阅读说明：本技术 车库门控制方法和装置 (Garage door control method and device ) 是由 余承富 李尹 于 2021-06-17 设计创作，主要内容包括：本申请公开了一种车库门控制方法和装置,其中,所述方法包括：获取关于车库门的实时图像序列,利用光流算法识别实时图像序列中的车库门的运动方向,并记录车库门的运动时间,根据车库门的运动方向和运动时间确定车库门的实时状态,根据车库门的实时状态在指令集中确定至少一个指令作为车库门操作指令,根据操作指令向车库门发送相应的控制信号；实施本申请可以利用图像处理算法完成车库门状态的自动检测和控制,简化车库门控制装置的安装,提高车库门监测和控制的效率。(The application discloses garage door control method and device, wherein the method comprises the following steps: acquiring a real-time image sequence of a garage door, identifying the movement direction of the garage door in the real-time image sequence by using an optical flow algorithm, recording the movement time of the garage door, determining the real-time state of the garage door according to the movement direction and the movement time of the garage door, determining at least one instruction in an instruction set according to the real-time state of the garage door as a garage door operation instruction, and sending a corresponding control signal to the garage door according to the operation instruction; according to the garage door state detection and control method and device, automatic detection and control of the garage door state can be completed through an image processing algorithm, installation of the garage door control device is simplified, and garage door monitoring and control efficiency is improved.)

1. A garage door control method comprising the steps of:

obtaining a real-time image sequence relating to a garage door, wherein the real-time image sequence includes at least two consecutive frame images;

identifying a direction of movement of the garage door in the real-time image sequence using an optical flow algorithm;

recording the movement time of the garage door;

determining the real-time state of the garage door according to the movement direction and the movement time of the garage door;

determining at least one control command in a command set as a garage door operation command according to the real-time state of the garage door, wherein the command of the command set is used for controlling the garage door to perform opening, closing or partial opening actions;

and sending corresponding control signals to the garage door according to the operation instructions.

2. The garage door control method of claim 1, wherein receiving a remote command is performed prior to determining at least one command in the command set as a garage door operation command based on a real-time status of the garage door; the step of determining at least one command in the command set as a garage door operation command based on the real-time status of the garage door includes:

determining a target state according to the remote control instruction;

at least one command is selected from the command set as a garage door operating command based on the real-time status and the target status.

3. The garage door control method of claim 2, further comprising: detecting at least one identifier in the real-time image sequence prior to selecting at least one instruction in the instruction set as a garage door operation instruction based on the current state and the target state;

determining a current state of the garage door based on the location of the identifier in the frame image;

and when the current state of the garage door is inconsistent with the real-time state, taking the current state of the garage door as the real-time state of the garage door.

4. The garage door control method of claim 3, wherein said step of detecting at least one marker in a current frame image of the real-time image sequence comprises: detecting the at least one marker in the real-time image sequence using a preset deep neural network model.

5. The garage door control method of claim 1, wherein the step of identifying the direction of movement of the garage door in the real-time image sequence using an optical flow algorithm comprises:

detecting at least one moving target in the real-time image sequence by using a preset algorithm;

identifying key points of a moving target;

acquiring the motion direction of the key point by using an optical flow algorithm as the motion direction of the motion target;

and judging whether the moving direction of the moving target is consistent with the preset direction, and if so, taking the moving direction of the moving target as the moving direction of the garage door.

6. The garage door control method of claim 5, wherein the predetermined algorithm is a frame differencing or a background differencing.

7. The garage door control method of claim 5, wherein the optical flow algorithm comprises a pyramid optical flow algorithm.

8. A garage door control apparatus communicatively coupled to at least one garage door, said apparatus comprising:

at least one memory for storing a set of instructions including one or more control instructions for operating the garage door;

an image sensor for acquiring a real-time image sequence relating to a garage door, wherein the real-time image sequence includes at least two consecutive frame images;

the motion recognition module is used for recognizing the motion direction of the garage door in the real-time image sequence by utilizing an optical flow algorithm;

the time counter is used for recording the movement time of the garage door;

the processor is used for determining the real-time state of the garage door according to the movement direction and the movement time of the garage door and determining at least one control instruction in the instruction set according to the real-time state of the garage door as an operation instruction of the garage door;

and the signal generator is used for sending corresponding control signals to the garage door according to the operation instructions.

9. The garage door control apparatus of claim 8, further comprising a receiving module for receiving at least one remote command; the processor is further configured to:

determining a target state according to the control instruction;

and selecting at least one control command in the command set as a garage door operation command according to the real-time state and the target state.

10. The garage door control of claim 9, further comprising an image recognition module for detecting at least one identification in the real-time sequence of images;

the processor is further configured to determine a current state of the garage door based on the location identified in the frame image, and to use the current state of the garage door as the real-time state of the garage door when the current state of the garage door and the real-time state are not consistent.

Technical Field

The present application relates to the field of garage door control technologies, and in particular, to a garage door control method and apparatus.

Background

The existing garage door usually has a motor-driven rolling door driving device, and a user can send a garage door operation command to the motor-driven rolling door driving device in a wireless or wired mode to control the opening and closing of the garage door, but in the actual use process, the situation that the user forgets to close the garage door is easy to occur. Although many users install the video monitoring device in the garage, the users can only check the monitoring picture, and cannot control the closing of the garage door.

The garage door is improved by technical personnel in the field, a limit sensor or a motion sensor is additionally arranged on the garage door, the monitoring device is used for monitoring the state of the garage door according to the detection result of the limit sensor or the motion sensor, when the garage door is not closed, the monitoring device can send an operation instruction to an electric roller shutter driving device of the garage door, and therefore the function of automatically closing the garage door is achieved, the use experience of the garage door is improved, the scheme is complex in installation and configuration, and the hardware cost is higher.

Disclosure of Invention

The embodiment of the application aims to provide a garage door control method and a garage door control device, which are used for detecting and controlling the state of a garage door in real time through an optical flow algorithm so as to improve the monitoring efficiency of the garage door and improve the use experience of the garage door.

The embodiment of the application provides a garage door control method, which comprises the following steps:

obtaining a real-time image sequence relating to a garage door, wherein the real-time image sequence includes at least two consecutive frame images;

identifying a direction of movement of the garage door in the real-time image sequence using an optical flow algorithm;

recording the movement time of the garage door;

determining the real-time state of the garage door according to the movement direction and the movement time of the garage door;

determining at least one control command in a command set as a garage door operation command according to the real-time state of the garage door, wherein the command of the command set is used for controlling the garage door to perform opening, closing or partial opening actions;

and sending corresponding control signals to the garage door according to the operation instructions.

In some possible embodiments, the method further comprises,

receiving a remote command before determining at least one command in the command set as a garage door operation command based on a real-time status of the garage door; the step of determining at least one command in the command set as a garage door operation command based on the real-time status of the garage door includes:

determining a target state according to the remote control instruction;

at least one command is selected from the command set as a garage door operating command based on the real-time status and the target status.

In some possible embodiments, the method further comprises: detecting at least one identifier in the real-time image sequence prior to selecting at least one instruction in the instruction set as a garage door operation instruction based on the current state and the target state;

determining a current state of the garage door based on the location of the identifier in the frame image;

and when the current state of the garage door is inconsistent with the real-time state, taking the current state of the garage door as the real-time state of the garage door.

In some possible embodiments, the step of detecting at least one marker in a current frame image of the real-time image sequence comprises: detecting the at least one marker in the real-time image sequence using a preset deep neural network model.

In some of the possible embodiments, the first and second,

the step of identifying a direction of movement of the garage door in the real-time image sequence using an optical flow algorithm comprises:

detecting at least one moving target in the real-time image sequence by using a preset algorithm;

identifying key points of a moving target;

acquiring the motion direction of the key point by using an optical flow algorithm as the motion direction of the motion target;

and judging whether the moving direction of the moving target is consistent with the preset direction, and if so, taking the moving direction of the moving target as the moving direction of the garage door.

In some possible embodiments, the predetermined algorithm is a frame difference method or a background difference method.

In some possible implementations, the optical flow algorithm includes a pyramid optical flow algorithm.

In some possible embodiments, the step of determining the real-time status of the garage door based on the movement direction and the movement time of the garage door includes:

determining the opening ratio of the garage door according to the movement time and a target time;

the real-time status of the garage door is determined based on the opening ratio and the direction of movement of the garage door.

A garage door control apparatus communicatively coupled to at least one garage door, said apparatus comprising:

at least one memory for storing a set of instructions including one or more control instructions for operating the garage door; an image sensor for acquiring a real-time image sequence relating to a garage door, wherein the real-time image sequence includes at least two consecutive frame images;

the motion recognition module is used for recognizing the motion direction of the garage door in the real-time image sequence by utilizing an optical flow algorithm;

the time counter is used for recording the movement time of the garage door;

the processor is used for determining the real-time state of the garage door according to the movement direction and the movement time of the garage door and determining at least one control instruction in the instruction set according to the real-time state of the garage door as an operation instruction of the garage door;

and the signal generator is used for sending corresponding control signals to the garage door according to the operation instructions.

In some possible embodiments, the apparatus further comprises a receiving module for receiving at least one remote control instruction; the processor is further configured to:

determining a target state according to the control instruction;

and selecting at least one control command in the command set as a garage door operation command according to the real-time state and the target state.

In some possible embodiments, the apparatus further comprises an image recognition module for detecting at least one marker in the real-time image sequence; the processor is further configured to determine a current state of the garage door based on the location identified in the frame image, and to use the current state of the garage door as the real-time state of the garage door when the current state of the garage door and the real-time state are not consistent.

In some possible embodiments, the image recognition module detects the at least one marker in the real-time image sequence using a preset deep neural network model.

In some possible embodiments, the motion recognition module comprises a motion detection unit, an optical flow unit and a determination unit, wherein the motion detection unit detects at least one moving object in the real-time image sequence by using a preset algorithm; the optical flow unit is used for identifying key points of the moving target and acquiring the moving direction of the moving target according to the key points by using an optical flow algorithm; the judging unit is used for judging whether the moving direction of the moving target is consistent with the preset direction or not, and if so, the moving direction of the moving target is taken as the moving direction of the garage door.

In some possible embodiments, the predetermined algorithm is a frame difference method or a background difference method.

In some possible implementations, the optical flow algorithm includes a pyramid optical flow algorithm.

Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the invention uses the optical flow algorithm to identify the moving direction of the garage door in the real-time image sequence, records the moving time of the garage door, determines the real-time state of the garage door according to the moving direction and the moving time of the garage door, determines at least one instruction in the instruction set as the garage door operation instruction according to the real-time state of the garage door, and sends a corresponding control signal to the garage door according to the operation instruction, thereby automatically completing the detection and control of the state of the garage door, improving the control efficiency of the garage door, and simultaneously avoiding using a hardware limit sensor or an inertial motion sensor due to adopting the motion detection technology based on the image identification, thereby reducing the hardware cost of the system and simplifying the installation steps of the garage door control device.

Drawings

In order to more clearly illustrate the solution of the present application, a brief description will be given below of the drawings required for use in the description of the embodiments of the present application, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.

FIG. 1 is a flow chart illustrating a garage door control method according to a first embodiment of the present application;

FIG. 2 is a flow chart of a garage door control method according to a second embodiment of the present application;

FIG. 3 is a flow chart of a method of garage door control according to a third embodiment of the present application;

FIG. 4 is a schematic structural view of one embodiment of a garage door control apparatus according to the present application;

fig. 5 is a schematic structural diagram of the motion recognition module in fig. 4.

Detailed Description

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 application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

First embodiment

Fig. 1 shows a flow chart of a garage door control method according to a first embodiment of the present application. As shown in fig. 1, the garage door control method includes the steps of:

a real-time image sequence relating to a garage door is obtained, wherein the real-time image sequence includes at least two consecutive frame images, step 101.

In this embodiment, a real-time image sequence of the garage door can be obtained by a camera device which is previously arranged in the garage or outside the garage. It should be noted that the monitoring range of the camera device may encompass the entire garage door, or the upper portion of the garage door.

Step S102, identify a movement direction of the garage door in the real-time image sequence using an optical flow algorithm.

In this embodiment, the direction of movement of the garage door, e.g., the movement of the garage door panels up and down, or down and up, along the tracks of the roller blind mechanism, may be detected by an optical flow algorithm. It should be noted that, since the optical flow algorithm does not require the entire garage door to be included in the real-time image sequence, and only a portion of the garage door is actually required to satisfy the optical flow algorithm, the present embodiment can accurately identify the moving direction of the garage door without being interfered by the parked vehicles in the garage. Meanwhile, due to the fact that the illumination condition in the garage is poor, compared with other motion detection algorithms, the light stream algorithm can avoid interference caused by the change of the illumination condition and has high recognition capability.

And step S103, recording the movement time of the garage door.

In this embodiment, a timer may be used to record the time between the garage door movement from the beginning to the end of the movement as the movement time. In some embodiments, the time of the movement may be recorded in a non-volatile memory for subsequent determination of the status of the garage door.

And step S104, determining the real-time state of the garage door according to the movement direction and the movement time of the garage door.

In this embodiment, it may be determined whether the garage door is performing an opening operation or a closing operation according to the moving direction of the garage door. The opening or closing ratio of the garage door is determined based on the movement time, which may be calculated, for example, by dividing the movement time by the opening time required for a complete opening operation or the closing time required for a complete closing operation. The real-time state of the garage door can be judged according to the opening proportion or the closing proportion. For example, when the garage door moves upward and the opening ratio is 100%, the current real-time status of the garage door is determined to be open, and when the opening ratio is lower than a preset threshold value, for example, 80%, the real-time status of the garage door is determined to be partially open. And if the closing proportion is lower than the preset threshold value, judging that the real-time state of the garage door is partially closed. It should be noted that the garage door needs to be configured such that the panel of the garage door moves at a substantially uniform speed along the track at a predetermined speed, so that the position of the garage door can be determined according to the moving time and the moving direction of the garage door.

Step S105, determining at least one control command as a garage door operation command in a command set according to a real-time status of the garage door, wherein the command of the command set is used for controlling the garage door to perform an opening, closing or partial opening action.

In this embodiment, the instruction set may include a plurality of control instructions, such as instructions to control the upward movement, downward movement, and stop of the garage door. The real-time status of the garage door may be compared to a target status and at least one command may be determined in the command set as a garage door operating command based on the comparison. For example, when the target state is on and the real-time state is off, the corresponding operation command is on. The target state may be received from a server or built-in to the terminal device. User operations may also be received and a target status of the garage door determined based on the user operations.

And step S106, sending a corresponding control signal to the garage door according to the operation instruction.

In this embodiment, the control signal may be sent to the garage door via a wired connection or a wireless connection. It should be noted that the wireless connection means may include, but is not limited to, 3G/4G/5G connection, WiFi connection, bluetooth connection, WiMAX connection, Zigbee connection, uwb (ultra wideband) connection, and other wireless connection means now known or developed in the future. When the control signal is transmitted through a wired connection, the control signal may include a single or multiple pulse signals, or high-level, low-level, etc. electrical signals.

The embodiment of the application obtains the real-time image sequence about the garage door, utilize the optical flow algorithm discernment garage door's direction of motion in the real-time image sequence, the movement time of record garage door, the real-time status of garage door is confirmed according to the direction of motion and the movement time of garage door, confirm at least one instruction as garage door operating command in the instruction set according to the real-time status of garage door, send corresponding control signal to the garage door according to operating command, thereby can utilize image processing algorithm to accomplish automatic detection and control of garage door state, system hardware cost is reduced, simplify the installation of garage door controlling means, the efficiency of garage door monitoring and control is improved.

In some optional implementations, the step S102 includes:

s1021, detecting at least one moving target in the real-time image sequence by using a preset algorithm;

step S1022, identifying key points of the moving target;

step S1023, acquiring the motion direction of the key point by using an optical flow algorithm as the motion direction of the motion target;

and step S1024, judging whether the moving direction of the moving target is consistent with the preset direction, and if so, taking the moving direction of the moving target as the moving direction of the garage door.

In some possible embodiments, the predetermined algorithm is a frame difference method or a background difference method. When a moving object appears in a monitored scene (namely a garage), a frame image in a real-time image sequence and a frame image have a relatively obvious difference, two frames are subtracted to obtain an absolute value of the brightness difference of the two frame images, and whether the real-time image sequence contains a moving target or not can be analyzed by judging whether the absolute value is greater than a threshold value or not. Meanwhile, because the camera device for monitoring the garage door is usually fixedly installed, the moving target detection under the static background can be carried out by using a background difference method, wherein the background difference method firstly selects the average of one or more frame images in the real-time image sequence as a background image, and then subtracts the current frame image and the background image in the real-time image sequence to carry out background elimination. And if the obtained pixel number is larger than a certain threshold value, judging that the moving target exists in the garage.

In some possible implementations, the optical flow algorithm includes a pyramid optical flow algorithm.

In some possible embodiments, step S104 includes:

step S1041, determining the opening ratio of the garage door according to the movement time and a target time;

and step S1042, determining the real-time state of the garage door according to the opening ratio and the movement direction of the garage door.

Second embodiment

Fig. 2 is a flow chart of a garage door control method according to a second embodiment of the present application. The garage door control method according to the second embodiment of the present application differs from the first embodiment in that the method may further include the steps of, prior to determining at least one control command in the command set as a garage door operation command based on the real-time status of the garage door: step S201, receiving a remote control instruction. And, determining at least one control command in the command set as a garage door operation command according to the real-time status of the garage door may specifically include:

step S206, determining a target state according to the control instruction;

and step S207, selecting at least one command in the command set as a garage door operation command according to the real-time state and the target state.

In this embodiment, the remote control command may be received from a remote control device or server via a wired or wireless connection, for example, a remote control command for closing a garage door may be obtained from an intelligent terminal via a bluetooth connection. The control instruction can be a gesture control instruction, a voice control instruction, a touch control instruction, a key control instruction, a data packet control instruction or the like. Each control command may be associated with a status of one of the garage doors. For example, the gesture control instructions may include a plurality of gestures, each of which may be associated with a garage door status; the packet control command may include an identifier whose value is associated with a garage door status. The electronic equipment obtains the garage door state associated with the electronic equipment through analyzing the control command as a target state.

Third embodiment

Fig. 3 is a flow chart of a method of garage door control according to a third embodiment of the present application. As shown in fig. 3, the garage door control method according to the third embodiment of the present application is different from the first embodiment in that the method may further include the steps of, before step S308:

step S305, at least one marker is detected in a current frame image of the real-time image sequence.

In this embodiment, the identifier may be various machine-recognizable identifiers, such as characters, figures, and the like, disposed on the garage door panel. The logo may be provided on an upper, middle or lower portion of the garage door panel. The indicia may include one or more different patterns disposed in the upper, middle, and lower portions of the garage door, respectively. When the garage door is in different positions, the logo is also in different positions. For example, when the garage door is open, the upper indicia may be viewed on the upper portion of the garage door, and when the garage door is closed, the lower indicia may be viewed on the upper portion of the garage door. The location of the marker is therefore readily known as a reference for checking the position of the garage door.

Step S306 determines the current status of the garage door based on the location identified in the frame image.

In this embodiment, it may be determined that the current state of the garage door is open when the logo disposed on the lower portion of the garage door panel is identified as being on the upper portion. When the flag is identified as being in the initial position, it may be determined that the current state of the garage door is closed.

And step S307, when the current state of the garage door is not consistent with the real-time state, taking the current state of the garage door as the real-time state of the garage door.

In this embodiment, identifying the identifier in the sequence of images of the garage door to obtain the current state of the garage door can be used to calibrate the real-time state of the garage door, thereby reducing the probability of a false positive.

In some optional embodiments, the step S305 includes: detecting the at least one marker in the real-time image sequence using a preset deep neural network model. The deep neural network model may include a convolutional neural network model or the like.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).

It should be understood that, although the steps in the flowcharts of the figures are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or in turns with other steps or at least a portion of the sub-steps or stages of other steps.

Fourth embodiment

With further reference to fig. 4, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a garage door control apparatus, which corresponds to the embodiment of the method shown in fig. 1, and which is particularly applicable to various electronic devices.

As shown in fig. 4, the present application discloses a garage door control apparatus communicatively coupled to at least one garage door, the apparatus comprising: the device comprises a memory, an image sensor, a motion identification module, a timer, a processor and a signal generator.

The memory is used for storing an instruction set, and the instruction set comprises one or more control instructions for operating the garage door; the image sensor is used for acquiring a real-time image sequence related to the garage door, wherein the real-time image sequence at least comprises two continuous frame images; the motion recognition module is used for recognizing the motion direction of the garage door in the real-time image sequence by using an optical flow algorithm; the timer is used for recording the movement time of the garage door; the processor is used for determining the real-time state of the garage door according to the movement direction and the movement time of the garage door and determining at least one control instruction in the instruction set as an operation instruction of the garage door according to the real-time state of the garage door; the signal generator is used for sending corresponding control signals to the garage door according to the operation instructions.

In some possible embodiments, the apparatus further comprises a receiving module for receiving at least one remote control instruction; the processor is further configured to: determining a target state according to the control instruction; and selecting at least one control command in the command set as the garage door operation command according to the real-time state and the target state.

In some possible embodiments, the apparatus further comprises an image recognition module for detecting at least one marker in the real-time image sequence; the processor is further configured to determine a current state of the garage door based on the location identified in the frame image, and to use the current state of the garage door as the real-time state of the garage door when the current state of the garage door and the real-time state are not consistent.

In some possible embodiments, the image recognition module detects the at least one marker in the real-time image sequence using a preset deep neural network model.

Fig. 5 is a schematic structural diagram of the motion recognition module in fig. 4. As shown in fig. 5, the motion recognition module includes a motion detection unit, an optical flow unit, and a determination unit, wherein the motion detection unit detects at least one moving object in a real-time image sequence by using a preset algorithm; the optical flow unit is used for identifying key points of the moving target and acquiring the moving direction of the moving target according to the key points by using an optical flow algorithm; the judging unit is used for judging whether the moving direction of the moving target is consistent with the preset direction or not, and if so, the moving direction of the moving target is taken as the moving direction of the garage door. The preset algorithm may include a frame difference method or a background difference method. The optical flow algorithm may comprise a pyramid optical flow algorithm.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for causing a garage door control apparatus to execute the method according to the embodiments of the present application.

It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that the present application may be practiced without these specific details or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.