阅读说明：本技术 基于激光标靶的掘进机位姿测量方法及装置 (Position and posture measuring method and device of heading machine based on laser target ) 是由 许鹏远 程健 王凯 闫鹏鹏 于 2021-09-14 设计创作，主要内容包括：本公开提供了一种基于激光标靶的掘进机位姿测量方法、装置、设备及存储介质,涉及煤矿机械技术领域,具体实现方案为：确定激光标靶上各个参考光斑的第一光斑坐标；获取所述激光标靶上形成的各个参考光斑的第二光斑坐标；根据所述第一光斑坐标和所述第二光斑坐标,计算所述激光标靶的空间位姿；根据所述激光标靶的空间位姿,对所述掘进机的位姿进行调整。由此,可以基于激光标靶的坐标系和世界坐标系确定参考光斑的第一光斑坐标和第二光斑坐标,进而根据掘进机的所述标准位姿和当前位姿,确定掘进机的位姿偏差,最后根据位姿偏差,对掘进机进行调整,不仅操作简单,实行便捷,还可以降低测量成本。(The utility model provides a method, a device, equipment and a storage medium for measuring the position and the attitude of a heading machine based on a laser target, which relate to the technical field of coal mine machinery, and the concrete implementation scheme is as follows: determining first light spot coordinates of each reference light spot on the laser target; acquiring second light spot coordinates of each reference light spot formed on the laser target; calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate; and adjusting the pose of the heading machine according to the space pose of the laser target. Therefore, the first light spot coordinate and the second light spot coordinate of the reference light spot can be determined based on the coordinate system and the world coordinate system of the laser target, the pose deviation of the heading machine is determined according to the standard pose and the current pose of the heading machine, and finally the heading machine is adjusted according to the pose deviation.)

1. A method for measuring the position and the attitude of a heading machine based on a laser target is characterized by comprising the following steps:

determining first light spot coordinates of each reference light spot on the laser target;

acquiring second light spot coordinates of each reference light spot formed on the laser target;

calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate;

and adjusting the pose of the heading machine according to the space pose of the laser target.

2. The method of claim 1, wherein determining first spot coordinates for each reference spot on the laser target comprises:

determining a first light spot coordinate system, wherein the first light spot coordinate system is established based on a laser mapping device;

emitting laser light to the laser target to form a plurality of reference spots on the laser target;

determining the first spot coordinates of each reference spot in a first spot coordinate system.

3. The method of claim 1, wherein the adjusting the pose of the roadheader according to the spatial pose of the laser target comprises:

determining a standard pose of the heading machine;

determining the current pose of the heading machine according to the space pose of the laser target;

determining the pose deviation of the heading machine according to the standard pose and the current pose of the heading machine;

and adjusting the heading machine according to the pose deviation.

4. The method of claim 1, wherein the obtaining second spot coordinates for each reference spot formed on the laser target comprises:

determining each reference light spot of the reflected light on the laser target according to the angle of the reflected light on the laser target;

second spot coordinates for each reference spot are determined, wherein the second spot coordinates are based on a coordinate system of the laser target.

5. The method of claim 1 wherein the laser target is fixedly mounted on the roadheader and a laser receiving assembly is mounted on the laser target for receiving the reflected laser light.

6. The utility model provides a entry driving machine position appearance measuring device based on laser mark target which characterized in that includes:

the determining module is used for determining first light spot coordinates of each reference light spot on the laser target;

the acquisition module is used for acquiring second light spot coordinates of each reference light spot formed on the laser target;

the calculation module is used for calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate;

and the adjusting module is used for adjusting the pose of the heading machine according to the space pose of the laser target.

7. The method of claim 6, wherein the determination module is specifically configured to:

determining a first light spot coordinate system, wherein the first light spot coordinate system is established based on a laser mapping device;

emitting laser light to the laser target to form a plurality of reference spots on the laser target;

determining the first spot coordinates of each reference spot in a first spot coordinate system.

8. The apparatus of claim 6, wherein the adjustment module is specifically configured to:

determining a standard pose of the heading machine;

determining the current pose of the heading machine according to the space pose of the laser target;

determining the pose deviation of the heading machine according to the standard pose and the current pose of the heading machine;

and adjusting the heading machine according to the pose deviation.

9. The apparatus of claim 6, wherein the obtaining module is specifically configured to: determining each reference light spot of the reflected light on the laser target according to the angle of the reflected light on the laser target;

second spot coordinates for each reference spot are determined, wherein the second spot coordinates are based on a coordinate system of the laser target.

10. The apparatus of claim 6 wherein the laser target is fixedly mounted on the heading machine and a laser receiving assembly is mounted on the laser target for receiving reflected laser light.

Technical Field

The disclosure relates to the technical field of coal mine machinery, in particular to a method, a device, equipment and a storage medium for measuring the position and the attitude of a heading machine based on a laser target.

Background

Under the large background of automation and informatization, the intelligent modification of the heading machine is emphasized by the industry, wherein the pose measurement of the heading machine becomes the key of intelligent heading of a roadway. At present, methods such as inertial navigation, vision, laser target and total station are mainly used for positioning the heading machine, wherein the method for measuring the pose of the total station is relatively mature and is widely applied to shield construction, so that some students use the shield machine pose measurement for reference, and the method for measuring the pose of the heading machine based on the total station is provided. However, the method for measuring the pose of the heading machine needs to install a plurality of prisms on the body of the heading machine, and the total station measurement method can only obtain the position information of the heading machine and can only measure the pose information of the heading machine by combining other measurement means. In addition, the traditional measurement method of the heading machine needs multiple devices, is too complex and poor in practicability, and limits underground application, so that how to conveniently and accurately adjust the pose of the heading machine is a problem which needs to be solved urgently at present.

Disclosure of Invention

The disclosure provides a method, a device and equipment for measuring position and attitude of a heading machine based on a laser target and a storage medium.

According to a first aspect of the disclosure, a method for measuring the position and the attitude of a heading machine based on a laser target is provided, which comprises the following steps:

determining first light spot coordinates of each reference light spot on the laser target;

acquiring second light spot coordinates of each reference light spot formed on the laser target;

calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate;

and adjusting the pose of the heading machine according to the space pose of the laser target.

According to a second aspect of the present disclosure, there is provided a heading machine pose measurement device based on a laser target, including:

the determining module is used for determining first light spot coordinates of each reference light spot on the laser target;

the acquisition module is used for acquiring second light spot coordinates of each reference light spot formed on the laser target;

a calculation module for calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate

And the adjusting module is used for adjusting the pose of the heading machine according to the space pose of the laser target.

An embodiment of a third aspect of the present disclosure provides a computer device, including: the present invention relates to a computer program product, and a computer program stored on a memory and executable on a processor, which when executed by the processor performs a method as set forth in an embodiment of the first aspect of the present disclosure.

A fourth aspect of the present disclosure is directed to a non-transitory computer-readable storage medium storing a computer program, which when executed by a processor implements the method as set forth in the first aspect of the present disclosure.

A fifth aspect of the present disclosure provides a computer program product, which when executed by an instruction processor performs the method provided in the first aspect of the present disclosure.

The method, the device and the equipment for measuring the position and the attitude of the heading machine based on the laser target, which are provided by the disclosure, have the following beneficial effects at least:

in the embodiment of the disclosure, first spot coordinates of each reference spot on a laser target are determined, then second spot coordinates of each reference spot formed on the laser target are obtained when the heading machine is in a heading state, and then the pose of the heading machine is adjusted under the condition that the sum of the space distances between the second spot coordinates of each reference spot and the corresponding first spot coordinates of the reference spot is greater than a threshold value. Therefore, the first light spot coordinate and the second light spot coordinate of the reference light spot can be determined based on the coordinate system and the world coordinate system of the laser target, the pose deviation of the heading machine is determined according to the standard pose and the current pose of the heading machine, and finally the heading machine is adjusted according to the pose deviation.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic flow chart of a laser target-based heading machine attitude and position measurement method provided by the present disclosure;

fig. 2 is a schematic flow chart of another laser target-based heading machine position and attitude measurement method provided by the present disclosure;

fig. 3 is a structural block diagram of a heading machine pose measuring device based on a laser target provided by the disclosure.

Fig. 4 is a block diagram of the electronics used to implement the laser target based heading machine position and attitude measurement method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The laser target-based heading machine position and posture measuring method provided by the present disclosure may be executed by the laser target-based heading machine position and posture measuring device provided by the present disclosure, and may also be executed by the electronic device provided by the present disclosure, where the electronic device may include but is not limited to a desktop computer, a tablet computer, and other terminal devices, and the laser target-based heading machine position and posture measuring device provided by the present disclosure is used to execute the laser target-based heading machine position and posture measuring method provided by the present disclosure, without limiting the present disclosure.

The method for measuring the position and the attitude of the heading machine based on the laser target provided by the disclosure is described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a method for measuring the attitude of a heading machine based on a laser target according to an embodiment of the present disclosure.

As shown in fig. 1, the method for measuring the position and the attitude of the heading machine based on the laser target can comprise the following steps:

step 101, determining first spot coordinates of each reference spot on the laser target.

The position and posture of the machine body of the heading machine are important parameters of the working condition of the heading machine, so that the detection of the machine body of the heading machine is very necessary, and the underground measurement environment of the coal mine is very severe, and the sight line is easy to block, so that the method can be used for carrying out visual positioning by emitting laser to a laser target on the heading machine and carrying out the measurement and the adjustment of the position and posture of the heading machine according to the space coordinates corresponding to laser spots.

The laser target can be fixedly mounted on the heading machine and perpendicular to the heading machine, and the target surface of the laser target faces the laser sending position of the roadway and is used for receiving laser. In addition, this disclosure can install laser mapping device at the initial position in tunnel, for example a certain amount of laser emitter, it can be 3, and laser emitter's laser can shine on the target surface of laser target. It will be appreciated that the laser mapping device may measure the distance between the laser target and the laser target after emitting laser light to the laser target.

Specifically, a world coordinate system may be established in advance with the laser mapping module as a center, so that after the laser mapping device emits laser light to the laser target, the device may further measure the spatial coordinates of each reference spot, that is, the world coordinates of the three spots based on the world coordinate system.

The reference light spot can be a light spot formed on the laser target when the heading machine is in a heading state. Preferably, the number of the reference light spots can be 3, and the distances of the reference light spots in space can be the same.

And 102, acquiring second spot coordinates of each reference spot formed on the laser target.

The reference light spot can be a light spot formed on the laser target when the heading machine is in a heading state. The second spot coordinates are also the coordinates of the respective reference spot in the target coordinate system.

After the heading machine performs heading movement, the position of each light spot on the laser target is possibly changed due to the fixed position of the laser target, and in order to determine the position and posture offset of the current heading machine in time, the second light spot coordinates of each reference light spot formed on the current laser target need to be acquired.

It should be noted that, a laser receiving component, such as a laser receiver, may be installed on the laser target, so after the laser transmitter at the initial position of the roadway sends 3 lasers to the laser target, the laser receiving component may be configured to receive the laser reflected from the laser target, and then determine spatial coordinates of the reference spot on the laser target. Wherein, through the reflection of laser spot on the laser mark target, the laser receiving assembly can receive the laser of reflection, and then confirms the angle of reflection light to calculate the target surface coordinate, and then confirm the point that the laser penetrated on the laser mark target according to the target surface coordinate, also refer to the facula promptly.

And 103, calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate.

For example, if the second spot coordinates of the current reference spot in the first spot coordinate system are P1, P2, and P3, respectively, the second spot coordinates of the reference spot in the second spot coordinate system are T1, T2, and T3, respectively. In the present disclosure, the pose of the entire target plane, i.e., the spatial pose of the laser target, can be calculated based on the least square method.

And 104, adjusting the pose of the heading machine according to the space pose of the laser target.

As a possible implementation manner, the standard pose of the heading machine may be determined first, then the current pose of the heading machine may be determined according to the spatial pose of the laser target, then the pose deviation of the heading machine may be determined according to the standard pose and the current pose of the heading machine, and finally the heading machine may be adjusted by the heading machine control end according to the pose deviation, without limitation.

In the embodiment of the disclosure, first spot coordinates of each reference spot on a laser target are determined, then the first spot coordinates of each reference spot on the laser target are determined, second spot coordinates of each reference spot formed on the laser target are obtained, a spatial pose of the laser target is calculated according to the first spot coordinates and the second spot coordinates, and the pose of the heading machine is adjusted according to the spatial pose of the laser target. Therefore, the first light spot coordinate and the second light spot coordinate of the reference light spot can be determined based on the coordinate system and the world coordinate system of the laser target, the pose deviation of the heading machine is determined according to the standard pose and the current pose of the heading machine, and finally the heading machine is adjusted according to the pose deviation.

Fig. 2 is a schematic flow chart of a method for measuring the attitude of a heading machine based on a laser target according to an embodiment of the present disclosure.

As shown in fig. 2, the method for measuring the position and orientation of the heading machine based on the laser target may include the following steps:

step 201, determining a first spot coordinate system, which is established based on a laser mapping device.

Step 202, emitting laser to the laser target to form a plurality of reference light spots on the laser target.

Step 203, determining first spot coordinates of each reference spot in the first spot coordinate system.

It should be noted that the first spot coordinate system may be a world coordinate system, wherein the laser mapping device may be located at an initial position of the roadway and fixed. Thus, a world coordinate system can be established with the laser mapping device as the center. In the present disclosure, the position of laser emission may be used as the origin of the coordinate system, or may be other positions, which is not limited herein.

After the laser mapping device emits laser to the laser target, the corresponding light spot of each laser on the laser target, namely the reference light spot, can be determined.

Specifically, the laser mapping device can calculate each coordinate of each reference spot in the first spot coordinate system according to the angle of emitting laser and the position of the laser device when emitting laser to the laser target

Optionally, the laser target may further include an image sensor and a communication module, so as to acquire a position of a light spot formed on the laser target by the laser and transmit the current position to a system of the laser transmission position, so that the laser mapping device may know a position of the current light spot in a coordinate system where the laser target is located, which is not limited herein.

And 204, determining each reference light spot of the reflected light on the laser target and a second light spot coordinate of each reference light spot according to the angle of the reflected light on the laser target, wherein the second light spot coordinate is established based on a coordinate system of the laser target.

Wherein the second spot coordinates are also the target surface coordinates. It should be noted that, a laser receiving assembly may be installed on the laser target, so that the laser receiving assembly receives the reflected light from the laser target and detects the angle of the reflected light, and then each reference spot corresponding to the reflected light and the corresponding target surface coordinate may be calculated.

And step 205, calculating the spatial pose of the laser target according to the first light spot coordinate and the second light spot coordinate.

It should be noted that, the specific implementation process of step 205 may refer to the foregoing embodiments, and is not described herein again.

And step 206, determining the standard pose of the heading machine.

It should be noted that, before the heading machine digs, a standard pose of the current heading machine may be determined first, and the standard pose may be stored in the corresponding device.

And step 207, determining the current pose of the heading machine according to the space pose of the laser target.

It should be noted that after the spatial pose of the laser target is determined, the spatial pose of the laser target can be transmitted to the processor module, so that the processor module can calculate the current pose of the heading machine according to the spatial pose of the current laser target.

And 208, determining the pose deviation of the heading machine according to the standard pose and the current pose of the heading machine.

Specifically, the pose change amount, namely the pose deviation, of the heading machine in the heading process can be determined by calculating the standard pose and the current pose of the heading machine.

And 209, adjusting the heading machine according to the pose deviation.

Specifically, the heading machine can be adjusted through a control end of the heading machine according to the pose deviation, so that the heading machine can return to a normal pose.

In the disclosed embodiment, a first light spot coordinate system is determined, the first light spot coordinate system is established based on a laser mapping device, then laser is emitted to a laser target to form a plurality of reference light spots on the laser target, then a first light spot coordinate of each reference light spot under the first light spot coordinate system is determined, then each reference light spot of reflected light on the laser target and a second light spot coordinate of each reference light spot are determined according to the angle of reflected light on the laser target, wherein the second light spot coordinate is established based on the coordinate system of the laser target, then the space pose of the laser target is calculated and the standard pose of the heading machine is determined according to the first light spot coordinate and the second light spot coordinate, the current pose of the heading machine is determined according to the space pose of the laser target, and then the pose deviation of the heading machine is determined according to the standard pose and the current pose of the heading machine, and finally, adjusting the heading machine according to the pose deviation. Therefore, the first light spot coordinate and the second light spot coordinate of the reference light spot can be determined based on the coordinate system and the world coordinate system of the laser target, the pose deviation of the heading machine is determined according to the standard pose and the current pose of the heading machine, and finally the heading machine is adjusted according to the pose deviation, so that the pose of the heading machine can be automatically adjusted more accurately and efficiently, the station distribution times can be effectively reduced, the measurement cost can be reduced, and the method is convenient and feasible.

In order to realize the embodiment, the disclosure further provides a heading machine pose measuring device based on the laser target.

Fig. 3 is a schematic structural diagram of a heading machine pose measuring device based on a laser target according to an embodiment of the disclosure.

As shown in fig. 3, the heading machine pose measuring apparatus 300 based on a laser target includes: a determination module 310, an acquisition module 320, a calculation module 330, and an adjustment module 340.

A determining module 310, configured to determine first spot coordinates of each reference spot on the laser target;

the obtaining module 320 is configured to obtain second spot coordinates of each reference spot formed on the laser target;

the calculation module 330 is configured to calculate a spatial pose of the laser target according to the first spot coordinate and the second spot coordinate;

and the adjusting module 340 is configured to adjust the pose of the heading machine according to the spatial pose of the laser target.

Optionally, the determining module is specifically configured to:

determining a first light spot coordinate system, wherein the first light spot coordinate system is established based on a laser mapping device;

emitting laser light to the laser target to form a plurality of reference spots on the laser target;

determining the first spot coordinates of each reference spot in a first spot coordinate system.

Optionally, the adjusting module is specifically configured to:

determining a standard pose of the heading machine;

determining the current pose of the heading machine according to the space pose of the laser target;

determining the pose deviation of the heading machine according to the standard pose and the current pose of the heading machine;

and adjusting the heading machine according to the pose deviation.

Optionally, the obtaining module is specifically configured to:

determining each reference light spot of the reflected light on the laser target according to the angle of the reflected light on the laser target;

second spot coordinates for each reference spot are determined, wherein the second spot coordinates are based on a coordinate system of the laser target.

Optionally, the laser target is fixedly mounted on the heading machine, and a laser receiving assembly is mounted on the laser target and used for receiving reflected laser.

In the embodiment of the disclosure, first spot coordinates of each reference spot on a laser target are determined, then the first spot coordinates of each reference spot on the laser target are determined, second spot coordinates of each reference spot formed on the laser target are obtained, a spatial pose of the laser target is calculated according to the first spot coordinates and the second spot coordinates, and the pose of the heading machine is adjusted according to the spatial pose of the laser target. Therefore, the pose deviation of the heading machine is determined through the pose of the laser target, the pose of the heading machine can be automatically and accurately adjusted, the operation is simple, the implementation is convenient, the number of times of the step station can be effectively reduced, and the measurement cost can be reduced.

FIG. 4 illustrates a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present disclosure. The computer device 12 shown in fig. 4 is only one example and should not bring any limitations to the functionality or scope of use of the embodiments of the present disclosure.

As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. These architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus, to name a few.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described in this disclosure.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing, for example, implementing the methods mentioned in the foregoing embodiments, by executing programs stored in the system memory 28.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that variations, modifications, substitutions and alterations may be made in the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.