited in this embodiment.
When a user starts the application program and enters a pointing flight function, selectable control modes in a pointing flight mode are displayed on an interface of the terminal equipment, wherein the selectable control modes comprise a somatosensory control mode. For example, fig. 2 is an interface schematic diagram of a terminal device after entering a pointing flight mode according to an embodiment of the present invention, in fig. 2, an
And 102, when the user clicks and selects the somatosensory control mode, acquiring motion information of the terminal equipment.
After entering the somatosensory control mode, the control device can measure and obtain motion information of the terminal device in real time through a sensor or a measuring module which is preset on the terminal device, for example, information such as a three-axis attitude angle and acceleration of the movable platform under a machine body coordinate system can be measured through inertial measurement on the terminal device. Of course, this is merely an example illustration for ease of understanding and is not the only limitation on the motion information and the motion information acquisition method. In practice, the movement information designed in the present embodiment may include, but is not limited to, the posture information of the terminal device in the preset coordinate system, where the posture information includes the tilt angle and the tilt direction of the terminal device in the preset coordinate system, and the angle change amount or the tilt speed in the tilt direction.
In addition, in a possible design, when the terminal device enters the somatosensory manipulation mode, a graph for representing the movable platform may be displayed on the interface of the terminal device, the posture of the graph is synchronous with the posture of the movable platform, that is, the terminal device moves, such as rotates, tilts, and the like, and the movable platform correspondingly executes the movement corresponding to the motion state of the terminal device according to a preset mapping relationship, and at this time, the image presents the movement executed by the movable platform on the interface of the terminal device. For example, when the movable platform performs a left yaw operation based on the movement of the terminal device, the graphics on the terminal device now correspondingly assumes a left yaw state. Of course, the mapping relationship between the motion state of the terminal device and the moving state of the movable platform may be set according to needs, and is not particularly limited in this embodiment.
Furthermore, in order to facilitate the user to clearly and specifically know the state of the currently operating terminal device, in this embodiment, after obtaining the posture information of the terminal device in the preset coordinate system, the posture information may be displayed in real time on the interface of the terminal device, so that the user can accurately control the operating state of the user, find out the improper operation in time, and improve the accuracy and reliability of the control.
Or, in another possible design, a preset coordinate system may be further displayed on the interface of the terminal device, and a graph representing the movable platform, the posture information of the terminal device, and the movement control information corresponding to the graph posture are displayed in the coordinate system, so that the current operation state can be more vividly reflected, and meanwhile, the reference of the coordinate system can also help the user to more accurately control the movable platform.
For example, fig. 3 is an interface display schematic diagram of a terminal device in a motion sensing manipulation mode according to an embodiment of the present invention, where in fig. 3, the interface display schematic diagram includes a first display area 31 and a second display area 32, where the first display area 31 is used to display a moving state of a movable platform, a graph 310 in the first display area 31 is used to represent the movable platform, the moving state of the graph 310 is synchronized with the movable platform, the second display area 32 is used to display a motion state of the terminal device, x, y, and z in the second display area 32 are respectively three coordinate axes in a preset coordinate system, a graph 320 is synchronized with the motion state of the terminal device and is used to represent the motion state of the terminal device, for example, when the terminal device is tilted in a certain direction, at this time, gesture information of the terminal device includes a tilt angle and a tilt direction, the graph 320 is correspondingly tilted to the same tilt angle in the preset coordinate system, meanwhile, the image 320 may display the tilt direction and the tilt angle in a preset coordinate system when performing the tilt operation, or may calculate an angle change amount of the terminal device in the tilt direction according to a preset algorithm on the basis of the foregoing scene, and display the angle change amount of the image 320 in the tilt direction in real time when the corresponding image 320 performs the tilt operation in the direction. Since the graphic 320 is synchronized with the motion of the terminal device, the user can precisely control the movable platform by observing the inclination direction and the inclination angle variation of the graphic 320. Or, on the basis of the foregoing scenario, the tilt speed of the terminal device in the tilt direction may be calculated in real time through a preset algorithm, and the tilt speed is displayed on the second display area 32, so that the user can accurately control the state change speed of the movable platform through the terminal device, and avoid a danger caused by an excessively violent state change.
Of course, the above description is only an example of fig. 3, and is not intended to limit the present invention solely. In fact, the display mode of the terminal device interface may be set as required, and is not limited to the display mode of fig. 3.
And 103, controlling the movable platform to execute the movement operation corresponding to the motion information based on the motion information.
In order to realize the somatosensory control, the embodiment presets the association relationship between the motion information of the terminal device and the movement control information of the movable platform. The association relationship can map the motion information of the terminal equipment into control information for controlling the movement of the movable platform, so that the movable platform can be controlled to move correspondingly according to the control information. For example, in one possible scenario, the rotation operation of the terminal device along the x-axis in the preset coordinate system may be mapped to yaw control information, and the movable platform is controlled to perform a yaw operation to the left or the right according to the yaw control information. Of course, the present invention is only illustrated by way of example for convenience of understanding, and is not limited to the present invention, and actually, the above-mentioned association relationship may be set according to the need, and is not limited to a fixed form.
In the embodiment, in the pointing flight mode, the clicking operation of the user on the terminal device interface is detected, when the user clicks and selects the somatosensory control mode, the motion information of the terminal device is obtained, and based on the motion information, the movable platform is controlled to execute the moving operation corresponding to the motion information. Therefore, the purpose of controlling the movable platform to move through the mobile terminal equipment is achieved, compared with the scheme that the traditional handheld remote controller or virtual rocker controls the movable platform, the technical scheme that the mobile terminal equipment controls the movable platform to move in the embodiment is more interesting, and the experience that a user controls the movable platform is improved.
Fig. 4 is a flowchart of a method for operating a movable platform according to an embodiment of the present invention, as shown in fig. 4, based on the above embodiment, the method includes the following steps:
step 201, in a pointing flight mode, detecting a click selection operation of a user on a terminal device interface, wherein the pointing flight mode comprises a somatosensory control mode.
Step 202, when the user clicks and selects the somatosensory control mode, acquiring motion information of the terminal equipment.
Step 203, determining the movement control information corresponding to the movement information based on a preset association relationship, wherein the association relationship is a relationship between the movement information of the terminal device and the movement control information of the movable platform.
In one possible design, the association relationship in this embodiment includes: and the association relationship between the motion information of the terminal equipment around the first coordinate axis in the preset coordinate system and the roll control information of the movable platform. Fig. 5 is a schematic diagram of a motion of a terminal device according to an embodiment of the present invention, and fig. 5 exemplarily shows a first coordinate axis as an x-axis of a preset coordinate system. In fig. 5, when the terminal device is rotated around the x-axis, the rotation angle of the terminal device around the x-axis is mapped to a roll stick amount for controlling the movable platform, and the specific mapping relationship thereof can be expressed as:
where angX is the rotation angle of the central terminal device around the x-axis, and f (angX) is the corresponding roll rod amount. The amount of the roll rod will cause the original trajectory to deviate to the left or to the right. The projection of the current track direction under the coordinate system of the movable platform body is set as follows:
if the adjusted track direction is NDb, the track adjustment mode is as follows:
the intuitive effect is that if the terminal device rotates right around the x axis, the moving track of the movable platform deviates right, and if the terminal device rotates left around the x axis, the track of the movable platform deviates left.
In yet another possible design, the association relationship in this embodiment includes: and the association relationship between the motion information of the terminal equipment around the second coordinate axis in the preset coordinate system and the yaw control information of the movable platform. Fig. 6 is a schematic diagram of a motion of a terminal device according to an embodiment of the present invention, and fig. 6 exemplarily shows a second coordinate axis as a z-axis of a preset coordinate system. In fig. 6, when the terminal device is rotated around the z-axis, the rotation angle of the terminal device around the z-axis is mapped to a yaw-bar amount for controlling the movable platform, and the specific mapping relationship thereof can be expressed as:
where angZ is the rotation angle of the central terminal device around the z-axis, and f (angZ) is the corresponding yaw-bar amount. The amount of yaw-bar will cause the original trajectory of movement to become approximately a circular curve. The current speed of the movable platform is set to be Vcur, the maximum allowable inclination angle tileMax of the movable platform is set, the movable platform must guarantee a certain inclination angle to keep the current speed for flying, the remaining available inclination angle of the movable platform at the current speed can be approximately obtained according to a preset function g (Vcur, tileMax), further, the maximum centripetal acceleration which can be provided by the movable platform is obtained to be 9.8 tan (g (Vcur, tileMax)), and therefore the parameters of the circular track are obtained as follows:
where r is the radius of the trajectory and w is the angular velocity of the movement. The visual effect is that if the terminal equipment rotates rightwards, the movable platform flies rightwards around the circle, if the terminal equipment rotates leftwards, the movable platform flies leftwards around the circle, and the radius of the circle track is related to the speed of the movable platform at the moment of entering.
In yet another possible design, the association relationship in this embodiment includes: and the incidence relation between the motion information of the terminal equipment around the third coordinate axis in the preset coordinate system and the pitching control information of the movable platform or the holder carried on the movable platform. Fig. 7 is a schematic diagram of a motion of a terminal device according to an embodiment of the present invention, and fig. 7 exemplarily shows a third coordinate axis as a y-axis of a preset coordinate system. In fig. 7, when the terminal device rotates around the y-axis, the rotation angle of the terminal device around the y-axis is mapped to the amount of the pulsator bar, and the specific mapping relationship thereof can be expressed as:
wherein, angY is the rotation angle of the middle terminal device around the y axis, and f (angY) is the corresponding amount of the pulsator shaft. The impeller pole volume will directly be used for controlling the angle of pitch of cloud platform, and audio-visual effect is that the cloud platform rotates downwards when terminal equipment is rotatory outward around the y axle, and the angle of pitch increases, and the cloud platform upwards rotates when terminal equipment is rotatory inwards, and the angle of pitch reduces. The terminal equipment can be rotated in the pointing flight process to realize the control of the pan-tilt, so that the camera is aligned to the object to be shot.
And step 204, controlling the movable platform to move based on the movement control information.
According to the embodiment, the terminal equipment is mapped to different rod amounts for controlling the movable platform through the rotation operation around different coordinate axes, so that the terminal movement and the movable platform movement are tightly combined, the holder control based on the terminal movement is realized, the interestingness is improved, and the user experience is enhanced.
Fig. 8 is a schematic structural diagram of a manipulating apparatus for a movable platform according to an embodiment of the present invention, and as shown in fig. 8, the manipulating
In one possible design, when the
In yet another possible design, the apparatus further includes: and the
In yet another possible design, when the
In yet another possible design, the attitude information includes a tilt angle and a tilt direction of the terminal device in a preset coordinate system; when the
In yet another possible design, the attitude information includes a tilt direction of the terminal device in a preset coordinate system, and an angle change amount in the tilt direction; when the
In yet another possible design, when the
In yet another possible design, the
In yet another possible design, the association includes: and the association relationship between the motion information of the terminal equipment around the first coordinate axis in the preset coordinate system and the roll control information of the movable platform.
In yet another possible design, the association includes: and the association relationship between the motion information of the terminal equipment around the second coordinate axis in the preset coordinate system and the yaw control information of the movable platform.
In yet another possible design, the association includes: and the terminal equipment is in the incidence relation between the motion information of the third coordinate axis in the preset coordinate system and the movable platform or the pitching control information of the holder carried on the movable platform.
In yet another possible design, the
In yet another possible design, the
The
An embodiment of the present invention further provides a mobile platform, where the mobile platform includes:
a body;
the power system is arranged on the machine body and used for providing power for the mobile platform;
and the control device provided by the embodiment.
In one possible design, the mobile platform includes at least one of a drone and an automobile as follows.
The execution mode and the beneficial effects of the mobile platform provided by the embodiment are similar to those of the control device provided by the previous embodiment, and are not described again here.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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