CN110609504A - Transmission method and system for control information of intelligent robot - Google Patents
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Abstract
Description
技术领域technical field
本发明是关于机器人控制技术领域，特别是关于一种用于智能机器人的控制信息的传输方法及系统。The invention relates to the technical field of robot control, in particular to a method and system for transmitting control information of an intelligent robot.
背景技术Background technique
机器人(Robot)是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs.
现有技术CN106175615B公开了一种机器人清洁器系统的控制方法及遥控设备，该机器人清洁器系统包括机器人清洁器以及具有摄像头和显示器的外部设备，该方法包括：使用所述摄像头产生关于所述机器人清洁器和所述机器人清洁器附近的区域的图像信息；基于所述图像信息将所述机器人清洁器所在的实际区域映射到显示在所述显示器上的虚拟区域；以及通过显示在所述显示器上的虚拟区域执行所述机器人清洁器的基于位置服务。Prior art CN106175615B discloses a control method and remote control device of a robot cleaner system, the robot cleaner system includes a robot cleaner and an external device with a camera and a display, the method includes: using the camera to generate information about the robot image information of the cleaner and an area near the robot cleaner; mapping the actual area where the robot cleaner is located to a virtual area displayed on the display based on the image information; and by displaying on the display The virtual area performs location-based services for the robot cleaner.
公开于该背景技术部分的信息仅仅旨在增加对本发明的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域一般技术人员所公知的现有技术。The information disclosed in this Background section is only for enhancing the understanding of the general background of the present invention and should not be taken as an acknowledgment or any form of suggestion that the information constitutes the prior art that is already known to those skilled in the art.
发明内容Contents of the invention
本发明的目的在于提供一种用于智能机器人的控制信息的传输方法及系统，其能够克服现有技术的缺陷。The object of the present invention is to provide a method and system for transmitting control information of an intelligent robot, which can overcome the defects of the prior art.
为实现上述目的，本发明提供了一种用于智能机器人的控制信息的传输方法，包括如下步骤：由具有通信功能的机器人控制模块收集环境信息；由机器人控制模块与基站建立RRC连接，并且机器人控制模块处于RRC连接态；当机器人控制模块确定要进行设备间通信时，由机器人控制模块向基站发送资源请求消息；响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源；响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量；由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；由基站向机器人控制模块分配并发送第一发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符；以及由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备。To achieve the above object, the present invention provides a method for transmitting control information of an intelligent robot, comprising the steps of: collecting environmental information by a robot control module with a communication function; establishing an RRC connection between the robot control module and a base station, and the robot The control module is in the RRC connection state; when the robot control module determines that inter-device communication is required, the robot control module sends a resource request message to the base station; in response to receiving the resource request message, the base station determines the inter-device communication for the robot control module Time-frequency resources in the discovery phase and used for inter-device communication between other communication devices in the cell served by the base station; time-frequency resources in the discovery phase; in response to receiving a resource request message, the base station determines the establishment of RRC with the base station in the cell served by the base station The number of connected communication devices; the base station generates a discovery phase identifier dedicated to the inter-device communication discovery phase based on the number of communication devices that establish an RRC connection with the base station in the cell served by the base station, wherein the discovery phase identifier The length is shorter than the IMSI of the robot control module and other communication devices in the cell served by the base station; the base station assigns and sends the first discovery stage identifier to the robot control module, and the base station communicates to other communication devices in the cell served by the base station The device allocates and sends a plurality of discovery stage identifiers; and the base station notifies the robot control module of the time-frequency resources used for the inter-device communication discovery stage of the robot control module, and uses it for other communication devices in the cell served by the base station In the inter-device communication discovery phase, time-frequency resources are notified to other communication devices.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：响应于接收到由基站通知的用于机器人控制模块的设备间通信发现阶段时频资源，由机器人控制模块在用于机器人控制模块的设备间通信发现阶段时频资源上发送设备间通信发现消息，其中，设备间通信发现消息包括第一发现阶段标识符；响应于接收到设备间通信发现消息，由基站所服务的小区内的其它通信设备中的一第一通信设备发送设备间通信发现响应消息，其中，设备间通信发现响应消息包括第一通信设备的发现阶段标识符；响应于接收到设备间通信发现响应消息，由机器人控制模块向第一通信设备发送发现信号，其中，发现信号中包括第一发现阶段标识符、第一通信设备的发现阶段标识符以及环境信息；响应于接收到环境信息，由第一通信设备向环境消息发送给基站。In a preferred embodiment, the transmission method for the control information of the intelligent robot includes the following steps: in response to receiving the time-frequency resource for the discovery phase of the inter-device communication for the robot control module notified by the base station, by the robot control module at An inter-device communication discovery message is sent on time-frequency resources for the inter-device communication discovery phase of the robot control module, wherein the inter-device communication discovery message includes a first discovery phase identifier; in response to receiving the inter-device communication discovery message, the base station A first communication device among other communication devices in the serving cell sends an inter-device communication discovery response message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; in response to receiving the inter-device communication discovery In response to the message, the robot control module sends a discovery signal to the first communication device, wherein the discovery signal includes a first discovery stage identifier, a discovery stage identifier of the first communication device, and environment information; in response to receiving the environment information, by The first communication device sends the environment message to the base station.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：响应于接收到环境消息，由基站向智能机器人管理中心发送环境消息；由智能机器人管理中心基于环境消息生成机器人控制信息；由智能机器人管理中心将机器人控制信息发送给基站；由基站将机器人控制信息发送给机器人控制模块。In a preferred embodiment, the method for transmitting control information of an intelligent robot includes the following steps: in response to receiving an environmental message, the base station sends an environmental message to the intelligent robot management center; the intelligent robot management center generates a robot based on the environmental message Control information; the intelligent robot management center sends the robot control information to the base station; the base station sends the robot control information to the robot control module.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：如果机器人控制模块与基站之间没有数据传输达到一定时间，则机器人控制模块进入RRC空闲状态；响应于机器人控制模块进入RRC空闲状态，由机器人控制模块丢弃第一发现阶段标识符；在机器人控制模块进入RRC空闲状态之后，机器人控制模块确定要进行设备间通信，则由机器人控制模块首先返回RRC连接态；响应于机器人控制模块返回RRC连接态，由机器人控制模块向基站发送资源请求消息；响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源；响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量；由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；由基站向机器人控制模块分配并发送第二发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符；由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备。In a preferred embodiment, the transmission method for the control information of the intelligent robot comprises the following steps: if there is no data transmission between the robot control module and the base station for a certain period of time, the robot control module enters the RRC idle state; The module enters the RRC idle state, and the first discovery stage identifier is discarded by the robot control module; after the robot control module enters the RRC idle state, and the robot control module determines that communication between devices is to be performed, the robot control module first returns to the RRC connection state; the response When the robot control module returns to the RRC connection state, the robot control module sends a resource request message to the base station; in response to receiving the resource request message, the base station determines the time-frequency resource used for the inter-device communication discovery phase of the robot control module and the time-frequency resource used for the base station. Inter-device communication discovery phase time-frequency resources of other communication devices in the served cell; in response to receiving a resource request message, the base station judges the number of communication devices that establish an RRC connection with the base station in the cell served by the base station; The number of communication devices that establish RRC connections with the base station in the cell served by the base station generates a discovery stage identifier specially used for the discovery stage of inter-device communication, wherein the length of the discovery stage identifier is longer than that of the robot control module and the base station. The IMSI of other communication devices in the cell is shorter; the base station assigns and sends a second discovery stage identifier to the robot control module, and the base station assigns and sends multiple discovery stage identifiers to other communication devices in the cell served by the base station ; The base station notifies the robot control module of the time-frequency resources used for the inter-device communication discovery phase of the robot control module, and notifies other time-frequency resources of the inter-device communication discovery phase for other communication devices in the cell served by the base station communication device.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：如果第一通信设备与基站之间没有数据传输达到一定时间，则第一通信设备进入RRC空闲状态；响应于第一通信设备进入RRC空闲状态，由第一通信设备丢弃第一通信设备的发现阶段标识符；响应于接收到机器人控制模块发送的设备间通信发现消息，由第一通信设备返回RRC连接态；由第一通信设备向基站请求用于设备间通信发现阶段时频资源以及用于第一通信设备的发现阶段标识符；响应于接收到第一通信设备的请求，由基站重新向第一通信设备分配用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符；响应于接收到用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符，由第一通信设备在用于设备间通信发现阶段时频资源上向机器人控制模块发送设备间通信发现响应消息，设备间通信发现响应消息中包括用于第一通信设备的新的发现阶段标识符。In a preferred embodiment, the method for transmitting control information of an intelligent robot includes the following steps: if there is no data transmission between the first communication device and the base station for a certain period of time, the first communication device enters the RRC idle state; responding The first communication device enters the RRC idle state, and the first communication device discards the discovery phase identifier of the first communication device; in response to receiving the inter-device communication discovery message sent by the robot control module, the first communication device returns to the RRC connection state; The first communication device requests the base station for the time-frequency resources used in the inter-device communication discovery phase and the discovery phase identifier for the first communication device; in response to receiving the request from the first communication device, the base station re-requests the first communication device Allocating time-frequency resources for the inter-device communication discovery phase and a new discovery phase identifier for the first communication device; in response to receiving the time-frequency resources for the inter-device communication discovery phase and the new discovery phase identifier for the first communication device Discovery stage identifier, the first communication device sends an inter-device communication discovery response message to the robot control module on the time-frequency resource used for the inter-device communication discovery stage, and the inter-device communication discovery response message includes a new The discovery phase identifier for .
本发明还提供了一种用于智能机器人的控制信息的传输系统，包括：用于由具有通信功能的机器人控制模块收集环境信息的单元；用于由机器人控制模块与基站建立RRC连接，并且机器人控制模块处于RRC连接态的单元；用于当机器人控制模块确定要进行设备间通信时，由机器人控制模块向基站发送资源请求消息的单元；用于响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源的单元；用于响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量的单元；用于由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符的单元，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；用于由基站向机器人控制模块分配并发送第一发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符的单元；用于由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备的单元。The present invention also provides a control information transmission system for an intelligent robot, comprising: a unit for collecting environmental information by a robot control module with a communication function; for establishing an RRC connection between the robot control module and a base station, and the robot The unit where the control module is in the RRC connection state; the unit used for sending a resource request message to the base station by the robot control module when the robot control module determines to perform inter-device communication; used for determining by the base station in response to receiving the resource request message. A time-frequency resource for the inter-device communication discovery stage of the robot control module and a time-frequency resource unit for the inter-device communication discovery stage of other communication devices in the cell served by the base station; for responding to receiving a resource request message, by the base station A unit for judging the number of communication devices that establish RRC connections with the base station in the cell served by the base station; used for the base station to generate an inter-device communication device based on the number of communication devices that establish RRC connections with the base station in the cell served by the base station The unit of the discovery stage identifier of the communication discovery stage, wherein the length of the discovery stage identifier is shorter than the IMSI of the robot control module and other communication devices in the cell served by the base station; it is used for the base station to assign and send to the robot control module A first discovery phase identifier, and a unit that distributes and transmits a plurality of discovery phase identifiers by the base station to other communication devices within the cell served by the base station; for when the base station will be used by the base station for the discovery phase of inter-device communication of the robot control module The frequency resources are notified to the robot control module, and the time-frequency resources used for the inter-device communication discovery phase of other communication devices in the cell served by the base station are notified to the units of other communication devices.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于响应于接收到由基站通知的用于机器人控制模块的设备间通信发现阶段时频资源，由机器人控制模块在用于机器人控制模块的设备间通信发现阶段时频资源上发送设备间通信发现消息的单元，其中，设备间通信发现消息包括第一发现阶段标识符；用于响应于接收到设备间通信发现消息，由基站所服务的小区内的其它通信设备中的一第一通信设备发送设备间通信发现响应消息的单元，其中，设备间通信发现响应消息包括第一通信设备的发现阶段标识符；用于响应于接收到设备间通信发现响应消息，由机器人控制模块向第一通信设备发送发现信号的单元，其中，发现信号中包括第一发现阶段标识符、第一通信设备的发现阶段标识符以及环境信息；用于响应于接收到环境信息，由第一通信设备向环境消息发送给基站的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: for responding to receiving the time-frequency resources for the inter-device communication discovery phase of the robot control module notified by the base station, the robot control module in the A unit for sending an inter-device communication discovery message on time-frequency resources in the inter-device communication discovery phase of the robot control module, wherein the inter-device communication discovery message includes a first discovery phase identifier; for responding to receiving the inter-device communication discovery message A unit for sending an inter-device communication discovery response message by a first communication device among other communication devices in the cell served by the base station, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; In response to receiving the inter-device communication discovery response message, the robot control module sends a discovery signal to the first communication device, wherein the discovery signal includes the first discovery stage identifier, the discovery stage identifier of the first communication device, and the environment information; means for sending, by the first communication device, an environment message to the base station in response to receiving the environment information.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于响应于接收到环境消息，由基站向智能机器人管理中心发送环境消息的单元；用于由智能机器人管理中心基于环境消息生成机器人控制信息的单元；用于由智能机器人管理中心将机器人控制信息发送给基站的单元；用于由基站将机器人控制信息发送给机器人控制模块的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: a unit for sending an environmental message from the base station to the intelligent robot management center in response to receiving the environmental message; A unit for generating robot control information from environmental messages; a unit for sending robot control information to the base station by the intelligent robot management center; a unit for sending robot control information to the robot control module by the base station.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于如果机器人控制模块与基站之间没有数据传输达到一定时间，则机器人控制模块进入RRC空闲状态的单元；用于响应于机器人控制模块进入RRC空闲状态，由机器人控制模块丢弃第一发现阶段标识符的单元；用于在机器人控制模块进入RRC空闲状态之后，机器人控制模块确定要进行设备间通信，则由机器人控制模块首先返回RRC连接态的单元；用于响应于机器人控制模块返回RRC连接态，由机器人控制模块向基站发送资源请求消息的单元；用于响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源的单元；用于响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量的单元；由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符的单元，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；用于由基站向机器人控制模块分配并发送第二发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符的单元；用于由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: a unit for the robot control module to enter the RRC idle state if there is no data transmission between the robot control module and the base station for a certain period of time; In response to the robot control module entering the RRC idle state, the robot control module discards the unit of the first discovery stage identifier; after the robot control module enters the RRC idle state, the robot control module determines that communication between devices is to be performed, and the robot control module The module first returns the unit of the RRC connection state; the unit used for sending the resource request message to the base station by the robot control module in response to the robot control module returning to the RRC connection state; used for determining by the base station the resource request message for the robot in response to receiving the resource request message The time-frequency resource of the inter-device communication discovery phase of the control module and the unit used for the time-frequency resource of the inter-device communication discovery phase of other communication devices in the cell served by the base station; used for determining the base station by the base station in response to receiving a resource request message The unit of the number of communication devices that establish RRC connections with the base station in the cell served by the base station; based on the number of communication devices that establish RRC connections with the base station in the cell served by the base station, the base station generates an inter-device communication discovery phase. A unit of the discovery stage identifier, wherein the length of the discovery stage identifier is shorter than the IMSI of the robot control module and other communication devices in the cell served by the base station; used for the base station to assign and send the second discovery stage to the robot control module Identifier, and the base station allocates and sends a plurality of discovery stage identifier units to other communication devices in the cell served by the base station; it is used for the base station to notify the robot control module of the time-frequency resource of the discovery stage of the inter-device communication to The robot controls the module, and notifies the units of other communication devices of the time-frequency resources used in the inter-device communication discovery phase of other communication devices in the cell served by the base station.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于如果第一通信设备与基站之间没有数据传输达到一定时间，则第一通信设备进入RRC空闲状态的单元；用于响应于第一通信设备进入RRC空闲状态，由第一通信设备丢弃第一通信设备的发现阶段标识符的单元；用于响应于接收到机器人控制模块发送的设备间通信发现消息，由第一通信设备返回RRC连接态的单元；用于由第一通信设备向基站请求用于设备间通信发现阶段时频资源以及用于第一通信设备的发现阶段标识符的单元；响应于接收到第一通信设备的请求，由基站重新向第一通信设备分配用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符的单元；用于响应于接收到用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符，由第一通信设备在用于设备间通信发现阶段时频资源上向机器人控制模块发送设备间通信发现响应消息，设备间通信发现响应消息中包括用于第一通信设备的新的发现阶段标识符的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: a unit for the first communication device to enter the RRC idle state if there is no data transmission between the first communication device and the base station for a certain period of time; A unit for discarding the discovery phase identifier of the first communication device by the first communication device in response to the first communication device entering the RRC idle state; for receiving an inter-device communication discovery message sent by the robot control module, by the first communication device A unit for the communication device to return to the RRC connection state; a unit for the first communication device to request the base station for the time-frequency resource of the inter-device communication discovery phase and the discovery phase identifier for the first communication device; in response to receiving the first A request from a communication device, the base station re-allocates to the first communication device the time-frequency resource used for the inter-device communication discovery phase and the unit for the new discovery phase identifier of the first communication device; for responding to receiving the unit for Inter-device communication discovery phase time-frequency resource and a new discovery phase identifier for the first communication device, the first communication device sends an inter-device communication discovery response to the robot control module on the time-frequency resource for the inter-device communication discovery phase The inter-device communication discovery response message includes an element of a new discovery phase identifier for the first communication device.
与现有技术相比，本发明具有如下优点：类似于扫地机器人的机械装置已经越来越普及。然而当前真正进入家庭并且实现量产的扫地机器人基本都是需要人类监督的机器人，而需要人类监督的基本原因就是机器人内部的算法单元不可能很复杂(复杂的算法单元意味着高成本、高能耗，这都是家务机器人不需要的缺点)，这样一来，机器人只能实现最为简单的躲避功能。而根据目前某些现有技术的教导，实际上扫地机器人在人类不在旁边，并且空调或者新风系统关闭的情况下才能够达到最优的清洁效果，同时，一套公寓内每个房间的清洁程度不同，没有必要每次都打扫整个公寓。在这种情况下，我们必定希望扫地机器人能够全自主判断何时开启、何时关闭、打扫哪间房间以及不打扫哪间房间等等。这种复杂的判断基本上需要大型计算机的参与，本发明提出了一种用于智能机器人的控制信息的传输方法，本发明的方法使得机器人能够将环境信息传输到远程计算机，然后通过大型计算机运行更精确的算法实现更为复杂的控制命令，然后将控制命令再传输给智能机器人，这样就实现了机器人的远程、精细化控制。Compared with the prior art, the present invention has the following advantages: mechanical devices similar to sweeping robots have become more and more popular. However, the current sweeping robots that actually enter the home and achieve mass production are basically robots that require human supervision, and the basic reason for human supervision is that the algorithm units inside the robot cannot be very complicated (complex algorithm units mean high cost and high energy consumption. , these are all the shortcomings that housework robots do not need), in this way, the robot can only realize the simplest avoidance function. According to the current teachings of some existing technologies, in fact, the sweeping robot can achieve the best cleaning effect when humans are not around and the air conditioner or fresh air system is turned off. At the same time, the cleanliness of each room in an apartment Unlike, there is no need to clean the entire apartment every time. In this case, we must hope that the sweeping robot can fully judge when to turn on, when to turn off, which room to clean and which room not to clean, etc. This complex judgment basically requires the participation of a large-scale computer. This invention proposes a method for transmitting control information for an intelligent robot. The method of the present invention enables the robot to transmit environmental information to a remote computer, which is then run by a large-scale computer. A more precise algorithm implements more complex control commands, and then transmits the control commands to the intelligent robot, thus realizing the remote and refined control of the robot.
附图说明Description of drawings
图1是根据本发明一实施方式的用于智能机器人的控制信息的传输方法流程图。Fig. 1 is a flowchart of a method for transmitting control information of an intelligent robot according to an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图，对本发明的具体实施方式进行详细描述，但应当理解本发明的保护范围并不受具体实施方式的限制。The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.
除非另有其它明确表示，否则在整个说明书和权利要求书中，术语“包括”或其变换如“包含”或“包括有”等等将被理解为包括所陈述的元件或组成部分，而并未排除其它元件或其它组成部分。Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations thereof such as "includes" or "includes" and the like will be understood to include the stated elements or constituents, and not Other elements or other components are not excluded.
图1是根据本发明一实施方式的用于智能机器人的控制信息的传输方法流程图。如图所示，本发明的用于智能机器人的控制信息的传输方法包括如下步骤：Fig. 1 is a flowchart of a method for transmitting control information of an intelligent robot according to an embodiment of the present invention. As shown in the figure, the transmission method for the control information of the intelligent robot of the present invention includes the following steps:
步骤101：由具有通信功能的机器人控制模块收集环境信息(环境信息包括室内温度、湿度、障碍物信息、房间格局信息、人员信息等等)；Step 101: Collect environmental information (environmental information includes indoor temperature, humidity, obstacle information, room layout information, personnel information, etc.) by the robot control module with communication function;
步骤102：由机器人控制模块与基站建立RRC连接，并且机器人控制模块处于RRC连接态；Step 102: The robot control module establishes an RRC connection with the base station, and the robot control module is in an RRC connection state;
步骤103：当机器人控制模块确定要进行设备间通信时，由机器人控制模块向基站发送资源请求消息；Step 103: When the robot control module determines that inter-device communication is required, the robot control module sends a resource request message to the base station;
步骤104：响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源；Step 104: In response to receiving the resource request message, the base station determines time-frequency resources for the discovery phase of inter-device communication for the robot control module and time-frequency resources for the discovery phase of inter-device communication for other communication devices in the cell served by the base station ;
步骤105：响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量；Step 105: In response to receiving the resource request message, the base station determines the number of communication devices that establish RRC connections with the base station in the cell served by the base station;
步骤106：由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；Step 106: The base station generates a discovery phase identifier specially used for the inter-device communication discovery phase based on the number of communication devices that establish RRC connections with the base station in the cell served by the base station, wherein the length of the discovery phase identifier is longer than that of the robot control The IMSI of the module and other communication devices in the cell served by the base station is shorter;
步骤107：由基站向机器人控制模块分配并发送第一发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符；以及Step 107: the base station assigns and sends a first discovery stage identifier to the robot control module, and the base station assigns and sends a plurality of discovery stage identifiers to other communication devices in the cell served by the base station; and
步骤108：由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备。Step 108: The base station notifies the robot control module of the time-frequency resources of the inter-device communication discovery phase for the robot control module, and notifies the time-frequency resources of the inter-device communication discovery phase of other communication devices in the cell served by the base station to other communication devices.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：响应于接收到由基站通知的用于机器人控制模块的设备间通信发现阶段时频资源，由机器人控制模块在用于机器人控制模块的设备间通信发现阶段时频资源上发送设备间通信发现消息，其中，设备间通信发现消息包括第一发现阶段标识符；响应于接收到设备间通信发现消息，由基站所服务的小区内的其它通信设备中的一第一通信设备发送设备间通信发现响应消息，其中，设备间通信发现响应消息包括第一通信设备的发现阶段标识符；响应于接收到设备间通信发现响应消息，由机器人控制模块向第一通信设备发送发现信号，其中，发现信号中包括第一发现阶段标识符、第一通信设备的发现阶段标识符以及环境信息；响应于接收到环境信息，由第一通信设备向环境消息发送给基站。In a preferred embodiment, the transmission method for the control information of the intelligent robot includes the following steps: in response to receiving the time-frequency resource for the discovery phase of the inter-device communication for the robot control module notified by the base station, by the robot control module at An inter-device communication discovery message is sent on time-frequency resources for the inter-device communication discovery phase of the robot control module, wherein the inter-device communication discovery message includes a first discovery phase identifier; in response to receiving the inter-device communication discovery message, the base station A first communication device among other communication devices in the serving cell sends an inter-device communication discovery response message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; in response to receiving the inter-device communication discovery In response to the message, the robot control module sends a discovery signal to the first communication device, wherein the discovery signal includes a first discovery stage identifier, a discovery stage identifier of the first communication device, and environment information; in response to receiving the environment information, by The first communication device sends the environment message to the base station.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：响应于接收到环境消息，由基站向智能机器人管理中心发送环境消息；由智能机器人管理中心基于环境消息生成机器人控制信息(根据环境信息生成控制信息的算法本身是现有技术，例如本申请背景技术中提及的现有技术以及该现有技术引用的其它现有技术都涉及了这类算法，这类算法本身不是本申请的重点，本申请不再赘述)；由智能机器人管理中心将机器人控制信息发送给基站；由基站将机器人控制信息发送给机器人控制模块。In a preferred embodiment, the method for transmitting control information of an intelligent robot includes the following steps: in response to receiving an environmental message, the base station sends an environmental message to the intelligent robot management center; the intelligent robot management center generates a robot based on the environmental message Control information (the algorithm itself that generates control information based on environmental information is an existing technology, such as the prior art mentioned in the background of this application and other prior art referenced by this prior art all involve such algorithms, such algorithms itself is not the focus of this application, and will not be described in detail in this application); the intelligent robot management center sends the robot control information to the base station; the base station sends the robot control information to the robot control module.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：如果机器人控制模块与基站之间没有数据传输达到一定时间，则机器人控制模块进入RRC空闲状态；响应于机器人控制模块进入RRC空闲状态，由机器人控制模块丢弃第一发现阶段标识符；在机器人控制模块进入RRC空闲状态之后，机器人控制模块确定要进行设备间通信，则由机器人控制模块首先返回RRC连接态；响应于机器人控制模块返回RRC连接态，由机器人控制模块向基站发送资源请求消息；响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源；响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量；由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；由基站向机器人控制模块分配并发送第二发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符；由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备。In a preferred embodiment, the transmission method for the control information of the intelligent robot comprises the following steps: if there is no data transmission between the robot control module and the base station for a certain period of time, the robot control module enters the RRC idle state; The module enters the RRC idle state, and the first discovery stage identifier is discarded by the robot control module; after the robot control module enters the RRC idle state, and the robot control module determines that communication between devices is to be performed, the robot control module first returns to the RRC connection state; the response When the robot control module returns to the RRC connection state, the robot control module sends a resource request message to the base station; in response to receiving the resource request message, the base station determines the time-frequency resource used for the inter-device communication discovery phase of the robot control module and the time-frequency resource used for the base station. Inter-device communication discovery phase time-frequency resources of other communication devices in the served cell; in response to receiving a resource request message, the base station judges the number of communication devices that establish an RRC connection with the base station in the cell served by the base station; The number of communication devices that establish RRC connections with the base station in the cell served by the base station generates a discovery stage identifier specially used for the discovery stage of inter-device communication, wherein the length of the discovery stage identifier is longer than that of the robot control module and the base station. The IMSI of other communication devices in the cell is shorter; the base station assigns and sends a second discovery stage identifier to the robot control module, and the base station assigns and sends multiple discovery stage identifiers to other communication devices in the cell served by the base station ; The base station notifies the robot control module of the time-frequency resources used for the inter-device communication discovery phase of the robot control module, and notifies other time-frequency resources of the inter-device communication discovery phase for other communication devices in the cell served by the base station communication device.
在一优选的实施方式中，用于智能机器人的控制信息的传输方法包括如下步骤：如果第一通信设备与基站之间没有数据传输达到一定时间，则第一通信设备进入RRC空闲状态；响应于第一通信设备进入RRC空闲状态，由第一通信设备丢弃第一通信设备的发现阶段标识符；响应于接收到机器人控制模块发送的设备间通信发现消息，由第一通信设备返回RRC连接态；由第一通信设备向基站请求用于设备间通信发现阶段时频资源以及用于第一通信设备的发现阶段标识符；响应于接收到第一通信设备的请求，由基站重新向第一通信设备分配用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符；响应于接收到用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符，由第一通信设备在用于设备间通信发现阶段时频资源上向机器人控制模块发送设备间通信发现响应消息，设备间通信发现响应消息中包括用于第一通信设备的新的发现阶段标识符。In a preferred embodiment, the method for transmitting control information of an intelligent robot includes the following steps: if there is no data transmission between the first communication device and the base station for a certain period of time, the first communication device enters the RRC idle state; responding The first communication device enters the RRC idle state, and the first communication device discards the discovery phase identifier of the first communication device; in response to receiving the inter-device communication discovery message sent by the robot control module, the first communication device returns to the RRC connection state; The first communication device requests the base station for the time-frequency resources used in the inter-device communication discovery phase and the discovery phase identifier for the first communication device; in response to receiving the request from the first communication device, the base station re-requests the first communication device Allocating time-frequency resources for the inter-device communication discovery phase and a new discovery phase identifier for the first communication device; in response to receiving the time-frequency resources for the inter-device communication discovery phase and the new discovery phase identifier for the first communication device Discovery stage identifier, the first communication device sends an inter-device communication discovery response message to the robot control module on the time-frequency resource used for the inter-device communication discovery stage, and the inter-device communication discovery response message includes a new The discovery phase identifier for .
本发明还提供了一种用于智能机器人的控制信息的传输系统，包括：用于由具有通信功能的机器人控制模块收集环境信息的单元；用于由机器人控制模块与基站建立RRC连接，并且机器人控制模块处于RRC连接态的单元；用于当机器人控制模块确定要进行设备间通信时，由机器人控制模块向基站发送资源请求消息的单元；用于响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源的单元；用于响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量的单元；用于由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符的单元，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；用于由基站向机器人控制模块分配并发送第一发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符的单元；用于由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备的单元。The present invention also provides a control information transmission system for an intelligent robot, comprising: a unit for collecting environmental information by a robot control module with a communication function; for establishing an RRC connection between the robot control module and a base station, and the robot The unit where the control module is in the RRC connection state; the unit used for sending a resource request message to the base station by the robot control module when the robot control module determines to perform inter-device communication; used for determining by the base station in response to receiving the resource request message. A time-frequency resource for the inter-device communication discovery stage of the robot control module and a time-frequency resource unit for the inter-device communication discovery stage of other communication devices in the cell served by the base station; for responding to receiving a resource request message, by the base station A unit for judging the number of communication devices that establish RRC connections with the base station in the cell served by the base station; used for the base station to generate an inter-device communication device based on the number of communication devices that establish RRC connections with the base station in the cell served by the base station The unit of the discovery stage identifier of the communication discovery stage, wherein the length of the discovery stage identifier is shorter than the IMSI of the robot control module and other communication devices in the cell served by the base station; it is used for the base station to assign and send to the robot control module A first discovery phase identifier, and a unit that distributes and transmits a plurality of discovery phase identifiers by the base station to other communication devices within the cell served by the base station; for when the base station will be used by the base station for the discovery phase of inter-device communication of the robot control module The frequency resources are notified to the robot control module, and the time-frequency resources used for the inter-device communication discovery phase of other communication devices in the cell served by the base station are notified to the units of other communication devices.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于响应于接收到由基站通知的用于机器人控制模块的设备间通信发现阶段时频资源，由机器人控制模块在用于机器人控制模块的设备间通信发现阶段时频资源上发送设备间通信发现消息的单元，其中，设备间通信发现消息包括第一发现阶段标识符；用于响应于接收到设备间通信发现消息，由基站所服务的小区内的其它通信设备中的一第一通信设备发送设备间通信发现响应消息的单元，其中，设备间通信发现响应消息包括第一通信设备的发现阶段标识符；用于响应于接收到设备间通信发现响应消息，由机器人控制模块向第一通信设备发送发现信号的单元，其中，发现信号中包括第一发现阶段标识符、第一通信设备的发现阶段标识符以及环境信息；用于响应于接收到环境信息，由第一通信设备向环境消息发送给基站的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: for responding to receiving the time-frequency resources for the inter-device communication discovery phase of the robot control module notified by the base station, the robot control module in the A unit for sending an inter-device communication discovery message on time-frequency resources in the inter-device communication discovery phase of the robot control module, wherein the inter-device communication discovery message includes a first discovery phase identifier; for responding to receiving the inter-device communication discovery message A unit for sending an inter-device communication discovery response message by a first communication device among other communication devices in the cell served by the base station, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; In response to receiving the inter-device communication discovery response message, the robot control module sends a discovery signal to the first communication device, wherein the discovery signal includes the first discovery stage identifier, the discovery stage identifier of the first communication device, and the environment information; means for sending, by the first communication device, an environment message to the base station in response to receiving the environment information.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于响应于接收到环境消息，由基站向智能机器人管理中心发送环境消息的单元；用于由智能机器人管理中心基于环境消息生成机器人控制信息的单元；用于由智能机器人管理中心将机器人控制信息发送给基站的单元；用于由基站将机器人控制信息发送给机器人控制模块的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: a unit for sending an environmental message from the base station to the intelligent robot management center in response to receiving the environmental message; A unit for generating robot control information from environmental messages; a unit for sending robot control information to the base station by the intelligent robot management center; a unit for sending robot control information to the robot control module by the base station.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于如果机器人控制模块与基站之间没有数据传输达到一定时间，则机器人控制模块进入RRC空闲状态的单元；用于响应于机器人控制模块进入RRC空闲状态，由机器人控制模块丢弃第一发现阶段标识符的单元；用于在机器人控制模块进入RRC空闲状态之后，机器人控制模块确定要进行设备间通信，则由机器人控制模块首先返回RRC连接态的单元；用于响应于机器人控制模块返回RRC连接态，由机器人控制模块向基站发送资源请求消息的单元；用于响应于接收到资源请求消息，由基站确定用于机器人控制模块的设备间通信发现阶段时频资源以及用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源的单元；用于响应于接收到资源请求消息，由基站判断基站所服务的小区内的与基站建立RRC连接的通信设备的数量的单元；由基站基于基站所服务的小区内的与基站建立RRC连接的通信设备的数量，生成专门用于设备间通信发现阶段的发现阶段标识符的单元，其中，发现阶段标识符的长度比机器人控制模块以及基站所服务的小区内的其它通信设备的IMSI更短；用于由基站向机器人控制模块分配并发送第二发现阶段标识符，并且由基站向基站所服务的小区内的其它通信设备分配并发送多个发现阶段标识符的单元；用于由基站将用于机器人控制模块的设备间通信发现阶段时频资源通知给机器人控制模块，并将用于基站所服务的小区内的其它通信设备的设备间通信发现阶段时频资源通知给其它通信设备的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: a unit for the robot control module to enter the RRC idle state if there is no data transmission between the robot control module and the base station for a certain period of time; In response to the robot control module entering the RRC idle state, the robot control module discards the unit of the first discovery stage identifier; after the robot control module enters the RRC idle state, the robot control module determines that communication between devices is to be performed, and the robot control module The module first returns the unit of the RRC connection state; the unit used for sending the resource request message to the base station by the robot control module in response to the robot control module returning to the RRC connection state; used for determining by the base station the resource request message for the robot in response to receiving the resource request message The time-frequency resource of the inter-device communication discovery phase of the control module and the unit used for the time-frequency resource of the inter-device communication discovery phase of other communication devices in the cell served by the base station; used for determining the base station by the base station in response to receiving a resource request message The unit of the number of communication devices that establish RRC connections with the base station in the cell served by the base station; based on the number of communication devices that establish RRC connections with the base station in the cell served by the base station, the base station generates an inter-device communication discovery phase. A unit of the discovery stage identifier, wherein the length of the discovery stage identifier is shorter than the IMSI of the robot control module and other communication devices in the cell served by the base station; used for the base station to assign and send the second discovery stage to the robot control module Identifier, and the base station allocates and sends a plurality of discovery stage identifier units to other communication devices in the cell served by the base station; it is used for the base station to notify the robot control module of the time-frequency resource of the discovery stage of the inter-device communication to The robot controls the module, and notifies the units of other communication devices of the time-frequency resources used in the inter-device communication discovery phase of other communication devices in the cell served by the base station.
在一优选的实施方式中，用于智能机器人的控制信息的传输系统包括：用于如果第一通信设备与基站之间没有数据传输达到一定时间，则第一通信设备进入RRC空闲状态的单元；用于响应于第一通信设备进入RRC空闲状态，由第一通信设备丢弃第一通信设备的发现阶段标识符的单元；用于响应于接收到机器人控制模块发送的设备间通信发现消息，由第一通信设备返回RRC连接态的单元；用于由第一通信设备向基站请求用于设备间通信发现阶段时频资源以及用于第一通信设备的发现阶段标识符的单元；响应于接收到第一通信设备的请求，由基站重新向第一通信设备分配用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符的单元；用于响应于接收到用于设备间通信发现阶段时频资源以及用于第一通信设备的新的发现阶段标识符，由第一通信设备在用于设备间通信发现阶段时频资源上向机器人控制模块发送设备间通信发现响应消息，设备间通信发现响应消息中包括用于第一通信设备的新的发现阶段标识符的单元。In a preferred embodiment, the transmission system for the control information of the intelligent robot includes: a unit for the first communication device to enter the RRC idle state if there is no data transmission between the first communication device and the base station for a certain period of time; A unit for discarding the discovery phase identifier of the first communication device by the first communication device in response to the first communication device entering the RRC idle state; for receiving an inter-device communication discovery message sent by the robot control module, by the first communication device A unit for the communication device to return to the RRC connection state; a unit for the first communication device to request the base station for the time-frequency resource of the inter-device communication discovery phase and the discovery phase identifier for the first communication device; in response to receiving the first A request from a communication device, the base station re-allocates to the first communication device the time-frequency resource used for the inter-device communication discovery phase and the unit for the new discovery phase identifier of the first communication device; for responding to receiving the unit for Inter-device communication discovery phase time-frequency resource and a new discovery phase identifier for the first communication device, the first communication device sends an inter-device communication discovery response to the robot control module on the time-frequency resource for the inter-device communication discovery phase The inter-device communication discovery response message includes an element of a new discovery phase identifier for the first communication device.
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
前述对本发明的具体示例性实施方案的描述是为了说明和例证的目的。这些描述并非想将本发明限定为所公开的精确形式，并且很显然，根据上述教导，可以进行很多改变和变化。对示例性实施例进行选择和描述的目的在于解释本发明的特定原理及其实际应用，从而使得本领域的技术人员能够实现并利用本发明的各种不同的示例性实施方案以及各种不同的选择和改变。本发明的范围意在由权利要求书及其等同形式所限定。The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling others skilled in the art to make and use various exemplary embodiments of the invention, as well as various Choose and change. It is intended that the scope of the invention be defined by the claims and their equivalents.
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