阅读说明：本技术 识别多种类威胁目标的激光炫目控制方法及设备 (Laser dazzling control method and device for identifying multiple types of threat targets ) 是由 阳禩乾 徐勇 吴起 程志能 吴先东 于 2021-06-28 设计创作，主要内容包括：本发明提供了一种识别多种类威胁目标的激光炫目控制方法及设备。所述方法包括：控制摄像头获取监控区域视频信息,对监控区域视频信息进行多维度识别,锁定威胁目标；控制激光雷达对威胁目标进行跟踪,并输出威胁目标的位置坐标,根据威胁目标的位置坐标引导激光炫目器跟踪并锁定威胁目标；对激光炫目器进行调整,采用调整后的激光炫目器对威胁目标进行炫目照射。本发明可以充分识别多种类的威胁目标,避开遮挡物对威胁目标进行监控和炫目,并对无法炫目的威胁目标进行警报及报警处理。(The invention provides a laser dazzling control method and device for identifying various threat targets. The method comprises the following steps: controlling a camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area, and locking a threat target; controlling a laser radar to track the threat target, outputting the position coordinate of the threat target, and guiding a laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and adjusting the laser dazzler, and dazzling and irradiating the threat target by adopting the adjusted laser dazzler. The method can fully identify various threat targets, avoid the shelters from monitoring and dazzling the threat targets, and perform alarm and warning processing on the threat targets which cannot be dazzled.)

1. A laser glare control method for identifying multiple types of threat objects, comprising: controlling a camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area, and locking a threat target; controlling a laser radar to track the threat target, outputting the position coordinate of the threat target, and guiding a laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and adjusting the laser dazzler, and dazzling and irradiating the threat target by adopting the adjusted laser dazzler.

2. The laser dazzling control method for identifying multiple threat targets according to claim 1, wherein the multidimensional identification of video information of the monitored area and the locking of the threat targets comprises: and sending the video information of the monitored area to a plurality of image recognition processors, carrying out multi-type recognition on the video information of the monitored area, and locking the threat target according to the recognition result.

3. The laser dazzling control method for identifying multiple types of threat objects according to claim 2, wherein the step of sending the video information of the monitored area to a plurality of image recognition processors to perform multiple types of identification on the video information of the monitored area comprises the following steps: sending the video information of the monitored area to a face recognition processor for face recognition; sending the video information of the monitored area to an abnormal behavior recognition processor for recognizing abnormal behaviors; sending the video information of the monitoring area to an abnormal dressing identification processor for abnormal dressing identification; and sending the video information of the monitoring area to a control weapon identification processor for identifying the control weapon.

4. The laser dazzling control method of identifying multiple threat objects of claim 3, wherein said adjusting the laser dazzler comprises: according to the position coordinates of the threat target, the laser emission power and the divergence angle of the laser dazzler are adjusted to be matched with the motion state of the threat target, and the laser emission power is smaller than a preset power threshold value.

5. The method of laser glare control for identifying multiple types of threat objects of claim 4, wherein the video information specification is 960DPI to 1280 DPI.

6. The laser dazzling control method for identifying multiple types of threat objects according to claim 5, characterized by, after the dazzling irradiation of the threat objects with the adjusted laser dazzler, further comprising: and if the laser dazzling device cannot dazzle and irradiate the threat target, sending out a voice alarm and giving an alarm through a public network.

7. A laser dazzling control system that identifies multiple types of threat objects, comprising: the manipulator joint is connected with the manipulator base to realize 360-degree rotary motion of the manipulator joint around the vertical axis of the manipulator base; the connecting rod is connected with the manipulator joint through the manipulator joint, so that the connecting rod can rotate 180 degrees around the vertical axis of the manipulator joint; the connecting rod is connected with the connecting rod through the manipulator joint, so that the connecting rod can rotate 180 degrees around the vertical axis of the manipulator joint; the laser dazzling device is connected with the connecting rod through a manipulator joint, so that the laser dazzling device rotates 180 degrees around a manipulator joint vertical axis; the manipulator controller is used for implementing the laser dazzling control method for identifying various threat objects according to any one of claims 1 to 6.

8. A laser glare control apparatus for identifying multiple types of threat objects, comprising: the first main module is used for controlling the camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area and locking a threat target; the second main module is used for controlling the laser radar to track the threat target, outputting the position coordinate of the threat target, guiding the laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and the third main module is used for adjusting the laser dazzler and dazzling and irradiating the threat target by adopting the adjusted laser dazzler.

9. An electronic device, comprising:

at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,

the processor, the memory and the communication interface are communicated with each other;

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 6.

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 to 6.

Technical Field

The embodiment of the invention relates to the technical field of pattern recognition, in particular to a laser dazzling control method and device for recognizing various threat targets.

Background

When the laser directly irradiates the eyes, the eyes can be temporarily blinded and feel dizzy, so that enemies can be quickly controlled without hurting personal safety, and the laser has wide market and use values in the fields of public security, counter terrorism and the like. At present, the laser dazzling technology is single in type of target identification, threats cannot be fully identified, and threats to other types of personnel cannot be effectively identified only by a device for automatically locking targets through face identification. The existing laser dazzler is all carried with a two-degree-of-freedom holder, and fixed shelters cannot be avoided, so that the uniform effect of threatening targets is reduced to some extent. Therefore, it is an urgent technical problem in the art to develop a laser dazzling control method and apparatus for identifying multiple threat targets, which can effectively overcome the above-mentioned drawbacks in the related art.

Disclosure of Invention

In view of the above problems in the prior art, embodiments of the present invention provide a laser dazzling control method and device for identifying multiple types of threat targets.

In a first aspect, an embodiment of the present invention provides a laser dazzling control method for identifying multiple types of threat targets, including: controlling a camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area, and locking a threat target; controlling a laser radar to track the threat target, outputting the position coordinate of the threat target, and guiding a laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and adjusting the laser dazzler, and dazzling and irradiating the threat target by adopting the adjusted laser dazzler.

On the basis of the content of the embodiment of the method, the laser dazzling control method for identifying multiple types of threat targets, provided by the embodiment of the invention, for performing multi-dimensional identification on video information of a monitored area and locking the threat targets comprises the following steps: and sending the video information of the monitored area to a plurality of image recognition processors, carrying out multi-type recognition on the video information of the monitored area, and locking the threat target according to the recognition result.

On the basis of the content of the embodiment of the method, the laser dazzling control method for identifying multiple types of threat targets, provided by the embodiment of the invention, sends the video information of the monitored area to the image identification processors, and performs multiple types of identification on the video information of the monitored area, and comprises the following steps: sending the video information of the monitored area to a face recognition processor for face recognition; sending the video information of the monitored area to an abnormal behavior recognition processor for recognizing abnormal behaviors; sending the video information of the monitoring area to an abnormal dressing identification processor for abnormal dressing identification; and sending the video information of the monitoring area to a control weapon identification processor for identifying the control weapon.

On the basis of the content of the above method embodiment, the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention includes: according to the position coordinates of the threat target, the laser emission power and the divergence angle of the laser dazzler are adjusted to be matched with the motion state of the threat target, and the laser emission power is smaller than a preset power threshold value.

On the basis of the content of the above method embodiment, the specification of the video information of the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention is 960DPI to 1280 DPI.

On the basis of the content of the above method embodiment, the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention further includes, after the dazzling irradiation of the threat targets by using the adjusted laser dazzler: and if the laser dazzling device cannot dazzle and irradiate the threat target, sending out a voice alarm and giving an alarm through a public network.

In a second aspect, embodiments of the present invention provide a laser glare control system for identifying multiple types of threat objects, comprising: the manipulator joint is connected with the manipulator base to realize 360-degree rotary motion of the manipulator joint around the vertical axis of the manipulator base; the connecting rod is connected with the manipulator joint through the manipulator joint, so that the connecting rod can rotate 180 degrees around the vertical axis of the manipulator joint; the connecting rod is connected with the connecting rod through the manipulator joint, so that the connecting rod can rotate 180 degrees around the vertical axis of the manipulator joint; the laser dazzling device is connected with the connecting rod through a manipulator joint, so that the laser dazzling device rotates 180 degrees around a manipulator joint vertical axis; the manipulator controller is configured to implement a laser glare control method of identifying a plurality of types of threat objects as described in any one of the method embodiments of the first aspect.

In a third aspect, an embodiment of the present invention provides a laser dazzling control device for identifying multiple types of threat targets, including: the first main module is used for controlling the camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area and locking a threat target; the second main module is used for controlling the laser radar to track the threat target, outputting the position coordinate of the threat target, guiding the laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and the third main module is used for adjusting the laser dazzler and dazzling and irradiating the threat target by adopting the adjusted laser dazzler.

In a fourth aspect, an embodiment of the present invention provides an electronic device, including:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor to invoke the laser glare control method of identifying a plurality of types of threat objects provided by any of the various implementations of the first aspect.

In a fifth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a laser glare control method for identifying multiple types of threat objects as provided in any of the various implementations of the first aspect.

According to the laser dazzling control method and device for identifying multiple types of threat targets, provided by the embodiment of the invention, the threat targets are locked by carrying out multi-dimensional identification on video information of a monitored area; the laser radar is controlled to track the threat target, the position coordinate of the threat target is output, the laser dazzling device is guided to track and lock the threat target according to the position coordinate of the threat target, dazzling irradiation is carried out on the threat target after the laser dazzling device is adjusted, multiple types of threat targets can be fully identified, shielding objects are avoided to monitor and dazzle the threat target, and alarming processing are carried out on the threat target which cannot be dazzled.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flowchart of a laser dazzling control method for identifying multiple types of threat objects according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a laser dazzling control device for identifying various threat objects according to an embodiment of the present invention;

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

fig. 4 is a schematic hardware configuration diagram of a laser dazzling control system for identifying multiple types of threat objects according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present 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. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.

The embodiment of the invention provides a laser dazzling control method for identifying various threat targets, and with reference to fig. 1, the method comprises the following steps: controlling a camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area, and locking a threat target; controlling a laser radar to track the threat target, outputting the position coordinate of the threat target, and guiding a laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and adjusting the laser dazzler, and dazzling and irradiating the threat target by adopting the adjusted laser dazzler.

Based on the content of the foregoing method embodiment, as an optional embodiment, the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention performs multidimensional identification on video information of a monitored area, and locks the threat targets, including: and sending the video information of the monitored area to a plurality of image recognition processors, carrying out multi-type recognition on the video information of the monitored area, and locking the threat target according to the recognition result.

Based on the content of the foregoing method embodiment, as an optional embodiment, the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention sends the monitored area video information to the plurality of image recognition processors, and performs multiple types of identification on the monitored area video information, including: sending the video information of the monitored area to a face recognition processor for face recognition; sending the video information of the monitored area to an abnormal behavior recognition processor for recognizing abnormal behaviors; sending the video information of the monitoring area to an abnormal dressing identification processor for abnormal dressing identification; and sending the video information of the monitoring area to a control weapon identification processor for identifying the control weapon.

Specifically, video information of a monitored area is acquired through a high-definition camera, the video specification is 1080P, the video information is distributed to a special image recognition processor, danger recognition is carried out on personnel in the monitored area by applying a plurality of image recognition technologies such as a face recognition technology, an abnormal behavior recognition technology, an abnormal dressing recognition technology and a control weapon recognition technology, and the recognized dangerous target is attacked automatically. And the laser radar system tracks the attack target and outputs the position information of the attack target.

Based on the content of the foregoing method embodiment, as an optional embodiment, the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention includes: according to the position coordinates of the threat target, the laser emission power and the divergence angle of the laser dazzler are adjusted to be matched with the motion state of the threat target, and the laser emission power is smaller than a preset power threshold value. Wherein the power preset threshold may be 5 microwatts. The laser dazzler adjusts laser power (namely, the power is preset to be 5 microwatts) and a divergence angle according to the position of an attack target so as to adapt to target movement and prevent the situation that the laser power is too high to threaten target eyes to generate permanent damage. And sending out a voice alarm to the object which can not implement the laser dazzling attack, and alarming through a public network.

Based on the content of the above method embodiment, as an optional embodiment, in the laser dazzling control method for identifying multiple types of threat objects provided in the embodiment of the present invention, the specification of the video information is 960DPI to 1280 DPI. In another embodiment, the specification of the video information is 1080 DPI.

Based on the content of the foregoing method embodiment, as an optional embodiment, the laser dazzling control method for identifying multiple types of threat targets provided in the embodiment of the present invention further includes, after the dazzling irradiation is performed on the threat targets by using the adjusted laser dazzler: and if the laser dazzling device cannot dazzle and irradiate the threat target, sending out a voice alarm and giving an alarm through a public network.

According to the laser dazzling control method for identifying multiple types of threat targets, provided by the embodiment of the invention, the threat targets are locked by carrying out multi-dimensional identification on video information of a monitored area; the laser radar is controlled to track the threat target, the position coordinate of the threat target is output, the laser dazzling device is guided to track and lock the threat target according to the position coordinate of the threat target, dazzling irradiation is carried out on the threat target after the laser dazzling device is adjusted, multiple types of threat targets can be fully identified, shielding objects are avoided to monitor and dazzle the threat target, and alarming processing are carried out on the threat target which cannot be dazzled. The threat can be fully identified by adopting various image identification technologies, and then the attack is automatically implemented; the multi-degree-of-freedom mechanical arm is used as a bearing platform, so that the shielding object can be avoided from being monitored and attacked; and sending out a voice alarm to the object which can not implement the laser dazzling attack, and alarming through a public network.

An embodiment of the present invention provides a laser dazzling control system for identifying multiple types of threat targets, and referring to fig. 4, the system includes: the manipulator joint 3 is connected with the manipulator base 8, so that the manipulator joint 3 can rotate 360 degrees around the vertical axis of the manipulator base 8; the connecting rod 7 is connected with the manipulator joint 3 through the manipulator joint 5, so that 180-degree rotary motion of the connecting rod 7 around the vertical axis of the manipulator joint 5 is realized; the connecting rod 2 is connected with the connecting rod 7 through the manipulator joint 1, so that 180-degree rotary motion of the connecting rod 2 around the vertical axis of the manipulator joint 1 can be realized; the laser dazzling device 6 is connected with the connecting rod 2 through the manipulator joint 4, so that 180-degree rotary motion of the laser dazzling device 6 around the vertical axis of the manipulator joint 4 is realized; the manipulator controller 9 is configured to implement a laser glare control method for identifying a plurality of types of threat objects as described in any of the preceding method embodiments.

The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on this reality, on the basis of the above embodiments, the embodiments of the present invention provide a laser dazzling control apparatus for identifying multiple types of threat targets, which is used to execute the laser dazzling control method for identifying multiple types of threat targets in the above method embodiments. Referring to fig. 2, the apparatus includes: the first main module is used for controlling the camera to acquire video information of a monitored area, carrying out multi-dimensional identification on the video information of the monitored area and locking a threat target; the second main module is used for controlling the laser radar to track the threat target, outputting the position coordinate of the threat target, guiding the laser dazzler to track and lock the threat target according to the position coordinate of the threat target; and the third main module is used for adjusting the laser dazzler and dazzling and irradiating the threat target by adopting the adjusted laser dazzler.

The laser dazzling control device for identifying various threat targets provided by the embodiment of the invention adopts a plurality of modules in FIG. 2 to lock the threat targets by carrying out multi-dimensional identification on video information of a monitored area; the laser radar is controlled to track the threat target, the position coordinate of the threat target is output, the laser dazzling device is guided to track and lock the threat target according to the position coordinate of the threat target, dazzling irradiation is carried out on the threat target after the laser dazzling device is adjusted, multiple types of threat targets can be fully identified, shielding objects are avoided to monitor and dazzle the threat target, and alarming processing are carried out on the threat target which cannot be dazzled.

It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:

based on the content of the above device embodiment, as an optional embodiment, the laser dazzling control device for identifying multiple types of threat objects provided in the embodiment of the present invention further includes: the first submodule is used for implementing multidimensional identification on video information of a monitored area and locking a threat target, and comprises: and sending the video information of the monitored area to a plurality of image recognition processors, carrying out multi-type recognition on the video information of the monitored area, and locking the threat target according to the recognition result.

Based on the content of the above device embodiment, as an optional embodiment, the laser dazzling control device for identifying multiple types of threat objects provided in the embodiment of the present invention further includes: the second submodule is used for realizing that the video information of the monitoring area is sent to the image recognition processors, and multiple types of recognition are carried out on the video information of the monitoring area, and the method comprises the following steps: sending the video information of the monitored area to a face recognition processor for face recognition; sending the video information of the monitored area to an abnormal behavior recognition processor for recognizing abnormal behaviors; sending the video information of the monitoring area to an abnormal dressing identification processor for abnormal dressing identification; and sending the video information of the monitoring area to a control weapon identification processor for identifying the control weapon.

Based on the content of the above device embodiment, as an optional embodiment, the laser dazzling control device for identifying multiple types of threat objects provided in the embodiment of the present invention further includes: a third sub-module, configured to implement the adjusting the laser dazzler, including: according to the position coordinates of the threat target, the laser emission power and the divergence angle of the laser dazzler are adjusted to be matched with the motion state of the threat target, and the laser emission power is smaller than a preset power threshold value.

Based on the content of the above device embodiment, as an optional embodiment, the laser dazzling control device for identifying multiple types of threat objects provided in the embodiment of the present invention further includes: and the fourth submodule is used for realizing that the video information specification is 960DPI to 1280 DPI.

Based on the content of the above device embodiment, as an optional embodiment, the laser dazzling control device for identifying multiple types of threat objects provided in the embodiment of the present invention further includes: a fifth sub-module, configured to, after the dazzling irradiation of the threat object is performed with the adjusted laser dazzler, further include: and if the laser dazzling device cannot dazzle and irradiate the threat target, sending out a voice alarm and giving an alarm through a public network.

The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.

In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.