阅读说明：本技术 基于fmi的多源异构模型联合仿真方法、装置、设备及介质 (Multi-source heterogeneous model joint simulation method, device, equipment and medium based on FMI ) 是由 程旭 蒋荣 程明 何绍清 任女尔 李旭 于 2021-09-09 设计创作，主要内容包括：本发明实施例提出一种基于FMI的多源异构模型联合仿真方法、装置、设备及介质,本地计算机通过代理服务器从远程服务器上获取远程FMU,将所述获取的远程FMU与本地FMU模型库一起构成可用FMU模型库；解析可用FMU模型库中的FMU得到解析信息,仿真软件根据所述解析信息生成FMU的图形化描述,在画布上生成FMU模型,获取多个FMU接口间的关联关系；调用FMI的实例化函数,对FMU进行实例化,得到FMU实例；初始化FMU实例；获取最小仿真步长,以所述最小仿真步长对每个FMU进行单步解算；如果变量T大于等于某FMU模型的仿真结束时间,调用该FMU的释放实例函数释放该FMU实例,直到所有FMU实例均被释放,仿真结束。本发明实施例实现不同步长及仿真时间的多个FMU远程协同仿真。(The embodiment of the invention provides a multisource heterogeneous model combined simulation method, a multisource heterogeneous model combined simulation device, multisource heterogeneous model combined simulation equipment and a multisource heterogeneous model combined simulation medium based on FMI.A local computer acquires a remote FMU from a remote server through a proxy server, and forms an available FMU model library together with an acquired remote FMU and a local FMU model library; analyzing an FMU in an available FMU model library to obtain analysis information, generating graphical description of the FMU by simulation software according to the analysis information, generating an FMU model on canvas, and acquiring an incidence relation among a plurality of FMU interfaces; calling an instantiation function of the FMI, and instantiating the FMU to obtain an FMU instance; initializing an FMU instance; obtaining a minimum simulation step size, and performing single-step calculation on each FMU according to the minimum simulation step size; if the variable T is larger than or equal to the simulation end time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and finishing the simulation. The embodiment of the invention realizes the remote collaborative simulation of a plurality of FMUs with different step lengths and simulation time.)

1. A multisource heterogeneous model joint simulation method based on FMI is characterized by comprising the following steps:

s100, a local computer deploys a local FMU model library, and a remote server deploys a remote FMU model library;

step S200, the local computer acquires a remote FMU from a remote server through a proxy server, and an available FMU model library is formed by the acquired remote FMU and a local FMU model library;

step S300, analyzing the FMU in the available FMU model library to obtain analysis information, generating graphical description of the FMU by simulation software according to the analysis information, generating an FMU model on canvas, and acquiring the incidence relation among a plurality of FMU interfaces;

step S400, calling an instantiation function of FMI, and instantiating an FMU to obtain an FMU instance;

step S500, initializing an FMU instance;

step S600, acquiring a minimum simulation step size, and performing single-step calculation on each FMU according to the minimum simulation step size;

step S700, if the variable T is more than or equal to the simulation ending time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and ending the simulation;

wherein, the initial value of the variable T is 0, and each time a minimum simulation step length Delta T is executed_minIt is added to the T variable.

2. The method of claim 1, wherein the step of the local computer obtaining the remote FMU from the remote server via the proxy server comprises: and starting a proxy server of the local computer, wherein the proxy server acquires the information and the position of the available FMU according to the IP address and the RPC port of the remote server, and the proxy server acquires the remote FMU according to the information and the position of the available FMU.

3. The method of claim 2, wherein the proxy server obtains one or more FMUs via a set of RPCs.

4. The method of claim 3, wherein the proxy server periodically sends a heartbeat signal via HTTP, periodically updates the available FMU list, and determines that the remote server is online.

5. The method of claim 1, wherein the FMU parsing information is obtained by parsing an xml description file in the FMU; the analysis information comprises a unique identification code, a model variable, a variable type, a simulation step length, simulation starting time, simulation ending time, tolerance, a simulation state and a simulation state quantity of the FMU.

6. The method of claim 5, wherein initializing an FMU instance comprises: traversing all FMU instances, judging whether the FMU instances have interfaces which need initialization conditions, and if not, directly entering the step S600; if an interface needing the initialized condition exists, judging whether the interface is associated with other FMUs, if the interface is not associated with other FMUs, entering step S600, and if the interface is associated with other FMUs, obtaining the initial condition of the interface by using a recursive method and assigning values.

7. The method of claim 6, wherein obtaining the initial condition and assigning the value using a recursive method comprises: initializing an associated FMU, and judging whether parameters associated with the initialized associated FMU and initial conditions are 0 or null; if not, acquiring an initial value to initialize the FMU; if yes, searching the next FMU of the associated FMU forward, and repeatedly executing the operation of initializing the associated FMU until the parameter of initializing the associated FMU and the initial condition is not 0 or null.

8. A multisource heterogeneous model joint simulation device based on FMI is characterized by comprising:

the deployment module is used for deploying the local FMU model library by a local computer and deploying the remote FMU model library by a remote server;

the FMU model library generating module is used for acquiring a remote FMU from a remote server through a proxy server by a local computer and forming an available FMU model library by the acquired remote FMU and a local FMU model library;

the analysis module is used for analyzing the FMU in the available FMU model library to obtain analysis information, the simulation software generates graphical description of the FMU according to the analysis information, an FMU model is generated on the canvas, and the incidence relation among a plurality of FMU interfaces is obtained;

the instantiation module calls an instantiation function of the FMI to instantiate the FMU to obtain an FMU instance;

the instance module initializes the FMU instance;

the resolving module is used for acquiring the minimum simulation step size and performing single-step resolving on each FMU according to the minimum simulation step size;

if the variable T is more than or equal to the simulation ending time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and ending the simulation;

wherein, the initial value of the variable T is 0, and each time a minimum simulation step length Delta T is executed_minIt is added to the T variable.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method of any one of claims 1 to 7 when executing the computer program.

10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-7.

Technical Field

The invention relates to the field of simulation, in particular to a multisource heterogeneous model joint simulation method, device, equipment and medium based on FMI.

Background

At present, multi-module system Simulation software at home and abroad mainly adopts technologies such as customized codes, integrated coupling, joint Simulation (Co-Simulation) and the like. The development work of integrated software is usually realized by using an Application Programming Interface (API), which requires a developer to comprehensively master each module model and independent Interface to form a complex, and the complex is jointly developed by adopting an intellectual property cooperation or sharing mode. With the rapid development and wide application of simulation technology, a plurality of software tools with different functions and independent intellectual property rights are increasingly required to realize the joint simulation experiment. Therefore, The FMI (The Functional Mock-up Interface) allows a simulation model to be shared among different tools, so that The joint simulation can integrate a plurality of independent simulation tools into a whole, and all parties are not required to establish The joint simulation in a cooperation or sharing mode.

Currently, simulation software such as ADAMS, MATLAB, AMESim, ANSYS and the like can realize joint simulation in different degrees. And many scholars at home and abroad develop a great deal of research work according to the simulation requirements. Simulation analysis under different working conditions is carried out on the bearing capacity of the hyperstatic hydraulic support by applying an ADAMS and AMESim machine-liquid joint simulation method in a thesis AMESim and ADAMS-based hyperstatic hydraulic support hydraulic system joint simulation; an entire vehicle model with an ABS (anti-lock brake system) system is established in ADAMS (automatic train analysis) and a fuzzy PID (proportion integration differentiation) control system of a road surface identification system based on vehicle body deceleration is established in Simulink, so that the combined brake simulation based on ADAMS and Simulink under different road conditions is realized; the article "The Combined Simulation of High-Speed Parallel manager Based on MATLAB, SolidWorks and ADAMS" converts SOLIDWORKS model into MATLAB/Simulink model and ADAMS model respectively, and realizes The joint Simulation work of ADAMS mechanical platform and Simulink control platform; a thesis 'FMI-based integrated simulation of multisource heterogeneous models of aircraft subsystems' selects a plurality of FMU models to complete a simulation experiment of an aircraft.

The above joint simulation experiments can be roughly divided into two types, the first type mainly adopts the technologies of customized code, integrated coupling and joint simulation, and the second type is performed by applying the international mobile-up Interface (FMI). Limitations of the first type of simulation experiment are mentioned above and will not be described in detail. In the second category, the integrated simulation of the multi-source heterogeneous model of the FMI-based aircraft subsystem is mainly aimed at a specific field, the solved model is only limited to the aircraft, and the different-place collaborative development and simulation experiment are not supported.

Most of the above research contents concern how multiple FMUs (Functional Mock-up units) are associated and how to call simulation functions in FMIs, but the problems of an initialization sequence during multi-FMU joint simulation, a solution of cascade initialization of the multi-FMUs, experimental precision of the multi-FMU joint simulation, multi-FMU remote collaborative simulation and the like are mentioned less. In the actual multi-FMU combined simulation experiment, as the FMU is derived from a plurality of software and is close to a black box for a user, the data transmission between the initialized configuration of the FMU and the multi-FMU directly influences the quality of the combined simulation and the accuracy of the result. The patent mainly carries out corresponding research aiming at the problems and provides a corresponding realization method.

Disclosure of Invention

With the rapid development and wide application of simulation technology, a plurality of software tools with different functions and independent intellectual property rights are increasingly needed to realize joint simulation experiments, and the characteristic of multidisciplinary fusion in the simulation experiments is increasingly prominent. In order to improve the effectiveness, the accuracy and the simulation efficiency of multidisciplinary and multi-field heterogeneous model joint simulation, the simulation model is shared among different tools based on FMI, remote calling and model analysis of the FMU model are realized by applying an FMU-proxy framework, and an FMU data transmission algorithm is provided to improve the experimental precision of the multi-FMU joint simulation.

In a first aspect, an embodiment of the present invention provides a multisource heterogeneous model joint simulation method based on FMI, including the following steps:

s100, a local computer deploys a local FMU model library, and a remote server deploys a remote FMU model library;

step S200, the local computer acquires a remote FMU from a remote server through a proxy server, and an available FMU model library is formed by the acquired remote FMU and a local FMU model library;

step S300, analyzing the FMU in the available FMU model library to obtain analysis information, generating graphical description of the FMU by simulation software according to the analysis information, generating an FMU model on canvas, and acquiring the incidence relation among a plurality of FMU interfaces;

step S400, calling an instantiation function of FMI, and instantiating an FMU to obtain an FMU instance;

step S500, initializing an FMU instance;

step S600, acquiring a minimum simulation step size, and performing single-step calculation on each FMU according to the minimum simulation step size;

step S700, if the variable T is more than or equal to the simulation ending time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and ending the simulation;

wherein, the initial value of the variable T is 0, and each time a minimum simulation step length Delta T is executed_minIt is added to the T variable.

Preferably, the step of the local computer obtaining the remote FMU from the remote server via the proxy server comprises: and starting a proxy server of the local computer, wherein the proxy server acquires the information and the position of the available FMU according to the IP address and the RPC port of the remote server, and the proxy server acquires the remote FMU according to the information and the position of the available FMU.

Preferably, the proxy server can obtain one or more FMUs via a set of RPCs.

Preferably, the proxy server periodically sends a heartbeat signal via HTTP, periodically updates the available FMU list, and determines that the remote server is online.

Preferably, FMU analysis information is obtained by analyzing an xml description file in the FMU; the analysis information comprises a unique identification code, a model variable, a variable type, a simulation step length, simulation starting time, simulation ending time, tolerance, a simulation state and a simulation state quantity of the FMU.

Preferably, the step of initializing the FMU instance comprises: traversing all FMU instances, judging whether the FMU instances have interfaces which need initialization conditions, and if not, directly entering the step S600; if an interface needing the initialized condition exists, judging whether the interface is associated with other FMUs, if the interface is not associated with other FMUs, entering step S600, and if the interface is associated with other FMUs, obtaining the initial condition of the interface by using a recursive method and assigning values.

Preferably, the method for obtaining the initial condition and assigning the value by using a recursive method comprises the following steps: initializing an associated FMU, and judging whether parameters associated with the initialized associated FMU and initial conditions are 0 or null; if not, acquiring an initial value to initialize the FMU; if yes, searching the next FMU of the associated FMU forward, and repeatedly executing the operation of initializing the associated FMU until the parameter of initializing the associated FMU and the initial condition is not 0 or null.

In a second aspect, an embodiment of the present invention provides a multisource heterogeneous model joint simulation apparatus based on FMI, including:

the deployment module is used for deploying the local FMU model library by a local computer and deploying the remote FMU model library by a remote server;

the FMU model library generating module is used for acquiring a remote FMU from a remote server through a proxy server by a local computer and forming an available FMU model library by the acquired remote FMU and a local FMU model library;

the analysis module is used for analyzing the FMU in the available FMU model library to obtain analysis information, the simulation software generates graphical description of the FMU according to the analysis information, an FMU model is generated on the canvas, and the incidence relation among a plurality of FMU interfaces is obtained;

the instantiation module calls an instantiation function of the FMI to instantiate the FMU to obtain an FMU instance;

the instance module initializes the FMU instance;

the resolving module is used for acquiring the minimum simulation step size and performing single-step resolving on each FMU according to the minimum simulation step size;

if the variable T is more than or equal to the simulation ending time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and ending the simulation;

wherein, the initial value of the variable T is 0, and each time a minimum simulation step length Delta T is executed_minIt is added to the T variable.

In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable by the processor, where the processor implements any one of the methods described above when executing the computer program.

In a fourth aspect, an embodiment of the invention proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of the above.

The embodiment of the invention provides a multisource heterogeneous model joint simulation method, a multisource heterogeneous model joint simulation device, multisource heterogeneous model joint simulation equipment and a multisource heterogeneous model joint simulation medium based on FMI, and solves the problems that remote collaborative simulation cannot be performed and the reduction degree of a simulation result is low in the prior art. Compared with the prior art, the embodiment of the invention has the beneficial results that:

the method can analyze FMUs from various sources during simulation of a multi-FMU system, complete data transmission between initial condition setting and the FMUs by means of the multi-source heterogeneous model collaborative simulation data transmission algorithm, and when the FMUs have simulation step lengths with different sizes and different simulation starting and ending times, the system can normally and correctly complete simulation experiments. Comparing the FMU combined simulation result with the simulation result of the original model development software, the simulation mean error is within 0.1%, and the effectiveness of the method is fully embodied.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart of an embodiment of the present invention;

FIG. 2 is a schematic diagram of FMU single step solution according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.

Referring to fig. 1, the specific implementation steps of the FMI-based multi-source heterogeneous model joint simulation method according to the embodiment of the present invention are as follows:

and S100, deploying a local FMU model library by a local computer, and deploying a remote FMU model library by a remote server.

Specifically, an FMU (Functional model-up Unit) model library refers to a mathematical model or an industrial model built in different professional software, and a plurality of. FMU file sets are formed based on the FMI2.0 standard. As the models in the FMU model library all conform to one interface standard, the direct multiplexing of the FMU models formed in different professional software can be realized, and the system integration simulation can be completed quickly. The local FMU model library and the remote FMU model library can be flexibly deployed on a local computer and a remote server according to user requirements.

And step S200, the local computer acquires the remote FMU from the remote server through the proxy server, and the acquired remote FMU and the local FMU model library form an available FMU model library together.

Specifically, a proxy server of the local computer is started, the proxy server acquires information and positions of available FMUs according to IP addresses and RPC (Remote Procedure Call) ports of the Remote server, the proxy server acquires Remote FMUs according to the information and the positions of the available FMUs, and the acquired Remote FMUs and a local FMU model library form an available FMU model library together.

Preferably, the proxy server can obtain one or more FMUs via a set of RPCs.

Preferably, the proxy server periodically sends a heartbeat signal via HTTP (Hyper Text Transfer Protocol), periodically updates the available FMU list, and determines that the remote server is online.

Step S300, analyzing the FMU in the available FMU model library to obtain analysis information, generating graphical description of the FMU by simulation software according to the analysis information, generating an FMU model on a canvas, and acquiring the incidence relation among a plurality of FMU interfaces. Because fmu models are stored in a mode of fmu files, and access is performed directly in a mode of software program calling, which is not intuitive and low in efficiency, in the embodiment of the invention, information of a connection interface, parameters and icons of each model is obtained by reading and analyzing xml files in fmu files, fmu models are presented in a visual graph mode, and connection and data flow relations among different fmu models are presented in a mode of dragging and connecting lines on a graph canvas, so that a joint simulation experiment is intuitive and simple.

Specifically, by analyzing the xml description file in the FMU, FMU analysis information can be obtained, wherein the analysis information includes information such as a unique identification code, a model variable, a variable type, a simulation step length, a simulation start time, a simulation end time, a tolerance, a simulation state quantity and the like of the FMU.

Preferably, after the simulation software generates the graphical description of the FMU according to the analysis information, the FMU model is generated on the canvas through dragging, and the association relationship among the multiple FMU interfaces is indicated in a wired manner.

And step S400, calling an instantiation function of the FMI, and instantiating the FMU to obtain an FMU instance.

The method comprises the steps of obtaining model parameter information set by a user on a simulation software interface, and assigning the model parameter information to a corresponding FMU instance.

Step S500, an FMU instance is initialized.

Specifically, the step of initializing the FMU instance includes: traversing all FMU instances, judging whether the FMU instances have interfaces which need initialization conditions, and if not, directly entering the step S600; if an interface needing the initialized condition exists, judging whether the interface is associated with other FMUs, if the interface is not associated with other FMUs, entering step S600, and if the interface is associated with other FMUs, obtaining the initial condition of the interface by using a recursive method and assigning values.

The method for obtaining the initial conditions and assigning the initial conditions by using the recursive method comprises the following steps: initializing an associated FMU, and judging whether parameters associated with the initialized associated FMU and initial conditions are 0 or null; if not, acquiring an initial value to initialize the FMU; if yes, searching the next FMU of the associated FMU forward, and repeatedly executing the operation of initializing the associated FMU until the parameter of initializing the associated FMU and the initial condition is not 0 or null.

Step S600, obtaining a minimum simulation step size, and performing single-step calculation on each FMU according to the minimum simulation step size.

Specifically, the simulation step length of all FMUs forming the system is obtained, and the found minimum step length delta t_minNamely the minimum simulation step length.

Specifically, when the minimum simulation step size is used for single-step calculation of each FMU, a variable T with an initial value of 0 is defined, and each minimum simulation step size delta T is executed_minAll of them are added to the T variable; if T is larger than or equal to the simulation starting time of a certain FMU, executing a single-step resolving function of the FMU; and if T is more than or equal to the simulation duration of the Nth step of a certain FMU, namely N x delta T, executing the single-step resolving function of the FMU.

Specifically, while each FMU executes single-step calculation, assignment and value of input and output interfaces are carried out on the correlation by acquiring the incidence relation between the FMU and other FMUs. Referring to FIG. 2, at each simulation step Δ t, according to the link relation between multiple fmu models_minThe value is assigned and taken from each fmu, and the output y of fmu1 model at the time T is taken₁And assigns it to FMU2 at time T₁Y obtained at time T of FMU2₁Then FMU1 at time T y₁U assigned to FMU3₁Simultaneously, the FMU2 is set to y at the time T₁U assigned to FMU3₂Thus, y of FMU3 at time T is obtained₁。

Step S700, if the variable T is more than or equal to the simulation ending time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and ending the simulation; wherein, the initial value of the variable T is 0, and each time a minimum simulation step length Delta T is executed_minIt is added to the T variable.

The embodiment of the invention is based on FMI standard, adopts FMU-proxy framework to complete the analysis of multi-source heterogeneous FMU files, allows users to complete remote or local access and call from any platform in almost any language, further displays the FMU model in a graphical mode, establishes a multi-FMU combined simulation system in a dragging and link line creating mode, and then completes the instantiation, initialization configuration and data transfer of single-step simulation of the FMU by using a data transmission algorithm among the FMUs, thereby completing the system simulation formed by combining the multiple FMUs.

Corresponding to any embodiment method, another aspect of the embodiments of the present invention provides a multisource heterogeneous model joint simulation apparatus based on FMI, including:

the deployment module is used for deploying the local FMU model library by a local computer and deploying the remote FMU model library by a remote server;

the FMU model library generating module is used for acquiring a remote FMU from a remote server through a proxy server by a local computer and forming an available FMU model library by the acquired remote FMU and a local FMU model library;

the analysis module is used for analyzing the FMU in the available FMU model library to obtain analysis information, the simulation software generates graphical description of the FMU according to the analysis information, an FMU model is generated on the canvas, and the incidence relation among a plurality of FMU interfaces is obtained;

the instantiation module calls an instantiation function of the FMI to instantiate the FMU to obtain an FMU instance;

the instance module initializes the FMU instance;

the resolving module is used for acquiring the minimum simulation step size and performing single-step resolving on each FMU according to the minimum simulation step size;

if the variable T is more than or equal to the simulation ending time of a certain FMU model, calling a release instance function of the FMU to release the FMU instance until all FMU instances are released, and ending the simulation;

wherein, the initial value of the variable T is 0, and each time a minimum simulation step length Delta T is executed_minIt is added to the T variable.

Corresponding to any embodiment of the method, the present disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to any embodiment of the method is implemented.

Fig. 3 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.

The input/output interface 1030 is used for connecting an input/output module to input and output information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).

Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.

It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

The electronic device of the above embodiment is used to implement the corresponding method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method according to any of the above embodiments, corresponding to any of the above-described embodiment methods.

Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method according to any of the above embodiments, and have the beneficial effects of the corresponding method embodiment, and are not described herein again.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.