CN111452037B - A system and method for automatically grasping medicine - Google Patents
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Abstract
本发明涉及一种自动抓药系统及方法，包括以下：步骤201、将药柜的储物格按照顺序进行编号，得到储物格的编号，并按照编号信息预设机械手组件的运行轨迹；步骤202、获取抓药指令以及所需要的所有药品所在的储物格的编号，计算并分配机械手组件的抓取路径，每当机械手组件中的机械手抓取到药品时，更换下一个机械手，直到走完抓取路径；步骤203、机械手组件放下取回的药品，完成抓药操作，等待下一次抓药操作的进行。本发明一次可以抓取多个药品，不仅能够大幅提高效率还能够保持系统有条不紊的运行，提高了用户的使用体验。
The present invention relates to an automatic medicine grabbing system and method, comprising the following steps: step 201, numbering the storage compartments of the medicine cabinet in sequence to obtain the storage compartment numbers, and preset the running track of the manipulator assembly according to the numbering information; step 202 , Obtain the drug grabbing instruction and the number of the storage compartment where all the required medicines are located, calculate and assign the grabbing path of the manipulator assembly, whenever the manipulator in the manipulator arm grabs the medicine, replace the next manipulator until the grabbing is completed Take the path; step 203, the manipulator assembly puts down the retrieved medicine, completes the medicine grasping operation, and waits for the next medicine grasping operation to proceed. The invention can grab a plurality of medicines at one time, not only can greatly improve the efficiency, but also can keep the system running in an orderly manner, thereby improving the user experience.
Description
技术领域technical field
本发明涉及人工智能领域，尤其涉及一种自动抓药系统及方法。The invention relates to the field of artificial intelligence, in particular to an automatic medicine-grabbing system and method.
背景技术Background technique
人工智能为现代化生活带来了极大的便利，在医院中也有着许多方面的应用，比如在用户进行取药时，只需要凭取药单即可由机械手进行抓药，十分方便Artificial intelligence has brought great convenience to modern life, and it also has many applications in hospitals. For example, when users take medicine, they only need to use the medicine taking list to grab medicine by the robot arm, which is very convenient.
但是当今市场的药房中的机械手往往只是通过一个机械手进行抓药，这样会使得抓药效率很低，往往会因为抓药时间过程而导致用户等待时间过长进而影响用户的使用体验However, the manipulators in pharmacies in today’s market often only use one manipulator to grasp medicine, which will make the medicine grasping efficiency very low, and the user’s waiting time will be too long due to the time process of grasping medicine, which will affect the user’s experience.
当今市场需要一种能够一次抓取多个药品的自动抓药系统及方法，不仅能够大幅提高效率还能够保持系统有条不紊的运行，提高了用户的使用体验。Today's market needs an automatic drug-grabbing system and method that can grab multiple medicines at a time, which can not only greatly improve the efficiency but also keep the system running in an orderly manner, improving the user experience.
发明内容Contents of the invention
本发明的目的是解决现有技术的不足，提供一种自动抓药系统及方法，通过采用机械手组件的方式进行抓药，能够一次性抓取多个药品，大幅提升抓药效率，改善用户的使用体验。The purpose of the present invention is to solve the deficiencies of the prior art, and provide an automatic medicine-grabbing system and method, which can grasp multiple medicines at one time by using a manipulator component to grasp medicines, greatly improve the medicine-grabbing efficiency, and improve user experience.
为了实现上述目的，本发明采用以下的技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
提出一种自动抓药系统，包括：Propose an automatic drug-grabbing system, including:
药柜，包括多个储物格，所述储物格以药柜的左下角为起点，按照S形的曲线自下而上地进行编号，所述编号由3位数字组成，取值范围为[1，N]，所述N由药柜的储物格总数而定；The medicine cabinet includes a plurality of storage compartments. The storage compartments start from the lower left corner of the medicine cabinet and are numbered from bottom to top according to an S-shaped curve. The numbers are composed of 3 digits, and the value range is [1, N], said N is determined by the total number of storage compartments in the medicine cabinet;
多个机械手组件，包括L个机械手、旋转部以及L个移动部，所述旋转部呈环形，由旋转电机控制转动，所述机械手等间距的设置于所述旋转部上，所述旋转电机用于在当前机械手完成一次抓药后顺时针旋转360/L个角度更换下一个机械手，所述移动部由X、Y、Z轴的直线电机相互配合控制移动，所述机械手通过移动部连接旋转部；A plurality of manipulator assemblies, including L manipulators, rotating parts and L moving parts, the rotating part is in the form of a ring, and is controlled by a rotating motor to rotate, and the manipulators are arranged on the rotating part at equal intervals, and the rotating motor is used for After the current manipulator completes one grasp of medicine, the next manipulator is rotated clockwise at an angle of 360/L. The moving part is controlled by the linear motors of the X, Y, and Z axes to move, and the manipulator is connected to the rotating part through the moving part;
运行轨迹训练模块，用于按照起始路径、抓药路径以及返程路径对机械手组件进行训练，使机械手组件按照预设路径进行移动；The running trajectory training module is used to train the manipulator assembly according to the initial path, the medicine grasping path and the return path, so that the manipulator assembly can move according to the preset path;
机械手控制模块，用于控制机械手完成抓药动作；The manipulator control module is used to control the manipulator to complete the action of grasping medicine;
药品编号转换模块，用于根据用户的药品名称转换得到该药品在药柜中的储物格的编号；The drug number conversion module is used to convert the drug name of the user to obtain the number of the storage compartment of the drug in the medicine cabinet;
抓取路径计算模块，用于根据一次抓药指令中所需要的所有药品所在的储物格的编号，计算并分配机械手组件的抓取路径；The grasping path calculation module is used to calculate and allocate the grasping path of the manipulator assembly according to the numbers of the storage compartments where all the medicines required in a medicine grasping instruction are located;
语音模块，所述语音模块用于当机械手组件完成抓药操作时，播放语音信息，告知机械手组件对应处理的用户，取药完毕。A voice module, the voice module is used to play voice information when the manipulator component completes the medicine-picking operation, and inform the user of the corresponding treatment of the manipulator component that the medicine-taking is completed.
还提出一种自动抓药方法，包括以下：Also propose a kind of automatic drug-grabbing method, comprise the following:
步骤201、将药柜的储物格按照顺序进行编号，得到储物格的编号，并按照编号信息预设机械手组件的运行轨迹；Step 201, number the storage compartments of the medicine cabinet in sequence to obtain the storage compartment numbers, and preset the running track of the manipulator assembly according to the number information;
步骤202、获取抓药指令以及所需要的所有药品所在的储物格的编号，计算并分配机械手组件的抓取路径，每当机械手组件中的机械手抓取到药品时，更换下一个机械手，直到走完抓取路径；Step 202: Obtain the drug-grabbing instruction and the numbers of the storage compartments where all the required medicines are located, calculate and assign the grabbing path of the manipulator assembly, and replace the next manipulator every time the manipulator in the manipulator assembly grabs the medicine, until it goes Complete the crawl path;
步骤203、机械手组件放下取回的药品，完成抓药操作，等待下一次抓药操作的进行。Step 203 , the manipulator assembly puts down the retrieved medicine, completes the medicine grasping operation, and waits for the next medicine grasping operation.
进一步，上述步骤201中的药柜的储物格的编号顺序为，以药柜的左下角为起点，按照S形的曲线自下而上地进行编号，所述编号由3位数字组成，取值范围为[1，N]，所述N由药柜的储物格总数而定。Further, the numbering order of the storage compartments of the medicine cabinet in the above step 201 is that starting from the lower left corner of the medicine cabinet, the numbering is carried out from bottom to top according to an S-shaped curve, and the number is composed of 3 digits. The value range is [1, N], and the N is determined by the total number of storage compartments in the medicine cabinet.
进一步，上述步骤201中的运行轨迹具体分为三段路径，第一段路径包括机械手组件从起始位置移动至编号为1的储物格的路径，第二段路径包括机械手组件按照编号从小到大进行移动的路径，第三段路径包括机械手组件由编号为N的储物格移动至起始位置的路径。Further, the running trajectory in the above step 201 is specifically divided into three sections of paths. The first section of the path includes the path of the manipulator assembly moving from the initial position to the storage compartment numbered 1, and the second section of the path includes the movement of the manipulator assembly from small to large. The path for moving, the third path includes the path for the manipulator assembly to move from the storage compartment numbered N to the starting position.
进一步，上述步骤202中的计算机械手组件的抓取路径具体包括以下：Further, the calculation of the grasping path of the manipulator assembly in the above step 202 specifically includes the following:
步骤501、将所需要的药品在储物格中的编号按照大小进行排序，得到排序后的编号集合{M1，M2…Mi}；Step 501, sort the numbers of the required medicines in the storage compartment according to their size, and obtain the sorted number set {M 1 , M 2 ... M i };
步骤502、根据编号集合得到机械手组件的抓取路径，所述抓取路径包括，Step 502, obtain the grabbing path of the manipulator assembly according to the number set, the grabbing path includes,
起始路径，为所述第一段路径；The starting path is the first path;
抓药路径，为所述第二段路径，并在编号集合中的编号所对应的储物格处进行药品抓取；The drug grabbing path is the second section of the path, and the drug grabbing is performed at the storage compartment corresponding to the number in the numbered set;
返程路径，为所述第三段路径。The return route is the third segment of the route.
进一步，上述步骤202中的更换机械手的方式为，在机械手组件中的机械手完成抓取后，控制机械手组件的旋转部转动360/L度的圆心角，更换下一个机械手。Further, the way to replace the manipulator in the above step 202 is to control the rotating part of the manipulator assembly to rotate a central angle of 360/L degrees after the manipulator in the manipulator assembly completes the grabbing, and replace the next manipulator.
进一步，所述自动抓药方法还包括，Further, the automatic medicine-grabbing method also includes,
当所述机械手组件存在多个时，多个所述机械手组件能够分别处理不同用户的取药单，其运行的规则为：多个所述机械手组件优先分配出能够处理当前用户的数量的机械手组件，剩余的机械手组件将会被分配处理排队在所述当前用户的后一位的用户，以此类推，所述机械手组件的运行遵循上述方法的规则。When there are multiple manipulator components, the multiple manipulator components can respectively process the prescriptions of different users. , the remaining manipulator components will be assigned to process the user who is queued behind the current user, and so on, and the operation of the manipulator components follows the rules of the above method.
进一步，当机械手组件完成抓药操作时，还会进行语音提醒，告知机械手组件对应处理的用户，取药完毕。Further, when the manipulator component completes the drug-picking operation, a voice reminder will be given to inform the user corresponding to the manipulator component that the medicine is taken.
本发明在采用上述的系统以及方法时能够获得以下有益效果：The present invention can obtain the following beneficial effects when adopting the above-mentioned system and method:
本发明能够通过将药柜的储物格进行编号，在得到用户的取药单后进行转换得到该取药单中的药品在储物格中的编号，并控制机械手组件按照编号进行抓取，本发明一次可以抓取多个药品，不仅能够大幅提高效率还能够保持系统有条不紊的运行，提高了用户的使用体验。The present invention can number the storage compartments of the medicine cabinet, and after obtaining the user's medicine taking list, convert it to obtain the serial number of the medicine in the storage compartment in the medicine taking list, and control the manipulator assembly to grab according to the number, The invention can grab a plurality of medicines at one time, not only can greatly improve the efficiency, but also can keep the system running in an orderly manner, thereby improving the user experience.
附图说明Description of drawings
图1所示为本发明一种自动抓药方法流程图；Fig. 1 shows a kind of flow chart of automatic drug-grabbing method of the present invention;
图2所示为本发明药柜的储物格编号示意图。Fig. 2 is a schematic diagram showing the numbering of the storage compartments of the medicine cabinet of the present invention.
具体实施方式Detailed ways
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述，以充分地理解本发明的目的、方案和效果。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。附图中各处使用的相同的附图标记指示相同或相似的部分。The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The same reference numbers are used throughout the drawings to indicate the same or similar parts.
本发明提出一种自动抓药系统，包括：The present invention proposes an automatic drug-grabbing system, comprising:
药柜，包括多个储物格，所述储物格以药柜的左下角为起点，按照S形的曲线自下而上地进行编号，所述编号由3位数字组成，取值范围为[1，N]，所述N由药柜的储物格总数而定；The medicine cabinet includes a plurality of storage compartments. The storage compartments start from the lower left corner of the medicine cabinet and are numbered from bottom to top according to an S-shaped curve. The numbers are composed of 3 digits, and the value range is [1, N], said N is determined by the total number of storage compartments in the medicine cabinet;
多个机械手组件，包括L个机械手、旋转部以及L个移动部，所述旋转部呈环形，由旋转电机控制转动，所述机械手等间距的设置于所述旋转部上，所述旋转电机用于在当前机械手完成一次抓药后顺时针旋转360/L个角度更换下一个机械手，所述移动部由X、Y、Z轴的直线电机相互配合控制移动，所述机械手通过移动部连接旋转部；A plurality of manipulator assemblies, including L manipulators, rotating parts and L moving parts, the rotating part is in the form of a ring, and is controlled by a rotating motor to rotate, and the manipulators are arranged on the rotating part at equal intervals, and the rotating motor is used for After the current manipulator completes one grasp of medicine, the next manipulator is rotated clockwise at an angle of 360/L. The moving part is controlled by the linear motors of the X, Y, and Z axes to move, and the manipulator is connected to the rotating part through the moving part;
运行轨迹训练模块，用于按照起始路径、抓药路径以及返程路径对机械手组件进行训练，使机械手组件按照预设路径进行移动；The running trajectory training module is used to train the manipulator assembly according to the initial path, the medicine grasping path and the return path, so that the manipulator assembly can move according to the preset path;
机械手控制模块，用于控制机械手完成抓药动作；The manipulator control module is used to control the manipulator to complete the action of grasping medicine;
药品编号转换模块，用于根据用户的药品名称转换得到该药品在药柜中的储物格的编号；The drug number conversion module is used to convert the drug name of the user to obtain the number of the storage compartment of the drug in the medicine cabinet;
抓取路径计算模块，用于根据一次抓药指令中所需要的所有药品所在的储物格的编号，计算并分配机械手组件的抓取路径；The grasping path calculation module is used to calculate and allocate the grasping path of the manipulator assembly according to the numbers of the storage compartments where all the medicines required in a medicine grasping instruction are located;
语音模块，所述语音模块用于当机械手组件完成抓药操作时，播放语音信息，告知机械手组件对应处理的用户，取药完毕。A voice module, the voice module is used to play voice information when the manipulator component completes the medicine-picking operation, and inform the user of the corresponding treatment of the manipulator component that the medicine-taking is completed.
参照图1，还提出一种自动抓药方法，包括以下：With reference to Fig. 1, also propose a kind of automatic drug-grabbing method, comprise the following:
步骤201、将药柜的储物格按照顺序进行编号，得到储物格的编号，并按照编号信息预设机械手组件的运行轨迹；具体的编号形式见图2，Step 201, number the storage compartments of the medicine cabinet in sequence to obtain the storage compartment numbers, and preset the running track of the manipulator assembly according to the number information; see Figure 2 for the specific numbering format.
步骤202、获取抓药指令以及所需要的所有药品所在的储物格的编号，计算并分配机械手组件的抓取路径，每当机械手组件中的机械手抓取到药品时，更换下一个机械手，直到走完抓取路径；Step 202: Obtain the drug-grabbing instruction and the numbers of the storage compartments where all the required medicines are located, calculate and assign the grabbing path of the manipulator assembly, and replace the next manipulator every time the manipulator in the manipulator assembly grabs the medicine, until it goes Complete the crawl path;
步骤203、机械手组件放下取回的药品，完成抓药操作，等待下一次抓药操作的进行。Step 203 , the manipulator assembly puts down the retrieved medicine, completes the medicine grasping operation, and waits for the next medicine grasping operation.
作为本发明的优选实施方式，上述步骤201中的药柜的储物格的编号顺序为，以药柜的左下角为起点，按照S形的曲线自下而上地进行编号，所述编号由3位数字组成，取值范围为[1，N]，所述N由药柜的储物格总数而定。As a preferred embodiment of the present invention, the numbering order of the storage compartments of the medicine cabinet in the above step 201 is that starting from the lower left corner of the medicine cabinet, the numbering is carried out from bottom to top according to an S-shaped curve, and the numbering is represented by Composed of 3 digits, the value range is [1, N], and the N is determined by the total number of storage compartments in the medicine cabinet.
作为本发明的优选实施方式，上述步骤201中的运行轨迹具体分为三段路径，第一段路径包括机械手组件从起始位置移动至编号为1的储物格的路径，第二段路径包括机械手组件按照编号从小到大进行移动的路径，第三段路径包括机械手组件由编号为N的储物格移动至起始位置的路径。As a preferred embodiment of the present invention, the running trajectory in the above step 201 is specifically divided into three sections of paths, the first section of the path includes the movement of the manipulator assembly from the initial position to the storage compartment numbered 1, and the second section of the path includes The path where the manipulator assembly moves from small to large numbers, and the third path includes the path where the manipulator assembly moves from the storage compartment numbered N to the starting position.
此处在实现时本实施方式采用的为：第一段路径通过训练机械手组件固定移动，当到达第二段路径的起始点即编号为1的储物格的位置时，通过方波脉冲信号来控制机械手组件移动，每当经过一个周期的方波脉冲信号，机械手移动至下一个储物格的位置，第三段路径也为固定路径，即为从编号为N的储物格回到待命位置的路径，这三段路径通过训练机械手组件均可准确的进行移动。Here, when implementing this embodiment, the first path is fixedly moved through the training manipulator assembly. When the starting point of the second path is reached, which is the position of the storage compartment numbered 1, the square wave pulse signal is used to Control the movement of the manipulator assembly. Every time a cycle of square wave pulse signal is passed, the manipulator moves to the position of the next storage compartment. The third path is also a fixed path, that is, returning from the storage compartment numbered N to the standby position The path of these three sections can be accurately moved by training the manipulator assembly.
作为本发明的优选实施方式，上述步骤202中的计算机械手组件的抓取路径具体包括以下：As a preferred embodiment of the present invention, the calculation of the grasping path of the manipulator assembly in the above step 202 specifically includes the following:
步骤501、将所需要的药品在储物格中的编号按照大小进行排序，得到排序后的编号集合{M1，M2…Mi}；Step 501, sort the numbers of the required medicines in the storage compartment according to their size, and obtain the sorted number set {M 1 , M 2 ... M i };
步骤502、根据编号集合得到机械手组件的抓取路径，所述抓取路径包括，Step 502, obtain the grabbing path of the manipulator assembly according to the number set, the grabbing path includes,
起始路径，为所述第一段路径；The starting path is the first path;
抓药路径，为所述第二段路径，并在编号集合中的编号所对应的储物格处进行药品抓取；在进行抓药路径时，只需要给机械手组件设定在对应编号的储物格的位置处执行依次抓取操作即可。The drug-grabbing path is the second section of the path, and the drug is grabbed at the storage compartment corresponding to the number in the numbered set; when performing the drug-grabbing path, it is only necessary to set the manipulator component in the storage compartment of the corresponding number It is enough to execute sequential grabbing operations at the position.
返程路径，为所述第三段路径。The return route is the third segment of the route.
作为本发明的优选实施方式，上述步骤202中的更换机械手的方式为，在机械手组件中的机械手完成抓取后，控制机械手组件的旋转部转动360/L度的圆心角，更换下一个机械手。As a preferred embodiment of the present invention, the way of replacing the manipulator in the above step 202 is, after the manipulator in the manipulator assembly completes the grabbing, control the rotating part of the manipulator assembly to rotate a central angle of 360/L degrees to replace the next manipulator.
作为本发明的优选实施方式，所述自动抓药方法还包括，As a preferred embodiment of the present invention, the method for automatically dispensing medicine also includes,
当所述机械手组件存在多个时，多个所述机械手组件能够分别处理不同用户的取药单，其运行的规则为：多个所述机械手组件优先分配出能够处理当前用户的数量的机械手组件，剩余的机械手组件将会被分配处理排队在所述当前用户的后一位的用户，以此类推，所述机械手组件的运行遵循上述方法的规则。When there are multiple manipulator components, the multiple manipulator components can respectively process the prescriptions of different users. , the remaining manipulator components will be assigned to process the user who is queued behind the current user, and so on, and the operation of the manipulator components follows the rules of the above method.
在工作时，首先完成准备工作即将对应的储物格按照S形的顺序进行编号，当编号完毕后，对机械手组件按照既定的三段路径进行训练，之后对多个机械手组件进行任务分配，可以给机械手组件进行分配1-3，因为本实施方式给出了3个机械手组件的形式，每个机械手组件上设置6个机械手即L＝6，给出一个具体的形式，若用户A需要抓取8个药品，则会分配2个机械手组件为用户A进行服务，第三个则会为用户B进行药品抓取，若用户C需要抓取4个药品，则会分配1个机械手组件为用户C进行专区，剩余的两个机械手组件会继续为其他用户进行服务，当取药完毕后，还会语音提醒取药用户取药完毕，十分便利。When working, first complete the preparatory work and number the corresponding storage compartments in an S-shaped order. After the numbering is completed, train the manipulator components according to the established three-segment path, and then assign tasks to multiple manipulator components. Assign 1-3 to the manipulator assembly, because this embodiment provides the form of 3 manipulator assemblies, 6 manipulators are set on each manipulator assembly, that is, L=6, and a specific form is given. If user A needs to grab If there are 8 medicines, 2 manipulator components will be allocated to serve user A, and the third one will grab medicines for user B. If user C needs to grab 4 medicines, 1 manipulator component will be allocated to user C In the special area, the remaining two manipulator components will continue to serve other users. When the medicine is taken, the voice will remind the user to take the medicine, which is very convenient.
作为本发明的优选实施方式，当机械手组件完成抓药操作时，还会进行语音提醒，告知机械手组件对应处理的用户，取药完毕。As a preferred embodiment of the present invention, when the manipulator assembly completes the medicine-picking operation, a voice reminder will be given to inform the user of the corresponding treatment of the manipulator assembly that the medicine-taking is completed.
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本发明各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.
所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储的介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，RandomAccess Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括是电载波信号和电信信号。If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can realize the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excluding electrical carrier signals and telecommunication signals.
尽管本发明的描述已经相当详尽且特别对几个所述实施例进行了描述，但其并非旨在局限于任何这些细节或实施例或任何特殊实施例，而是应当将其视作是通过参考所附权利要求考虑到现有技术为这些权利要求提供广义的可能性解释，从而有效地涵盖本发明的预定范围。此外，上文以发明人可预见的实施例对本发明进行描述，其目的是为了提供有用的描述，而那些目前尚未预见的对本发明的非实质性改动仍可代表本发明的等效改动。While the description of the invention has been described in considerable detail and with particular reference to a few described embodiments, it is not intended to be limited to any such details or embodiments or to any particular embodiment, but rather it should be read by reference The appended claims provide the widest possible interpretation of these claims in view of the prior art, effectively encompassing the intended scope of the present invention. Furthermore, the invention has been described above in terms of embodiments foreseeable by the inventors for the purpose of providing a useful description, while insubstantial modifications of the invention which are not presently foreseeable may still represent equivalent modifications of the invention.
以上所述，只是本发明的较佳实施例而已，本发明并不局限于上述实施方式，只要其以相同的手段达到本发明的技术效果，都应属于本发明的保护范围。在本发明的保护范围内其技术方案和/或实施方式可以有各种不同的修改和变化。The above descriptions are only preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, as long as they achieve the technical effects of the present invention by the same means, they should all belong to the protection scope of the present invention. Various modifications and changes may be made to the technical solutions and/or implementations within the protection scope of the present invention.
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