阅读说明：本技术 一种适用于轮式设备的姿态调整方法、自动驾驶方法 (Attitude adjusting method and automatic driving method suitable for wheeled equipment ) 是由 丹晨 张志华 韩丽丽 马自乐 李志帆 刘剑 于 2021-09-27 设计创作，主要内容包括：本发明提供了一种适用于轮式设备的姿态调整方法、自动驾驶方法,姿态调整方法包括以下步骤：以轮式设备为基准,建立基准坐标系；定义基准坐标系下的不同行驶姿态；预设转向模式与行驶姿态对应关系表,所述转向模式为轮位的转向调整方法；根据实时检测的轮式设备的当前行驶姿态,查找转向模式与行驶姿态对应关系表,以查找出的转向模式对轮式设备进行行驶姿态调整。本发明通过设置设备基准点,并划分行驶道路基准区域,建立了基准坐标系；在基准坐标系的基础上实时检测轮式设备的行驶姿态,并根据当前的行驶姿态对轮式设备的行驶姿态进行调整,达到及时、有效的调整为以行驶姿态0沿基准线行驶的目的。(The invention provides an attitude adjusting method and an automatic driving method suitable for wheeled equipment, wherein the attitude adjusting method comprises the following steps of: establishing a reference coordinate system by taking the wheeled equipment as a reference; defining different driving postures under a reference coordinate system; presetting a corresponding relation table of a steering mode and a driving posture, wherein the steering mode is a steering adjustment method of a wheel position; and searching a corresponding relation table of the steering mode and the driving posture according to the current driving posture of the wheeled equipment detected in real time so as to adjust the driving posture of the wheeled equipment by the searched steering mode. According to the invention, a reference coordinate system is established by setting equipment reference points and dividing a reference area of a driving road; the driving posture of the wheeled equipment is detected in real time on the basis of the reference coordinate system, and the driving posture of the wheeled equipment is adjusted according to the current driving posture, so that the purpose of timely and effectively adjusting the driving posture to be 0 and driving along the reference line is achieved.)

1. An attitude adjustment method suitable for wheeled equipment, characterized by comprising the steps of:

establishing a reference coordinate system by taking the wheeled equipment as a reference; defining different driving postures under a reference coordinate system;

presetting a corresponding relation table of a steering mode and a driving posture, wherein the steering mode is a steering adjustment method of a wheel position;

and searching a corresponding relation table of the steering mode and the driving posture according to the current driving posture of the wheeled equipment detected in real time so as to adjust the driving posture of the wheeled equipment by the searched steering mode.

2. The attitude adjustment method for wheeled equipment according to claim 1, wherein an equipment reference point is set and a reference area of a traveling road is divided to establish a reference coordinate system:

taking the center points of the left edge and the right edge of the wheel type equipment as a reference point A0 and a reference point B0, and taking the positions of four corners of the wheel type equipment as a reference point A1, a reference point A2, a reference point B1 and a reference point B2;

dividing the driving road into a reference line area, an adjusting area and a warning area by taking two boundaries of the driving road as limits, wherein the adjusting area and the warning area are respectively symmetrical by taking the reference line area as a center, and the adjusting area is multiple;

defining different driving postures:

the driving posture 0, the reference point A0 and the reference point B0 are all located in a reference line area;

the driving posture is 1-1, the reference point A0 deviates from the right side of the reference line area, and the reference point B0 deviates from the left side of the reference line area;

the driving posture is 1-2, the reference point A0 deviates from the right side of the reference line area, the reference point B0 deviates from the left side of the reference line area, the reference point A1 deviates from the right side of the adjustment area, and the reference point B2 deviates from the left side of the adjustment area;

the driving posture is 1-3, the reference point A1 is deviated into the warning area, or the reference point B2 is deviated into the warning area;

the driving posture is 2-1, the reference point A0 deviates from the left side of the reference line area, and the reference point B0 deviates from the right side of the reference line area;

the driving posture is 2-2, the reference point A0 deviates from the left side of the reference line area, the reference point B0 deviates from the right side of the reference line area, the reference point A2 deviates from the left side of the adjustment area, and the reference point B1 deviates from the right side of the adjustment area;

the driving posture is 2-3, the reference point A2 is deviated into the warning area, or the reference point B1 is deviated into the warning area;

the driving posture is 3-1, the reference point A0 deviates from the left side of the reference line area, and the reference point B0 deviates from the left side of the reference line area;

the driving posture is 3-2, the reference point A0 deviates from the left side of the reference line area, the reference point B0 deviates from the left side of the reference line area, the reference point A2 deviates from the left side of the adjustment area, and the reference point B2 deviates from the left side of the adjustment area;

the driving posture is 3-3, the reference point A2 is deviated into the warning area, or the reference point B2 is deviated into the warning area;

the driving posture is 4-1, the reference point A0 deviates from the right side of the reference line area, and the reference point B0 deviates from the right side of the reference line area;

the driving posture is 4-2, the reference point A0 deviates from the right side of the reference line area, the reference point B0 deviates from the right side of the reference line area, the reference point A1 deviates from the right side of the adjustment area, and the reference point B2 deviates from the right side of the adjustment area;

the driving attitude 4-3, the reference point A1 is biased into the armed zone, or the reference point B1 is biased into the armed zone.

3. The attitude adjustment method for wheeled equipment according to claim 1, wherein four steering modes for attitude adjustment are set:

in the first mode, the steering references of the four wheel positions are crossed at the right side of the traveling direction;

in the second mode, the steering references of the four wheel positions are crossed on the left side of the traveling direction;

in the third mode, the four wheel positions are deviated to the right side of the advancing direction, and the steering references are parallel;

in the fourth mode, the four wheel positions are deviated to the left side of the advancing direction, and the steering references are parallel;

steering mode and driving posture correspondence table:

if the current driving posture of the wheeled equipment is detected to be the driving posture 0, no posture adjustment is carried out;

if the current driving posture of the wheeled equipment is detected to be the driving posture 1-1 or the driving posture 1-2, adopting a mode two to carry out posture adjustment;

if the current driving posture of the wheeled equipment is detected to be the driving posture 2-1 or the driving posture 2-2, adopting a mode one to adjust the posture;

if the current driving posture of the wheeled equipment is detected to be the driving posture 3-1 or the driving posture 3-2, adopting a mode three to adjust the posture;

if the current driving posture of the wheeled equipment is detected to be the driving posture 4-1 or the driving posture 4-2, adopting a mode four to adjust the posture;

and if the current running gesture of the wheeled equipment is detected to be the running gesture 1-3, the running gesture 2-3, the running gesture 3-3 or the running gesture 4-3, stopping the vehicle, and manually adjusting to the gesture 0.

4. The attitude adjustment method for wheeled equipment according to claim 1, wherein the detection of the current driving attitude comprises: and (3) positioning the central point position of the left edge and the right edge of the wheeled equipment and the positions of four corners of the wheeled equipment in real time by adopting a high-precision satellite positioning method based on the Beidou and the GPS, and converting the positions positioned in real time into a reference coordinate system to obtain the current driving posture.

5. The attitude adjustment method for wheeled equipment according to claim 1, wherein: the wheeled equipment is a flat car, a module car, a beam lifting machine or a beam transporting car.

6. An attitude adjustment system adapted for use with wheeled equipment, characterized by: the system comprises a memory, a processor and a differential positioning system for detecting the current driving posture; the differential positioning system and the processor are communicatively coupled to each other, and the memory and the processor are communicatively coupled to each other, the memory having stored therein computer instructions; the processor implements the method of attitude adjustment for wheeled equipment of any one of claims 1-5 by executing the computer instructions.

7. The attitude adjustment system for wheeled equipment of claim 6, wherein: the differential positioning system comprises a reference base station, a receiver and a transmitting double-antenna, wherein the receiver and the transmitting double-antenna are respectively arranged at the front end and the rear end of the wheeled equipment so as to realize real-time positioning of the position of the wheeled equipment.

8. An automatic driving method characterized by: the method for adjusting the running posture of the wheeled equipment, which is applied to the wheeled equipment, according to any one of claims 1 to 5, during the traveling of the wheeled equipment.

9. An autopilot system, characterized by: an attitude adjustment system for wheeled equipment comprising any one of claims 6 to 7.

Technical Field

The invention relates to the field of automatic driving, in particular to a posture adjusting method and an automatic driving method suitable for wheeled equipment.

Background

In the actual operation process of the wheeled equipment, five different postures including a posture 0, a posture 1, a posture 2, a posture 3 and a posture 4 are provided, as shown in fig. 1. However, in actual operation, it is always desirable that the wheeled device travels along the reference line in the "posture 0", and therefore, it is necessary to adjust the "posture 1", "posture 2", "posture 3", and "posture 4" to the "posture 0" in time and efficiently, but there is no posture adjustment method that is actually feasible in the prior art.

Disclosure of Invention

The invention aims to provide an attitude adjusting method and an automatic driving method suitable for wheeled equipment aiming at the defects of the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that:

the invention provides a posture adjusting method suitable for wheeled equipment in a first aspect, which comprises the following steps:

establishing a reference coordinate system by taking the wheeled equipment as a reference; defining different driving postures under a reference coordinate system;

presetting a corresponding relation table of a steering mode and a driving posture, wherein the steering mode is a steering adjustment method of a wheel position;

and searching a corresponding relation table of the steering mode and the driving posture according to the current driving posture of the wheeled equipment detected in real time so as to adjust the driving posture of the wheeled equipment by the searched steering mode.

Based on the above, an equipment reference point is set, and a driving road reference area is divided to establish a reference coordinate system:

taking the center points of the left edge and the right edge of the wheel type equipment as a reference point A0 and a reference point B0, and taking the positions of four corners of the wheel type equipment as a reference point A1, a reference point A2, a reference point B1 and a reference point B2;

dividing the driving road into a reference line area, an adjusting area and a warning area by taking two boundaries of the driving road as limits, wherein the adjusting area and the warning area are respectively symmetrical by taking the reference line area as a center, and the adjusting area is multiple;

defining different driving postures:

the driving posture 0, the reference point A0 and the reference point B0 are all located in a reference line area;

the driving posture is 1-1, the reference point A0 deviates from the right side of the reference line area, and the reference point B0 deviates from the left side of the reference line area;

the driving posture is 1-2, the reference point A0 deviates from the right side of the reference line area, the reference point B0 deviates from the left side of the reference line area, the reference point A1 deviates from the right side of the adjustment area, and the reference point B2 deviates from the left side of the adjustment area;

the driving posture is 1-3, the reference point A1 is deviated into the warning area, or the reference point B2 is deviated into the warning area;

the driving posture is 2-1, the reference point A0 deviates from the left side of the reference line area, and the reference point B0 deviates from the right side of the reference line area;

the driving posture is 2-2, the reference point A0 deviates from the left side of the reference line area, the reference point B0 deviates from the right side of the reference line area, the reference point A2 deviates from the left side of the adjustment area, and the reference point B1 deviates from the right side of the adjustment area;

the driving posture is 2-3, the reference point A2 is deviated into the warning area, or the reference point B1 is deviated into the warning area;

the driving posture is 3-1, the reference point A0 deviates from the left side of the reference line area, and the reference point B0 deviates from the left side of the reference line area;

the driving posture is 3-2, the reference point A0 deviates from the left side of the reference line area, the reference point B0 deviates from the left side of the reference line area, the reference point A2 deviates from the left side of the adjustment area, and the reference point B2 deviates from the left side of the adjustment area;

the driving posture is 3-3, the reference point A2 is deviated into the warning area, or the reference point B2 is deviated into the warning area;

the driving posture is 4-1, the reference point A0 deviates from the right side of the reference line area, and the reference point B0 deviates from the right side of the reference line area;

the driving posture is 4-2, the reference point A0 deviates from the right side of the reference line area, the reference point B0 deviates from the right side of the reference line area, the reference point A1 deviates from the right side of the adjustment area, and the reference point B2 deviates from the right side of the adjustment area;

the driving attitude 4-3, the reference point A1 is biased into the armed zone, or the reference point B1 is biased into the armed zone.

Based on the above, four steering modes for attitude adjustment are set:

in the first mode, the steering references of the four wheel positions are crossed at the right side of the traveling direction;

in the second mode, the steering references of the four wheel positions are crossed on the left side of the traveling direction;

in the third mode, the four wheel positions are deviated to the right side of the advancing direction, and the steering references are parallel;

in the fourth mode, the four wheel positions are deviated to the left side of the advancing direction, and the steering references are parallel;

steering mode and driving posture correspondence table:

if the current driving posture of the wheeled equipment is detected to be the driving posture 0, no posture adjustment is carried out;

if the current driving posture of the wheeled equipment is detected to be the driving posture 1-1 or the driving posture 1-2, adopting a mode two to carry out posture adjustment;

if the current driving posture of the wheeled equipment is detected to be the driving posture 2-1 or the driving posture 2-2, adopting a mode one to adjust the posture;

if the current driving posture of the wheeled equipment is detected to be the driving posture 3-1 or the driving posture 3-2, adopting a mode three to adjust the posture;

if the current driving posture of the wheeled equipment is detected to be the driving posture 4-1 or the driving posture 4-2, adopting a mode four to adjust the posture;

and if the current running gesture of the wheeled equipment is detected to be the running gesture 1-3, the running gesture 2-3, the running gesture 3-3 or the running gesture 4-3, stopping the vehicle, and manually adjusting to the gesture 0.

Based on the above, the detection of the current driving posture includes: and (3) positioning the central point position of the left edge and the right edge of the wheeled equipment and the positions of four corners of the wheeled equipment in real time by adopting a high-precision satellite positioning method based on the Beidou and the GPS, and converting the positions positioned in real time into a reference coordinate system to obtain the current driving posture.

Based on the above, the wheeled equipment is a flat car, a module car, a beam lifting machine or a beam transporting car.

The invention provides an attitude adjustment system suitable for wheeled equipment, which comprises a memory, a processor and a differential positioning system, wherein the differential positioning system is used for detecting the current driving attitude; the differential positioning system and the processor are communicatively coupled to each other, and the memory and the processor are communicatively coupled to each other, the memory having stored therein computer instructions; the processor executes the computer instructions to realize the posture adjustment method suitable for the wheeled equipment.

The invention provides an automatic driving method for wheeled equipment, which is used for adjusting the running posture of the wheeled equipment by adopting the posture adjusting method suitable for the wheeled equipment during the running process of the wheeled equipment.

In a fourth aspect, the invention provides an autopilot system comprising an attitude adjustment system adapted for use with wheeled equipment as described.

Compared with the prior art, the method has outstanding substantive characteristics and remarkable progress, and particularly, a reference coordinate system is established by setting equipment reference points and dividing a reference area of a driving road; the driving posture of the wheeled equipment is detected in real time on the basis of the reference coordinate system, and the driving posture of the wheeled equipment is adjusted according to the current driving posture, so that the purpose of timely and effectively adjusting the driving posture to be 0 and driving along the reference line is achieved.

Drawings

Figure 1 is a schematic view of a posture and a reference line of a wheeled device during travel.

Figure 2 is a schematic view of wheeled equipment datum setting in the method of the present invention.

Fig. 3 is a schematic diagram of the division of the reference region of the driving road in the method of the invention.

Fig. 4 is a schematic diagram of the driving attitude 0 in the attitude adjustment according to the method of the invention.

FIG. 5 is a schematic view of the driving attitude 1-1 and the driving attitude 1-2 in attitude adjustment according to the method of the present invention.

FIG. 6 is a schematic diagram of the driving attitude 2-1 and the driving attitude 2-2 in the attitude adjustment according to the method of the present invention.

FIG. 7 is a schematic view of the driving attitude 3-1 and the driving attitude 3-2 in attitude adjustment according to the method of the present invention.

FIG. 8 is a schematic view of the driving attitude 4-1 and the driving attitude 4-2 in attitude adjustment according to the method of the present invention.

FIG. 9 is a schematic view of driving attitude 1-3, driving attitude 2-3, driving attitude 3-3 and driving attitude 4-3 in attitude adjustment according to the method of the present invention.

FIG. 10 is a schematic representation of four different steering modes in the method of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail by the following embodiments.

Example 1

The embodiment provides an attitude adjustment method suitable for wheeled equipment, which comprises the following steps of:

establishing a reference coordinate system by taking the wheeled equipment as a reference; defining different driving postures under a reference coordinate system;

presetting a corresponding relation table of a steering mode and a driving posture, wherein the steering mode is a steering adjustment method of a wheel position;

and searching a corresponding relation table of the steering mode and the driving posture according to the current driving posture of the wheeled equipment detected in real time so as to adjust the driving posture of the wheeled equipment by the searched steering mode.

Example 2

The embodiment provides a specific posture adjustment method suitable for wheeled equipment, which comprises the following steps:

setting equipment reference points, and dividing a reference area of a driving road to establish a reference coordinate system:

as shown in fig. 2 and 3, the center points of the left and right edges of the wheel apparatus are taken as a reference point a0 and a reference point B0, and the positions of the four corners of the wheel apparatus are taken as a reference point a1, a reference point a2, a reference point B1 and a reference point B2; the method comprises the following steps of dividing a driving road into a reference line area, an adjusting area and a warning area by taking two boundaries of the driving road as limits, wherein the adjusting area and the warning area are respectively symmetrical by taking the reference line area as a center, and the adjusting area is divided into a plurality of adjusting areas. Specifically, the travel road may be divided into a D0 region, a D2 region, and up to a D (n + 1) region, as required. The D0 area is a reference line area, the D1 area and the D2 area are adjustment areas, and the Dn area and the D (n + 1) area are warning areas.

It should be noted that the present embodiment is illustrated with two adjustment regions located at two sides of the reference line region.

Defining different driving postures:

4-9, ride attitude 0, reference point A0, and reference point B0 are all located within the D0 region;

the driving posture is 1-1, the reference point A0 deviates from the right side of the D0 area, and the reference point B0 deviates from the left side of the D0 area;

driving posture 1-2, wherein the reference point A0 deviates from the right side of the D0 area, the reference point B0 deviates from the left side of the D0 area, the reference point A1 deviates from the right side of the D1 area, and the reference point B2 deviates from the left side of the D2 area;

the driving posture is 1-3, the reference point A1 is deviated into a Dn area, or the reference point B2 is deviated into a Dn +1 area;

the driving posture is 2-1, the reference point A0 deviates from the left side of the D0 area, and the reference point B0 deviates from the right side of the D0 area;

in the driving posture 2-2, the reference point A0 deviates from the left side of the D0 area, the reference point B0 deviates from the right side of the D0 area, the reference point A2 deviates from the left side of the D2 area, and the reference point B1 deviates from the right side of the D1 area;

the driving posture is 2-3, the reference point A2 is deviated into a Dn +1 area, or the reference point B1 is deviated into a Dn area;

the driving posture is 3-1, the reference point A0 deviates from the left side of the D0 area, and the reference point B0 deviates from the left side of the D0 area;

in the driving posture 3-2, the reference point A0 deviates from the left side of the D0 area, the reference point B0 deviates from the right side of the D0 area, the reference point A2 deviates from the left side of the D2 area, and the reference point B2 deviates from the left side of the D2 area;

the driving posture is 3-3, the reference point A2 is deviated into a Dn +1 area, or the reference point B2 is deviated into the Dn +1 area;

the driving posture is 4-1, the reference point A0 deviates from the right side of the D0 area, and the reference point B0 deviates from the right side of the D0 area;

driving attitude 4-2, with reference point A0 offset to the right of D0, reference point B0 offset to the right of D0, reference point A1 offset to the right of D1, and reference point B2 offset to the right of D2;

the driving attitude 4-3, the reference point A1 is deviated into the Dn area, or the reference point B1 is deviated into the Dn area.

Four steering modes for attitude adjustment are set:

as shown in fig. 10, in mode one, the steering references of the four wheel positions cross on the right side in the traveling direction;

in the second mode, the steering references of the four wheel positions are crossed on the left side of the traveling direction;

in the third mode, the four wheel positions are deviated to the right side of the advancing direction, and the steering references are parallel;

in the fourth mode, the four wheel positions are deviated to the left side of the traveling direction, and the steering references are parallel.

Steering mode and driving posture correspondence table:

if the current driving posture of the wheeled equipment is detected to be the driving posture 0, the current driving posture is in a normal driving state, and posture adjustment is not needed.

And if the current driving posture of the wheeled equipment is detected to be the driving posture 1-1 or the driving posture 1-2, adopting a mode two to carry out posture adjustment. Wherein, because the deviation amount of the driving posture 1-1 is smaller, the adjustment amount can be properly adjusted to be smaller. Because the travel posture 1-2 is offset greatly, the adjustment amount can be adjusted appropriately large.

And if the current driving posture of the wheeled equipment is detected to be the driving posture 2-1 or the driving posture 2-2, adopting a first mode to adjust the posture. Wherein, because the offset of the driving posture 2-1 is smaller, the adjustment amount can be properly adjusted to be smaller. Because the driving posture 2-2 has larger offset, the adjustment amount can be properly adjusted to be larger.

And if the current driving posture of the wheeled equipment is detected to be the driving posture 3-1 or the driving posture 3-2, adopting a mode three to carry out posture adjustment. Wherein, because the offset of the driving posture 3-1 is smaller, the adjustment amount can be properly adjusted to be smaller. Because the travel attitude 3-2 is offset by a large amount, the adjustment amount can be adjusted appropriately large.

And if the current driving posture of the wheeled equipment is detected to be the driving posture 4-1 or the driving posture 4-2, adopting a mode four to carry out posture adjustment. Wherein, because the offset of the driving posture 4-1 is smaller, the adjustment amount can be properly adjusted to be smaller. Because the travel posture 4-2 is large in offset, the adjustment amount can be appropriately adjusted large.

If the current driving posture of the wheeled equipment is detected to be the driving posture 1-3, the driving posture 2-3, the driving posture 3-3 or the driving posture 4-3, the wheeled equipment is in a dangerous state, the wheeled equipment needs to be stopped in time, and the current driving posture cannot be adjusted to the posture 0 manually.

By the posture adjusting method, the driving posture of the wheeled equipment can be timely and effectively adjusted to be the driving posture 0 to drive along the datum line.

Further, the detection of the current driving posture includes: and (3) positioning the central point position of the left edge and the right edge of the wheeled equipment and the positions of four corners of the wheeled equipment in real time by adopting a high-precision satellite positioning method based on the Beidou and the GPS, and converting the positions positioned in real time into a reference coordinate system to obtain the current driving posture.

It should be noted that the wheeled device of the present embodiment is a flat car, a module car, a beam lifting machine, a beam transporting car or other large transportation equipment with an independent steering system.

Example 3

The embodiment provides an attitude adjustment system suitable for wheeled equipment, which comprises a memory, a processor and a differential positioning system, wherein the differential positioning system is used for detecting the current driving attitude; the differential positioning system and the processor are communicatively coupled to each other, and the memory and the processor are communicatively coupled to each other, the memory having stored therein computer instructions; the processor implements the method for adjusting the posture of the wheeled device according to embodiment 2 by executing the computer instructions.

Furthermore, the differential positioning system comprises a reference base station, a receiver and a transmitting double antenna, wherein the receiver and the transmitting double antenna are respectively arranged at the front end and the rear end of the wheeled equipment so as to realize real-time positioning of the position of the wheeled equipment.

Example 4

The present embodiment provides an automatic driving method for a wheeled device, which adjusts a driving posture of the wheeled device by using the posture adjustment method for a wheeled device described in embodiment 2 during traveling of the wheeled device.

Example 5

This embodiment provides an automatic driving system including the attitude adjustment system for wheeled equipment described in embodiment 3.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described device/terminal embodiments are merely illustrative, and for example, the division of the above-described modules 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.

In addition, functional units in the embodiments of the present application 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, and can also be realized in a form of a software functional unit.

The integrated module may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method of the embodiments described above may be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.