CN106113062A - One is accompanied and attended to robot - Google Patents

Embodiments providing one to accompany and attend to robot, including robot body and the control system that is arranged on described robot body, described control system includes memorizer and processor.Memorizer is for storage at least one scene mode and the corresponding relation of switching time.Processor robot of accompanying and attending to described in control switches to the scene mode of correspondence in described switching time.This robot of accompanying and attending to acts on being played good supervision by the daily life system of the people that accompanies and attends to, and effect of accompanying and attending to is preferable.

One is accompanied and attended to robot

Technical field

The present invention relates to robotics, accompany and attend to robot in particular to one.

Background technology

Along with the most progressive of science and technology and the development of robotics, intelligent robot the most gradually enters into thousand Ten thousand families, market also occur in that many intelligent robots offer convenience and enjoyment to the life of people, and wherein, robot of accompanying and attending to makees For the one of intelligent robot, play the part of tutorial role, it is possible to auxiliary child etc., by the living and studying of the people that accompanies and attends to, give life Offer convenience.

But the most existing robot of accompanying and attending to is generally only when the people that accompanied and attended to produces interaction with it, make corresponding action or Perform corresponding instruction.So, in the case of guardian leaves, robot of accompanying and attending to can not be to the daily life system by the people that accompanies and attends to Playing good supervision effect, effect of accompanying and attending to is bad, and the people that accompanied and attended to is looked after by guardian robot of can not relieved accompanying and attending to, and runs counter to The original intention that robot realization of accompanying and attending to truly is accompanied and attended to.

Summary of the invention

The present invention is based on the problems referred to above, it is proposed that the machine of accompanying and attending to of a kind of daily life system can supervised by the people that accompanies and attends to People.

In view of this, an aspect of of the present present invention proposes one and accompanies and attends to robot, including robot body be arranged on institute Stating the control system on robot body, described control system includes memorizer and processor.

Memorizer, for storage at least one scene mode and the corresponding relation of switching time.

Processor, robot of accompanying and attending to described in control switches to the scene mode of correspondence, performs in described switching time The corresponding with described scene mode default of storage performs instruction.

Further, described memorizer also stores the scene information of described scene mode.Described scene information is described The positional information of scene, image information or parameter information.

Further, described control system also includes information acquisition unit and display unit.Described information acquisition unit, uses In obtaining current scene information.Described processor is additionally operable to described in current scene information described in comparison and storage accompany and attend to robot It is currently located whether scene information corresponding to scene mode mates, generates information according to match condition, and control described exhibition Show that unit shows described information.

Further, described control system also includes that locating module, described memorizer also store described scene mode Positional information.Described locating module, the current location information of robot of accompanying and attending to described in obtain.Described processor, is additionally operable to With described robot of accompanying and attending to, relatively described current location information is currently located whether positional information corresponding to scene mode mates, root Information is generated according to match condition.

Further, described control system also includes that image capture module, described memorizer have also stored described scene mould The image information of formula.Described image capture module, the present image information of robot of accompanying and attending to described in obtain.Described processor It is additionally operable to whether present image information described in comparison is currently located image information corresponding to scene mode with described robot of accompanying and attending to Coupling, generates information according to match condition.

Further, described control system also includes that wireless communication module, described memorizer have also stored described scene mould The parameter information of formula.Described wireless communication module, believes for receiving the monitoring from guardian's end.Described processor is additionally operable to ratio With described robot of accompanying and attending to, more described monitoring-information is currently located whether parameter information corresponding to scene mode mates, according to coupling Situation generates information.

Further, described control system also includes information acquisition unit, is arranged on the rolling bottom described robot body Dynamic assembly, and it is arranged on the driving motor within described robot body, described memorizer has also stored at least one route letter Breath.Described information acquisition unit, is used for obtaining current scene information.Described processor is additionally operable to current scene information described in comparison Robot is currently located whether scene information corresponding to scene mode mates, when described current scene is believed with accompanying and attending to described in storage Cease with storage described in accompany and attend to robot be currently located scene information corresponding to scene mode do not mate time, believe according to described route Breath controls described driving motor and drives described rolling assembly to be currently located, towards described robot of accompanying and attending to, the position that scene mode is corresponding Mobile.

Further, described control system also includes infrared distance induction module, and is arranged on robot body appearance Face is provided with a speaker, and described memorizer also stores at least one route information.Described infrared distance induction module, is used for detecting quilt Whether the people that accompanies and attends to is in its induction zone, and accompany and attend to described in obtaining robot and the actual range of being accompanied and attended between people.When being accompanied and attended to When people is not in described induction zone, described processor is additionally operable to generate broadcast message, and it is described extensively to control the broadcasting of described speaker Broadcast information；When accompanied and attended to people in described induction zone time, described processor controls described infrared distance induction module and obtains described Actual range.

Further, described control system also includes infrared distance induction module, and described robot body includes being arranged on Rolling assembly bottom described robot body, and it is arranged on the driving motor within described robot body, described storage Device has also stored a safe distance and at least one route information.Described infrared distance induction module, be used for obtaining described in accompany and attend to machine Device people and the actual range accompanied and attended between people.When described actual range is more than described safe distance, described processor is also used Described rolling assembly is driven to move towards described people direction of being accompanied and attended in controlling described driving motor.

Further, described control system also includes infrared distance induction module, is arranged on bottom described robot body Rolling assembly, and be arranged on the driving motor within described robot body, and be arranged on robot body outer surface Being provided with a speaker, described memorizer has also stored a safe distance and at least one route information.

Further, arrive when switching time described in one, and when described actual range is not more than described safe distance, described Processor is additionally operable to control described driving motor and drives described rolling assembly to be currently located scene mode towards described robot of accompanying and attending to Corresponding position is moved.

Further, it is currently located during position corresponding to scene mode move towards it in described robot of accompanying and attending to, When described actual range is more than described safe distance, robot of accompanying and attending to described in the control of described processor stops mobile, generates wide Broadcast information, and control the described speaker described broadcast message of broadcasting.

The one that the present invention implements to provide is accompanied and attended to robot, and processor controls this robot of accompanying and attending to cutting that memorizer stores Changing time-switching is corresponding scene mode；Act on being played good supervision by the daily life system of the people that accompanies and attends to, accompany and attend to effect relatively Good so that the people that accompanied and attended to is looked after by guardian robot of can relieved accompanying and attending to, and meets robot of accompanying and attending to and realizes truly The original intention accompanied and attended to.

For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate Appended accompanying drawing, is described in detail below.

Accompanying drawing explanation

In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this A little accompanying drawings obtain other relevant accompanying drawings.

Fig. 1 shows the structural representation of the robot body of the robot of accompanying and attending to that the embodiment of the present invention provides；

Fig. 2 shows the structural representation of the rolling assembly of the robot body of the robot of accompanying and attending to shown in Fig. 1；

Fig. 3 shows the first module diagram of the control system of the robot of accompanying and attending to that the embodiment of the present invention provides；

Fig. 4 shows the second module diagram of the control system of the robot of accompanying and attending to that the embodiment of the present invention provides.

Main element symbol description:

10-robot body；11-head；12-trunk；13-mechanical arm；Foot of 14-robot；15-display screen；16- Speaker；17-rolling assembly；171-supports wheel；172-castor；173-driven pulley；18-drives motor；20-control system；21- Memorizer；22-processor；23-information acquisition unit；231-locating module；232-image capture module；233-radio communication mold Block；24-display unit；The infrared tracing unit of 25-.

Detailed description of the invention

For the ease of understanding the present invention, below with reference to relevant drawings, robot of accompanying and attending to is become apparent from, intactly retouches State.Accompanying drawing gives the preferred embodiment of robot of accompanying and attending to.Robot of accompanying and attending to can be realized by many different forms, It is not limited to embodiment described herein.Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings below It is not intended to limit the scope of claimed invention, but is merely representative of the selected embodiment of the present invention.Based on the present invention Embodiment, the every other embodiment that those skilled in the art are obtained on the premise of not making creative work, all Belong to the scope of protection of the invention.

Embodiment 1

Fig. 1 shows the structural representation of the robot of accompanying and attending to that the embodiment of the present invention provides.

Accompany and attend to robot as it is shown in figure 1, embodiments provide one, including robot body 10.

Robot body 10 includes head 11,12, two mechanical arm 13 and Liang Ge foots of robot 14 of trunk.Trunk 12 are connected to bottom head 11.Two mechanical arms 13 are symmetricly set on trunk 12 near head 11 both sides.Two robot foot Portion 14 is symmetricly set on bottom trunk 12.

Further, robot body 10 outer surface is provided with a display screen 15 and speaker 16.In the present embodiment, display screen 15 are arranged on head 11 front end, and speaker 16 is arranged on head 11 top.It is appreciated that display screen 15 and speaker 16 can roots It is arranged on other positions of robot body 10, such as trunk 12 etc. according to demand.

See also shown in Fig. 2, bottom robot body 10, be provided with rolling assembly 17.In the present embodiment, each machine A rolling assembly 17 it is provided with bottom people foot 14.Rolling assembly 17 is for mobile robot of accompanying and attending to.Specifically, rolling assembly 17 wraps Include into support wheel 171, castor 172 and the driven pulley 173 of angular distribution.Further, foot of each robot 14 internal-internal It is provided with a driving motor 18.Driving motor 18 to be directly connected with castor 172, in the present embodiment, the quantity of castor 172 is one, In other examples, the quantity of castor 172 can be two or three.Driven pulley 173 is a kind of wheel not having and driving Son, when castor 172 rotates, the position of foot of robot 14 changes, driven pulley 173 thus rotate.Support wheel 171 Also be a kind of do not have drive wheel, when castor 172 rotates, the position of foot of robot 14 changes, support wheel 171 from And rotate.

Fig. 3 shows the module diagram of the robot of accompanying and attending to that the embodiment of the present invention provides.

See also shown in Fig. 1, Fig. 2 and Fig. 3, embodiments provide one accompany and attend to robot also include arrange Internal or the control system 20 on surface at robot body 10.

Control system 20 includes memorizer 21, processor 22, information acquisition unit 23 and display unit 24.Memorizer 21, Information acquisition unit 23 and display unit 24 are all electrically connected with processor 22.Further, display screen 15, speaker 16 and drive Galvanic electricity machine 18 is all electrically connected with processor 22.

Memorizer 21 is for storage at least one scene mode and the corresponding relation of switching time.

Specifically, according to accompany and attend to robot may scene, described scene mode includes different scene correspondence scene letter Cease and preset and perform order.Described pre-set commands can be the voice messaging of storage in memorizer 21, as " dotey, this is had lunch Hey！", it is also possible to it is that robot of accompanying and attending to moves to switching position etc. corresponding to scene mode.In the present embodiment, described scene Pattern includes but not limited to dining room scene mode, bedroom scene mode, parlor scene mode and toy district scene mode.According to quilt Accompany and attend to people daily life system custom and guardian to the requirement etc. by people's daily life system of accompanying and attending to, set each scene mode corresponding Switching time.Such as, the people that accompanied and attended to is accustomed to 12 noon clock and has lunch, and the switching time that can arrange dining room scene mode is noon 12 o'clock；Guardian requires that the people that accompanied and attended to sleeps at 10 o'clock at night, and the switching time that can arrange bedroom scene mode is evening 10 o'clock.Described scene information includes but not limited at least one positional information of described scene, image information and/or parameter letter Breath.Further, described positional information can be the geographical coordinate etc. of scene.Described image information can be that described scene is different The picture etc. of angle.Described parameter information can be the key word that can characterize this scene, and such as, the key word characterizing dining room can To be to have a meal, lunch, have dinner, be hungry, characterize the key word in bedroom can be sleep, have a rest, sleep etc..

Information acquisition unit 23 is used for obtaining current scene information.Described current scene information is current institute of robot of accompanying and attending to Scene information in scene.

Further, the robot of accompanying and attending to of processor 22 relatively described current scene information and storage is currently located scene mould Whether scene information corresponding to formula mates, when the robot of accompanying and attending to of described current scene information and storage is currently located scene mode When corresponding scene information does not mates, generate information and control display unit 24 shows described information.Another is implemented In example, processor 22 relatively described current scene information is currently located, with the robot of accompanying and attending to of storage, the scene that scene mode is corresponding Whether information mates, and believes when described current scene information is currently located scene corresponding to scene mode with the robot of accompanying and attending to of storage When breath does not mates, control to drive motor 18 to drive rolling assembly 17 to move towards the position being currently located scene mode corresponding, until Escort the people that accompanied and attended to and be currently located, to robot of accompanying and attending to, the position that scene mode is corresponding, thus ensure by the normal work of the people that accompanies and attends to Breath, it is achieved accompanying and attending to truly, effect of accompanying and attending to is preferable.

In the present embodiment, information acquisition unit 23 includes locating module 231.Locating module 231 is accompanied and attended to machine for acquisition The current location information of people.

When arriving the switching time of a scene mode, processor 22 controls to accompany and attend to robot according to this scene mode correspondence Scene information, control robot of accompanying and attending to and switch into this scene mode.Further, processor 22 relatively described current location With robot of accompanying and attending to, information is currently located whether positional information corresponding to scene mode mates.When accompanying and attending to, robot is currently located field When positional information that scape pattern is corresponding and described current location information do not mate, processor 22 generates information.Described prompting Information is the information of certain action that should be carried out under this scene mode by the people that accompanies and attends to for prompting, can be tutorial record Sound, such as " dotey, you should have lunch！", or video recording etc..Described information can be audio frequency, picture, screen and text Deng form.

Such as, in a upper citing, at 10 o'clock at night, processor 22 controls robot of accompanying and attending to and switches into bedroom scene Pattern.Meanwhile, processor 22 controls locating module 231 and obtains the current location information of robot of accompanying and attending to, and compares machine of accompanying and attending to People is currently located positional information corresponding to scene mode and described current location information.Relatively discovery robot of accompanying and attending to is currently located Scene is parlor, represents that the people that currently accompanied and attended to has not returned to bedroom and has a rest, then it is corresponding that robot of accompanying and attending to is currently located scene mode Scene information and the scene information of described acquisition do not mate, processor 22 generates information, as " dotey, you should sleep ?！" etc..

In another embodiment, information acquisition unit 23 also includes image capture module 232.Image capture module 232 is used for Accompany and attend to described in acquisition the present image information around robot.

When arriving the switching time of a scene mode, processor 22 controls to accompany and attend to robot according to this scene mode correspondence Scene information, control robot of accompanying and attending to and switch into this scene mode.Further, processor 22 relatively described present image With robot of accompanying and attending to, information is currently located whether image information corresponding to scene mode mates.When accompanying and attending to, robot is currently located field When image information that scape pattern is corresponding and described present image information are not mated, processor 22 generates described information.

In another embodiment, information acquisition unit 23 also includes wireless communication module 233.Wireless communication module 233 is used for Receive the monitoring-information from guardian's end.

Specifically, described monitoring-information is the voice or text message normally worked and rested by the people that accompanies and attends to for prompting, as " little Bright, remember to have lunch on time！”.Further, processor 22 compares robot of accompanying and attending to be currently located scene mode corresponding Whether parameter information and described monitoring-information mate.In other words, processor 22 compares robot of accompanying and attending to and is currently located scene mould Whether parameter information and described monitoring-information that formula is corresponding have identical key word.When robot of accompanying and attending to is currently located scene mould When parameter information that formula is corresponding and described monitoring-information do not mate, processor 22 generates described information.

Display unit 24 is used for showing described information.

In the present embodiment, display unit 24 includes display screen 15 and speaker 16.Specifically, when described information is for scheming When sheet or text formatting, processor 22 controls display screen 15 and shows described information；When described information is audio format Time, processor 22 controls speaker 16 and plays described information；When described information is video format, processor 22 is controlled Display screen 15 processed and speaker 16 play described information, thus prompting is accompanied and attended to, people normally works and rests.

Embodiment 2

Fig. 4 shows the module diagram of the robot of accompanying and attending to that the embodiment of the present invention provides.

See also shown in Fig. 1, Fig. 2 and Fig. 4, embodiments provide one accompany and attend to robot also include arrange Internal or the control system 20 on surface at robot body 10.

Control system 20 includes memorizer 21, processor 22, information acquisition unit 23, display unit 24 and infrared tracking list Unit 25.Memorizer 21, information acquisition unit 23, display unit 24 and infrared tracing unit 25 are all electrically connected with processor 22. Further, display screen 15, speaker 16 and driving motor 18 are all electrically connected with processor 22.

Memorizer 21 is for storage one safe distance, and at least one scene mode and the corresponding relation of switching time.

Specifically, described safe distance be infrared tracing unit 25 induction zone in centered by robot of accompanying and attending to one section Distance, such as 3m, it will be understood that described safe distance can select other numerical value.

Infrared tracing unit 25, for obtaining accompany and attend to robot and the actual range of being accompanied and attended between people, follows the trail of described being accompanied Protect people, keep described actual range to be not more than described safe distance.

Specifically, infrared tracing unit 25 includes infrared distance induction module (not shown).Infrared distance induction module Accompanied and attended to people whether in its induction zone for detection.When by accompanied and attended to people not infrared distance induction module induction zone in time, Processor 22 generates broadcast message, and control speaker 16 plays described broadcast message.Described broadcast message is for being used for pointing out quilt The people that accompanies and attends to enters the voice messaging of infrared distance induction module induction zone, as " dotey accompanies with me soon！" etc..When by the people that accompanies and attends to Time in the induction zone of infrared distance induction module, infrared distance induction module is additionally operable to acquisition robot of accompanying and attending to and is accompanied with described Protect the actual range of people.

In the present embodiment, infrared tracing unit 25 also includes rolling assembly 17 and drives motor 18.Memorizer 21 also stores There is at least one route information.Described route information is the cartographic information from a scene to another scene.When described actual range is big When described safe distance, processor 22 controls to drive motor 18 to drive rolling assembly 17 to move towards described people position of being accompanied and attended to Dynamic, thus ensure to be accompanied and attended to people in the safe distance accompanying and attending to robot.Specifically, processor 22 stores according to memorizer 21 Described route information controls to drive motor 18 to drive rolling assembly 17 to roll along described optimal path, thus robot of accompanying and attending to shifts to By the people that accompanies and attends to.

Information acquisition unit 23 is used for obtaining current scene information.Described current scene information is current institute of robot of accompanying and attending to Scene information in scene.

In the present embodiment, information acquisition unit 23 includes locating module 231.Locating module 231 is accompanied and attended to machine for acquisition The current location information of people.

When arriving the switching time of a scene mode, processor 22 controls to accompany and attend to robot according to this scene mode correspondence Scene information, control robot of accompanying and attending to and switch into this scene mode.Further, processor 22 compare accompany and attend to robot work as Whether positional information and described current location information that front place scene mode is corresponding mate.When accompanying and attending to, robot is currently located field When positional information that scape pattern is corresponding and described current location information do not mate, processor 22 generates information.

Further, when actual range is not more than safe distance, and robot of accompanying and attending to be currently located scene mode corresponding When positional information and current location information do not mate, processor 22 is additionally operable to control to drive motor 18 to drive rolling assembly 17 towards working as The position that front place scene mode is corresponding is moved.In robot of accompanying and attending to towards being currently located the mistake that position corresponding to scene mode is moved Cheng Zhong, if actual range is more than safe distance, represent the people that accompanied and attended to again away from robot of accompanying and attending to, processor 22 controls to accompany and attend to Robot stops mobile, and control speaker 16 plays described broadcast message again, thus calling is accompanied and attended to, people returns to the machine of accompanying and attending to Device people is at one's side.The people that waits to be accompanied and attended to return to accompany and attend to robot at one's side, when the most described actual range is not more than described safe distance, process Device 22 robot that controls to accompany and attend to continues the position that robot is currently located scene mode corresponding towards accompanying and attending to and moves, until escort is accompanied Protect people and be currently located, to robot of accompanying and attending to, the position that scene mode is corresponding, thus ensure by the normal work and rest of the people that accompanies and attends to, it is achieved be true Accompanying and attending in positive meaning, effect of accompanying and attending to is preferable.

In another embodiment, information acquisition unit 23 also includes image capture module 232.Image capture module 232 is used for Accompany and attend to described in acquisition the present image information around robot.

When arriving the switching time of a scene mode, processor 22 controls to accompany and attend to robot according to this scene mode correspondence Scene information, control robot of accompanying and attending to and switch into this scene mode.Further, processor 22 compare accompany and attend to robot work as Whether image information and described present image information that front place scene mode is corresponding mate.When accompanying and attending to, robot is currently located field When image information that scape pattern is corresponding and described present image information are not mated, processor 22 generates described information.

Further, when actual range is not more than safe distance, and robot of accompanying and attending to be currently located scene mode corresponding When image information and present image information are not mated, processor 22 is additionally operable to control to drive motor 18 to drive rolling assembly 17 towards working as The position that front place scene mode is corresponding is moved.In robot of accompanying and attending to towards being currently located the mistake that position corresponding to scene mode is moved Cheng Zhong, if actual range is more than safe distance, represent the people that accompanied and attended to again away from robot of accompanying and attending to, processor 22 controls to accompany and attend to Robot stops mobile, and control speaker 16 plays described broadcast message again, thus calling is accompanied and attended to, people returns to the machine of accompanying and attending to Device people is at one's side.The people that waits to be accompanied and attended to return to accompany and attend to robot at one's side, when the most described actual range is not more than described safe distance, process Device 22 robot that controls to accompany and attend to continues the position that robot is currently located scene mode corresponding towards accompanying and attending to and moves, until escort is accompanied Protect people and be currently located, to robot of accompanying and attending to, the position that scene mode is corresponding, thus ensure by the normal work and rest of the people that accompanies and attends to, it is achieved be true Accompanying and attending in positive meaning, effect of accompanying and attending to is preferable.

In another embodiment, information acquisition unit 23 also includes wireless communication module 233.Wireless communication module 233 is used for Receive the monitoring-information from guardian's end.

Specifically, described monitoring-information is the voice or text message normally worked and rested by the people that accompanies and attends to for prompting, as " little Bright, remember to have lunch on time！”.Further, processor 22 compares robot of accompanying and attending to be currently located scene mode corresponding Whether parameter information and described monitoring-information mate.In other words, processor 22 compares robot of accompanying and attending to and is currently located scene mould Whether parameter information and described monitoring-information that formula is corresponding have identical key word.When robot of accompanying and attending to is currently located scene mould When parameter information that formula is corresponding and described monitoring-information do not mate, processor 22 generates described information.

Further, when actual range is not more than safe distance, and robot of accompanying and attending to be currently located scene mode corresponding When parameter information and monitoring-information do not mate, processor 22 is additionally operable to control to drive motor 18 to drive rolling assembly 17 towards current institute The position corresponding at scene mode is moved.In robot of accompanying and attending to towards being currently located the process that position corresponding to scene mode is moved In, if actual range is more than safe distance, represent the people that accompanied and attended to again away from robot of accompanying and attending to, processor 22 controls to accompany and attend to machine Device people stops mobile, and control speaker 16 plays described broadcast message again, thus calling is accompanied and attended to, people returns to machine of accompanying and attending to People is at one's side.The people that waits to be accompanied and attended to return to accompany and attend to robot at one's side, when the most described actual range is not more than described safe distance, processor 22 robots that control to accompany and attend to continue the position that robot is currently located scene mode corresponding towards accompanying and attending to and move, until escort is accompanied and attended to People is currently located, to robot of accompanying and attending to, the position that scene mode is corresponding, thus ensures by the normal work and rest of the people that accompanies and attends to, it is achieved real Accompanying and attending in meaning, effect of accompanying and attending to is preferable.

Display unit 24 is used for showing described information.

In the present embodiment, display unit 24 includes display screen 15 and speaker 16.Specifically, when described information is for scheming When sheet or text formatting, processor 22 controls display screen 15 and shows described information；When described information is audio format Time, processor 22 controls speaker 16 and plays described information；When described information is video format, processor 22 is controlled Display screen 15 processed and speaker 16 play described information, thus prompting is accompanied and attended to, people normally works and rests.

The one that the present invention implements to provide is accompanied and attended to robot, and processor controls this robot of accompanying and attending to cutting that memorizer stores Changing time-switching is corresponding scene mode；Act on being played good supervision by the daily life system of the people that accompanies and attends to, accompany and attend to effect relatively Good so that the people that accompanied and attended to is looked after by guardian robot of can relieved accompanying and attending to, and meets robot of accompanying and attending to and realizes truly The original intention accompanied and attended to.

In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, and not It is that therefore, other examples of exemplary embodiment can have different values in order to limit.It should also be noted that similar label and word Female expression similar terms in following accompanying drawing, therefore, is defined in the most a certain Xiang Yi accompanying drawing, then in accompanying drawing subsequently Need not it be defined further and explains.

In several embodiments provided herein, it should be understood that disclosed device can be by other side Formula realizes.Device embodiment described above is only that schematically such as, the division of described unit, the most only one are patrolled Volume function divides, and actual can have other dividing mode when realizing, the most such as, multiple unit or assembly can in conjunction with or can To be integrated into another system, or some features can be ignored, or does not performs.Another point, shown or discussed each other Coupling direct-coupling or communication connection can be the INDIRECT COUPLING by some communication interfaces, device or unit or communication link Connect, can be electrical, machinery or other form.

The described unit illustrated for separating component can be or may not be physically separate, shows for unit Parts can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple network On unit.Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.

It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.

The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.