CN108491509A

CN108491509A - A kind of mapping of sensing data, Services Composition and intelligent Service method and device

Info

Publication number: CN108491509A
Application number: CN201810241268.2A
Authority: CN
Inventors: 路飞; 刘硕; 田国会; 孙晓红; 黄敏; 孟可
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2018-03-22
Filing date: 2018-03-22
Publication date: 2018-09-04

Abstract

The invention discloses a kind of mapping of sensing data, Services Composition and intelligent Service method and devices, the sensing data ontology model in intelligent space is established using SSN ontologies, dynamic pickup data are mapped into SSN ontology files automatically by sensor mark and Semantic mapping language (SASML), realize the conversion of physics-information.On this basis, using the thought of service-oriented computing, Space Facilities function package is established by intelligent space service model at unified interface using Web service technology.Finally, Dynamic Web Services Composition is realized using non recounting reverse strand algorithm, to realize the ability for providing complex services.The SSN ontology models of structure can effective integration sensor data information, single simple services component can be combined into the service sequences with sophisticated functions by the Service Combination Algorithm of realization, to further increase the intelligent of robot service.

Description

A kind of mapping of sensing data, Services Composition and intelligent Service method and device

Technical field

The invention belongs to the technical field of intelligent Service, it is related to a kind of sensing data mapping, Services Composition and intelligent Service Method and device, more particularly, to a kind of intelligent Service space sensing data mapping method and device, a kind of intelligent Service space Service combining method and device and a kind of intelligent Service space intelligent method of servicing and device.

Background technology

Currently, the equipment and sensor in intelligent Service space are continuously increased, sensor is constantly be generated greatly in a steady stream Measure sensing data.Independent sensing data is cooperatively service robot system due to lacking semantic information and being difficult to integrate in Environmental information is provided to support.Realize efficiently using for data information, providing ambient enviroment for intelligent robot understands as machine People service system research and development person problem needed to be considered.In addition, under man-machine co-melting service environment, it is desirable to robot tools The standby ability for providing complex services can be believed on the basis of analyzing user task request in conjunction with currently practical environment Breath, provides more intelligentized service to the user.Single service function is difficult to complete user task sometimes, and service robot needs The service sequence that can meet user demand is extracted according to existing service in current context information and system service pond Row, to complete the task of user's proposition.

In recent years, surround intelligent Service space in environment information integration and robot Services Composition problem, numerous scholars into A large amount of research is gone.In order to enable the sensing data of different-format in intelligent space effectively to be applied by user, semanteme is utilized Web is that Sensor Network increases semantic information as the unitized mode of sensing data.Research at this stage uses such as R2RML (RDB more To RDF mapping language), the mapped specifics language such as D2RQ (Database to RDF query) is by sensor number According to being mapped in already present domain body, although this kind of mapping language has different data sources and different domain bodies Versatility, but be not to be specially designed for the mapping language for supporting sensing data to ontology, occupation mode is comparatively laborious.

In robot system Intelligent Service field, Dalal T et al. think that ubiquitous environment includes various smart machines, if Interactive communication between standby forms a ubiquitous information processing system, by the method planned based on AI for solving Services Composition Problem devises a Services Composition frame for including event calculus inference system.It is also proposed in the prior art based on component Change mode builds the thinking of robot system, ubiquitous computation environment is combined with robot, to modularization robot software's system Certain realization has been done, and has attempted to study the intelligent of various services in such componentized system." it is based on driving parameter machine The service robot task automatic combination method of a system " text utilizes the method based on driving parameter, by spatial information and ring The analysis of border context-aware enables robot to realize task combination distribution according to scene come automatic.But robot is to environment The acquisition and utilization of the knowledge such as spatial information are limited, and this restrict robots to provide the intelligent of service to user." intelligent space Under the service autonomous cognition of robot and planning based on ontology " in a text using Ontology rule and JSHOP2 mission plannings Method enables service robot to realize the autonomous cognition to task according to environmental information and user information, is actively carried for user For personalized service.But the semantic rules for expressing user's custom and hobby belong to firm constraints, cannot achieve the adaptive of rule It should adjust, the intelligent level of service awareness is relatively low.

Intelligent Service problem is utilized and improved for robot service environment data, and current most of researchs are with specific Mode carries out the storage and utilization of data, and the data information system of structure can not mutually melt with external smart robot service system It closes；Robot service spininess asks specific user, and service interface does not have versatility, and function is also more single.

In conclusion the problem of being utilized for robot service environment data in the prior art and improving Intelligent Service, such as What improves the intelligent of sensor data information utilizability and robot service, still lacks effective solution.

Invention content

For the deficiencies in the prior art, how solution improves sensor data information utilizability in the prior art With the intelligent problem of robot service, the present invention proposes sensing data mapping, service group under a kind of intelligent Service space Conjunction and intelligent Service method and device, general clothes are constructed by sensing data mapping method under intelligent Service space and device Business environmental information data model, provides real time environment Informational support for robot service system, then passes through intelligent Service space Lower service combining method and device construct intelligent space service model, and Dynamic Web is realized using non recounting reverse strand algorithm Services Composition, intelligent Service method and device keeps robot service more intelligent under intelligent Service space.

The first object of the present invention is to provide a kind of sensing data mapping method, is passed under specially a kind of intelligent Service space Feel data mapping method.

To achieve the goals above, the present invention is using a kind of following technical solution：

A kind of sensing data mapping method, this method include：

Receive environment heat transfer agent data；

Environmentally sensitive information data is mapped to SSN ontologies using SASML language, forms sensing ontology file；

General service environment Information Data model is built according to sensing ontology file.

Scheme as a further preference, it is described that environmentally sensitive information data is mapped to SSN ontologies using SASML language Specific method step include：

The mapping relations between preset storage form element and SSN ontology elements are received, mapping relations are marked；

Using pre-defined SASML schema files according to the mapping relations of mark, environmentally sensitive information data is written In SASML schema files, relationship map file is created；

Environmentally sensitive information data in relationship map file is automatically converted to sensor body example.

The second object of the present invention is to provide a kind of computer readable storage medium.

A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device equipment Processor load and execute following processing：

Receive environment heat transfer agent data；

The third object of the present invention is to provide a kind of terminal device.

A kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates Machine readable storage medium storing program for executing is suitable for being loaded by processor and executing following processing for storing a plurality of instruction, described instruction：

Receive environment heat transfer agent data；

The fourth object of the present invention is to provide a kind of service combining method, service group under specially a kind of intelligent Service space Conjunction method.

A kind of service combining method, this method include：

Different intelligent functions of the equipments are uniformly packaged by the consistent service interface of canonical form using Web service technology, and Service interface is stored in fixed service pool；

Service pool receives user service request, judges that can the service of single service interface meet user service request；

When the service of single service interface in service pool cannot be satisfied user service request, calculated using non recounting reverse strand Method asks to extract existing fine-grained services in service pool according to user service and is combined into coarse granularity services.

Scheme as a further preference, this method will also be to environmental information ontology knowledge bases using Web service technology It accesses and is uniformly packaged into the consistent service interface of canonical form with status modifier, and service interface is stored in fixed service Pond.

Scheme as a further preference, each service of the service interface and the WSDL of Web service describe file pair It answers.

Scheme as a further preference predefines service fundamental, the service fundamental packet in the method Ambient condition is produced after including the input parameter of service, the output parameter of service, the predetermined environmental condition of service call, service execution Raw influence and the function description to service；The user service request is corresponding with the input parameter of service.

Scheme as a further preference, in the method, according to the correlation between Web service parameter, by service pool Structure derives Network Service Model, and the derivation relationship type derived in Network Service Model is pushed away including the first derivation type, second Conductivity type, third derive type and the 4th and derive type；

Described first, which derives the generation node that type indicates that one derives in network, is subjected to multiple input output parameter section Point；

The second derivation type indicates that multiple input output parameter node can generate the generation in the same derivation network Node；

The third derives the generation node that type indicates that one derives in network and is subjected to an input/output argument section Point；

The 4th derivation type indicates that an input/output argument node can generate a generation section derived in network Point.

Scheme as a further preference, it is described to be asked to extract service according to user service using non recounting reverse strand algorithm The specific method step that existing fine-grained services are combined into coarse granularity services in pond includes：

According to the input parameter of user, the derivation pass for meeting the input parameter set is found out in deriving Network Service Model Assembly is closed；

According to the desired output parameter of user and set of relationship is derived, the phase for meeting user is asked in the derivation set of relationship Hope the service synthetic schemes of each parameter in output parameter.

Scheme as a further preference, the input parameter according to user find out full in deriving Network Service Model The specific method step of the derivation set of relationship of the input parameter set includes enough：

Receive the input parameter set and service model production set of user；

Parameter initialization is given the input parameter aggregate assignment of user to closure parameter sets input by user, and will be derived Set of relationship is set to empty set；

Each production in service model production set is handled, if to be integrally incorporated in user defeated for its left end parameter In the closure parameter sets entered and not in deriving set of relationship, next step is executed, otherwise skips and executes in next step；

If the right end parameter of the production in closure parameter sets input by user, is not added into；If the generation The left end number of parameters of formula is more than 1, then it belongs to the derivation relationship of the first derivation type, is added and derives set of relationship；If the production The left end number of parameters of raw formula is equal to 1, then it belongs to the derivation relationship that third derives type, is added and derives set of relationship；If pushing away The right end parameter that the production is not present in set of relationship is led, then it belongs to the derivation relationship of the 4th derivation type, is added and derives Set of relationship；If deriving there are the right end parameter of the production in set of relationship, the derivation for belonging to the second derivation type is closed System, changes this relationship, the production is added in its left part；

Judge to derive whether set of relationship increases, if increasing, return to the production in processing service model production set, Otherwise it completes, output derives set of relationship and closure parameter sets input by user.

Scheme as a further preference, the desired output parameter according to user and derivation set of relationship are in the derivation The specific method step of the service synthetic schemes of each parameter in the desired output parameter for meet user is asked to include in set of relationship：

Receive input parameter set, the desired output parameter sets of user, the closure parameter sets input by user of user With derivation set of relationship；

Judge the desired output parameter in the desired output parameter sets of user whether in closure parameter set input by user In conjunction, and if it exists, next step is executed, if being executed there is no lower two steps are skipped；

The desired output parameter is added in synthetic schemes stack set；

The synthetic schemes of synthetic schemes stack stack top is handled, if all start node of the synthetic schemes is Parameter nodes, And be all contained in the input parameter set of user, then terminate composition algorithm, calls corresponding service in synthetic schemes；Otherwise, From any node of the start node not in the input parameter set of user is taken in the synthetic schemes, if the node is production section Point then finds out the derivation relationship that right end is the node from derivation set of relationship, which is added to the synthetic schemes In, which is pressed into synthetic schemes stack stack top；If the node is Parameter nodes, right end is found out in set of relationship from leading It is the derivation relationship of the node, which is then added to the synthesis side by the derivation relationship for deriving type if it is the 4th In case, which is pressed into synthetic schemes stack stack top；The derivation relationship for deriving type if it is second then splits into n The derivation relationship that third derives type is separately added into the synthetic schemes, forms n synthetic schemes, and be respectively pressed into synthetic schemes Stack stack top；

Judge whether if it is empty non-empty then completes output synthetic schemes stack to synthetic schemes stack set；Otherwise processing is returned to close At the synthetic schemes of scheme stack stack top.

The fifth object of the present invention is to provide a kind of computer readable storage medium.

Service pool receives user service request, judges that can single service interface meet user service request；

When in service pool single service interface cannot be satisfied user service request when, using non recounting reverse strand algorithm according to User service request extracts existing fine-grained services in service pool and is combined into coarse granularity services.

The sixth object of the present invention is to provide a kind of terminal device.

The seventh object of the present invention is to provide a kind of intelligent Service method, Intellectual garment under specially a kind of intelligent Service space Business method.This method is based on a kind of above-mentioned sensing data mapping method and a kind of service combining method.

A kind of intelligent Service method, this method include：

Receive user service request and environmentally sensitive information data；

Environmentally sensitive information data is mapped as using sensing data mapping method by general sensing ontology file；

Based on the intelligent space service model that service combining method is established, according to user service request and general sensing sheet Body file obtains intelligent Service.

The eigth object of the present invention is to provide a kind of computer readable storage medium.

Receive user service request and environmentally sensitive information data；

The ninth object of the present invention is to provide a kind of terminal device.

Receive user service request and environmentally sensitive information data；

Beneficial effects of the present invention：

A kind of sensing data mapping, Services Composition and intelligent Service method and device of the present invention, are reflected using SASML It penetrates language and environmentally sensitive information data is mapped to SSN ontology files, construct general service environment Information Data model, be The smart machine in intelligent Service space provides real time environment Informational support；Then use Web service technology by the equipment in space Function package is at unified service interface, it is established that intelligent space service model is realized dynamic using non recounting reverse strand algorithm State Web service combination keeps robot service more intelligent.

Description of the drawings

The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.

Fig. 1 is the instances of ontology block diagram of the present invention；

Fig. 2 is the SSN body module structure charts of the present invention；

Fig. 3 is the flow chart of inventive sensor data mapping；

Fig. 4 is the relation database table storage metadata information figure of the present invention；

Fig. 5 is the SASML mapped mode file schematic diagrames of the present invention；

Fig. 6 is that data of the present invention are converted to instances of ontology key procedure piece schematic diagram；

Fig. 7 is service pool schematic diagram of the present invention；

Fig. 8 is wsdl document structural schematic diagram of the present invention；

Fig. 9 is non recounting reverse strand Services Composition schematic diagram of the present invention；

Figure 10 is the data storage schematic diagram in MySql databases of the present invention；

Figure 11 is the verification result figure in Prot é g é softwares of the present invention；

Figure 12 is Service Combination Algorithm time comparison schematic diagram of the present invention；

Figure 13 is nursing robot experiment porch schematic diagram of the present invention；

Figure 14 is Services Composition result schematic diagram of the present invention.

Specific implementation mode：

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field Normally understood identical meanings.

It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.

It should be noted that flowcharts and block diagrams in the drawings show according to various embodiments of the present disclosure method and The architecture, function and operation in the cards of system.It should be noted that each box in flowchart or block diagram can represent A part for a part for one module, program segment, or code, the module, program segment, or code may include one or more A executable instruction for realizing the logic function of defined in each embodiment.It should also be noted that some alternately Realization in, the function that is marked in box can also occur according to the sequence different from being marked in attached drawing.For example, two connect The box even indicated can essentially be basically executed in parallel or they can also be executed in a reverse order sometimes, This depends on involved function.It should also be noted that each box in flowchart and or block diagram and flow chart And/or the combination of the box in block diagram, it can be come using the dedicated hardware based system for executing defined functions or operations It realizes, or can make to combine using a combination of dedicated hardware and computer instructions to realize.

In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other with reference to The invention will be further described with embodiment for attached drawing.

Embodiment 1：

The purpose of the present embodiment 1 is to provide sensing data mapping method under a kind of intelligent Service space.

Sensing data mapping method under a kind of intelligent Service space, this method include：

Step (1)：Receive environment heat transfer agent data；

Step (2)：Environmentally sensitive information data is mapped to SSN ontologies using SASML language, forms sensing ontology text Part；

Step (3)：General service environment Information Data model is built according to sensing ontology file.

The present embodiment is using SSN (Semantic Sensor Network) ontology in terms of sensing data semantic meaning representation Advantage, the intelligent space raw sensor data of acquisition is passed through into SASML (Sensor Annotation and Semantic Mapping Language) language is mapped into intelligent space domain body.

The process of data mapping namely the process of SSN instances of ontology, as shown in Figure 1.

First via domain expert according to the conceptual relation knowledge structuring domain body of this field, the present embodiment uses SSN Upper layer ontology of the ontology as sensor field；

Original sensor information is saved into original data storage location by information acquisition system (for example, relationship number in real time According to library, xml document, csv files etc.), using the side of RDF (Resource Description Framework) relationship map These raw sensory data are added in sensory field ontology by method, constitute instances of ontology, and environment is provided for upper-layer user's application The support of information.

An ontology specification of the SSN ontologies as semantic sensors net field, sensor is described using 2 ontologies of OWL, It is studied and is safeguarded by W3C semantic sensor networks working group SSN-XG.SSN ontologies can describe function and attribute, the survey of sensor The information of amount process and sensor deployment etc., can also describe sensor, the accuracy of sensor, the observation of sensor Value and measurement method can be also used for describing some not being sensor but relevant specific information, such as linear module and sight Location is set.When single SSN ontologies cannot meet the application study of user, SSN ontologies can also be with other field ontology It is merged.

Genus in complete S SN ontologies and relationship numerous complicated, herein according to the practical need of intelligent space service environment It wants, appropriate cutting modification has been carried out on the basis of complete S SN ontologies, the SSN ontologies after cutting are as shown in table 1.

Table 1 cuts out modified SSN Noumenon properties class relationship

The ontology elements such as part body attribute, domain and codomain are listed in table 1, if not adding specified otherwise, these The name space that element of volume uses is " ssn:”.Wherein, 1~2 row indicates that the succession of sensor body class and apparatus body class is closed System, 3~6 row embodiments observation of sensor, deployed position, sensor type and sensor observation acquisition when Between etc. information.The purpose element that these ontology elements will be mapped as sensing data generates and preserves specific real time environment sensing The sensing instances of ontology of device information.The quantity and relation on attributes that sensor body example generates depend in sensing data source Specific data preserve form and data content.

SSN ontologies can be divided into ten modules according to concept, as shown in Figure 2.Entire SSN ontologies include 41 concepts and 39 object properties, wherein 11 concepts and 14 object properties are directly inherited from linguistics and cognitive engineering (DOLCE) Concept.

In semantic sensors data integration field, more common method is exactly data mapping, and SASML mapping languages are substantially It is a kind of " relationship-object " mapping language [12].SASML mapping languages are utilized herein, and sensing data and SSN ontologies are carried out Mapping

The present embodiment the step of in (2), as shown in figure 3, described reflected environmentally sensitive information data using SASML language The specific method step for being mapped to SSN ontologies includes：

Step (2-1)：Receive the mapping relations between preset storage form element and SSN ontology elements, mark mapping Relationship；

Step (2-2)：Using pre-defined SASML schema files according to the mapping relations of mark, environmentally sensitive is believed It ceases in data write-in SASML schema files, creates relationship map file；

Step (2-3)：Environmentally sensitive information data in relationship map file is automatically converted to sensor body example.

The present embodiment the step of in (2-1), storage of the mapping relations according to specific sensing data source is marked manually Form or file format (relational database, xml document, txt file etc.), by specific storage form element and after cutting out modification SSN ontology elements between mapping relations marked manually.Sensing data herein is acquired and is preserved by sensing equipment In relational database, the metadata information of database table is as shown in Figure 4.It is in store in primary database table tb_sensor_info The field informations such as ID, type ID, unit ID and the deployed position ID of sensor, provide and are associated from the main fields of table.Its Its four table is the slave table of master reference table, their main fields pass through the specific storage sensor of relevant field in the main table of association Certain class data.As the observation time for saving sensor from the sensing data table tb_sensor_observation of table Data, these three numbers of tb_sensor_type, tb_sensor_unit and tb_sensor_location are recorded with observation Store the information such as the type, observation unit and the position of deployment of sensor respectively according to table.Pass through analyte sensors data The sheet form of library storage, the mapping relations marked manually are as shown in table 2.

2 database element of table and SASML schema elements mapping relations

The present embodiment the step of in (2-2), creates relationship map Files step and use the SASML patterns pre-defined File will be stored in the sensing of certain position (being relational database in the present embodiment) according to the mapping relations marked in the first step Device initial data is written in the element of schema file.

The present embodiment describes SASML schema elements with the format of xml document.One side xml can be by program neatly Accessing operation is carried out, the storage mode of xml document tag element-value facilitates the preservation of sensing data；Another aspect ontology File is also by being generated on the basis of xml, and the storage mode of triple form and tag element-value has inherent similitude, side Just automatch writes during third walks.As shown in figure 5, each of SASML mapped mode files DataSourceMapping identifies a specific data source, and daughter element is divided into two parts, DataSourceName and InfoTableName indicates data table information, SensorAnnotation elements and its daughter element common ID sensor mark Information, for preserving the specific every practical data to be mapped of sensor.

SASML mapping template files pass through after step (2-2), are converted into reflecting in store real sensor data information File is penetrated, the specific measurement data of items of sensor is stored in the tag element of xml mapped files.Tag element name characterizes number According to meaning, tag element value characterizes specific data value.

The present embodiment the step of in (2-3), the SASML mapped files that are generated according to second step using programming mode, SASML schema elements and SSN ontologies correspondence and SSN ontologies, are automatically converted to the sensing data in mapped file Instances of ontology.

Accessing operation, key procedure are carried out to SSN ontology files using the Ontology API in Jena program bags herein Segment is as shown in Figure 6.Here for adding temperature sensor instances of ontology, the domain body being pre-created, structure are read in first Build SSN ontology models, then read engineering catalogue under mapped file and parsing, during parsing mapped file according to Specific sensing data under mapped file mode tag is converted by the correspondence of SASML schema elements and SSN ontology elements Instances of ontology is written to ontological relationship in SSN ontologies.After being walked by third, included in domain body SSN models Sensor body example associated with actual environment heat transfer agent.

During entire information data maps, SASML mapped files are in sensor storage data source and SSN ontologies Between position, play function served as bridge.For the data source of different forms, it should different by marking establishment manually SASML schema elements, and the schema elements of mark ontology class corresponding with SSN ontologies and Noumenon property relationship are set up pair It should be related to.

There are two data conversion process for data mapping, when by data source to the conversion of Template Map file, second is that by Conversion of the mapped file to SSN ontologies.Include specific sensing instances of ontology, these sensors in finally formed ontology file Instances of ontology adds semantic meaning representation on the basis of original sensor data information, enhance these data utilizability and Versatility.According to some sensing instances of ontology in ontology file, we can not have to obtain with reference to other additional data sources Take the information such as type, measured value record, the unit of measured value and the sensor deployment position of the sensor.Sense ontology file The part in intelligent space service knowledge library is formed, can be used alone can also be with the other field sheet in intelligent Service space Body is used in combination, to support upper-layer user is served by obtain real time environment information.

Embodiment 2：

The purpose of the present embodiment 2 is to provide a kind of computer readable storage medium.

Step (1)：Receive environment heat transfer agent data；

Embodiment 3：

The purpose of the present embodiment 3 is to provide a kind of terminal device.

Step (1)：Receive environment heat transfer agent data；

These computer executable instructions make the equipment execute according to each reality in the disclosure when running in a device Apply method or process described in example.

In the present embodiment, computer program product may include computer readable storage medium, containing for holding The computer-readable program instructions of row various aspects of the disclosure.Computer readable storage medium can be kept and store By the tangible device for the instruction that instruction execution equipment uses.Computer readable storage medium for example can be-- but it is unlimited In-- storage device electric, magnetic storage apparatus, light storage device, electromagnetism storage device, semiconductor memory apparatus or above-mentioned Any appropriate combination.The more specific example (non exhaustive list) of computer readable storage medium includes：Portable computing Machine disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or Flash memory), static RAM (SRAM), Portable compressed disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, the punch card for being for example stored thereon with instruction or groove internal projection structure, with And above-mentioned any appropriate combination.Computer readable storage medium used herein above is not interpreted instantaneous signal itself, The electromagnetic wave of such as radio wave or other Free propagations, the electromagnetic wave propagated by waveguide or other transmission mediums (for example, Pass through the light pulse of fiber optic cables) or pass through electric wire transmit electric signal.

Computer-readable program instructions described herein can be downloaded to from computer readable storage medium it is each calculate/ Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network Portion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gateway Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment In calculation machine readable storage medium storing program for executing.

Computer program instructions for executing present disclosure operation can be assembly instruction, instruction set architecture (ISA) Instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programmings Language arbitrarily combines the source code or object code write, the programming language include the programming language-of object-oriented such as C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to Order can be executed fully, partly be executed on the user computer, as an independent software package on the user computer Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server It executes.In situations involving remote computers, remote computer can include LAN by the network-of any kind (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet Service provider is connected by internet).In some embodiments, believe by using the state of computer-readable program instructions Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic Array (PLA), the electronic circuit can execute computer-readable program instructions, to realize the various aspects of present disclosure.

It should be noted that although being referred to several modules or submodule of equipment in the detailed description above, it is this Division is merely exemplary rather than enforceable.In fact, in accordance with an embodiment of the present disclosure, two or more above-described moulds The feature and function of block can embody in a module.Conversely, the feature and function of an above-described module can be with It is further divided into and is embodied by multiple modules.

Embodiment 4：

The purpose of the present embodiment 4 is to provide service combining method under a kind of intelligent Service space.

The various kinds of sensors with environment information acquisition function is not only disposed in intelligent space, also includes various intelligence Equipment.These equipment include mainly that service robot, smart television, automatic air condition, curtain and the overall situation monitor camera etc., respectively Class sensor and smart machine have collectively constituted the hardware foundation in intelligent Service space, they can provide different functions and come At user task.Single function services are difficult to meet user's complex task requirement sometimes, and plurality of devices is at this moment needed to carry out phase Mutually cooperation meets user demand jointly.

Service combining method under a kind of intelligent Service space, this method include：

Step (1)：Different intelligent functions of the equipments are uniformly packaged by the consistent service of canonical form using Web service technology Interface, and service interface is stored in fixed service pool；

Step (2)：Service pool receives user service request, judges that can the service of single service interface meet user service Request；

Step (3)：When the service of single service interface in service pool cannot be satisfied user service request, using non recounting Reverse strand algorithm asks to extract existing fine-grained services in service pool according to user service and is combined into coarse granularity services.

The present embodiment the step of in (1), this method will also be to environmental information ontology knowledge base using Web service technology It accesses and is uniformly packaged into the consistent service interface of canonical form with status modifier, and service interface is stored in fixed service Pond.

The present embodiment is using Web service technology by the function of distinct device and access to environmental information ontology knowledge base It is uniformly packaged into the consistent service interface of canonical form with status modifier, service interface is stored in fixed service pool.Service The task request message of the user service interface specific user in pond, when service single in service pool cannot meet user's need When asking, existing fine granularity in service pool is extracted according to demand parameter input by user using non recounting reverse strand algorithm and is taken Business is combined into that the coarse granularity services of complicated user demand task can be completed, and service pool signal is as shown in Figure 7.

Web service encapsulation function interface models

Web service technology is to realize the important selection of Service-Oriented Architecture Based, it provides in network environment and is handed between equipment Networking machine people can be incorporated ubiquitous computation environment by the standard mode of interoperability in a manner of service-oriented.Web service WSDL (Web Service Description Language) description file format is as shown in figure 8, there is defined basic numbers According to operation inside type, message parameter type, serve port and input/output argument, service binding protocol, service endpoints definition Deng description label.Functions of the equipments in intelligent Service space are packaged into atomic service, for each atomic service, all have One WSDL describes file and is corresponding to it, and wsdl document defines how a Web service information such as uses, how to call.

By to equipment in intelligent space function and the calling effect of service is analyzed, in the method, make a reservation for Justice service fundamental, the service fundamental include the input parameter of service, the output parameter of service, service call it is pre- Determine the influence generated to ambient condition after environmental condition, service execution and the function of service is described；The user service request It is corresponding with the input parameter of service.

In the present embodiment, the fundamental of service is defined as to the form of WS=＜ I, O, P, E, V ＞ five-tuples, In, I, O represent the input/output argument of service, and P represents the predetermined environmental condition of service call, and E indicates right after service execution The influence that ambient condition generates, V represent the function description to service, the specific connection indicated between input/output argument. In Service Combination Algorithm hereafter, the input/output argument of service is mainly used.The stage is executed in service call, service P, two elements of E will play the role of to service execution condition judgment and change ambient condition.

Table 3Web service production expression

The input and output element of service is further decomposed herein.According to the number of output parameter by some Web service resolves into the production with output parameter same number^[16].Such as to Web service WS₁(I₁,I₂,I₃,O₁,O₂,P,E, V), certain of input parameter, two output parameters service WS1 there are three one tools of expression.Two production are converted thereof into, specifically Form is as shown in table 3.

Four kinds of derivation relation forms of 4 service model of table

In service pool, according to the correlation between Web service parameter, service pool is built and derives network service mould Type, can be by input of the output of some or certain services as next service, it can also be by the multiple defeated of some service Go out input of the parameter as certain services.According to the form of above production, it is defined as follows the derivation of four kinds of service production It is as shown in table 4 to regard entire service pool as a derivation Network Service Model for relationship.Wherein, PN indicates input/output argument section Point, RN indicate to derive the generation node in network

The derivation relationship type derived in Network Service Model is pushed away including the first derivation type, the second derivation type, third Conductivity type and the 4th derives type；

Described first, which derives type (∧ types), indicates that the acceptable multiple input of generation node in a derivation network is defeated Go out Parameter nodes；

The second derivation type (∨ types) indicates that multiple input output parameter node can generate the same derivation network In generation node；

It is defeated that the third derives the acceptable input of generation node that type (→ type) indicates that one derives in network Go out Parameter nodes；

It is described 4th derive type (=>Type) indicate that an input/output argument node can generate one and derive in network Generation node.

The present embodiment the step of in (3), asked according to user service to extract service pool using non recounting reverse strand algorithm In existing fine-grained services be combined into coarse granularity services, realization is combined the service in service pool, and it is to use to reach space Family provides the purpose of sophisticated functions.Specific method step includes：

Step (3-1)：According to the input parameter of user, is found out in deriving Network Service Model and meet the input parameter collection The derivation set of relationship of conjunction；

Step (3-2)：According to the desired output parameter of user and set of relationship is derived, asks full in the derivation set of relationship The service synthetic schemes of each parameter in the desired output parameter of sufficient user.

The present embodiment the step of in (3-1), the input parameter according to user is asked in deriving Network Service Model The specific method step for going out to meet the derivation set of relationship of the input parameter set includes：

According to the input parameter UI of user, found out in service model meet this UI set service derive network (with It derives set of relationship DR to indicate).

Input：

The input parameter set that UI-user gives

RS-service model production set

Output：

DR-meets the derivation set of relationship of UI

InputClosure-user inputs the closure parameter sets of UI

Step (3-1-1)：Receive the input parameter set and service model production set of user；

Step (3-1-2)：The input parameter set UI of user is assigned to closure parameter input by user by parameter initialization Set InputClousre, and it is set to empty set by set of relationship DR is derived；

Step (3-1-3)：Each production R in service model production set RS is handled, if its left end parameter It is integrally incorporated in closure parameter sets InputClosure input by user and not in deriving set of relationship DR, executes step (3-1-4), it is no to then follow the steps (3-1-5)；

Step (3-1-4)：If the right end q parameter of production R is not in closure parameter sets input by user In InputClosure, then q is added to InputClosure set.

If the left end number of parameters of production R is more than 1, the derivation for belonging to the first derivation type " ∧ types " is closed System is added and derives set of relationship DR；

If the left end number of parameters of production R is equal to 1, belong to the derivation pass that third derives type " → type " System is added and derives set of relationship DR；

If deriving the right end q parameter that the production is not present in set of relationship DR, belong to the 4th derivation type "=> The derivation relationship of type " is added and derives set of relationship DR；

If deriving in set of relationship DR, there are the right end q parameters of production R, belong to the second derivation type " ∨ classes The derivation relationship of type ", changes this relationship, and the production is added in its left part；

Step (3-1-5)：Judge to derive whether set of relationship DR increases, if increasing, return to step (3-1-3), processing clothes The production being engaged in model production set, is otherwise completed, and output derives set of relationship and closure parameter sets input by user.

The present embodiment the step of in (3-2), the desired output parameter according to user and set of relationship is derived at this Derive the specific method step for the service synthetic schemes that each parameter in the desired output parameter for meet user is sought in set of relationship Including：

It is defeated according to the expectation for meeting derivation relationship DR and user that user inputs UI parameter sets acquired in step (3-1) Go out parameter UO, the synthetic schemes of each parameter in meeting UO is sought in the derivation set of relationship.

Input：

The input parameter set that UI-user gives

The desired output parameter sets of UO-user

DR-meets the derivation set of relationship of UI

InputClosure-user inputs the closure parameter sets of UI

Output：

CompositionPlanStack-synthetic schemes stack

Step (3-2-1)：Receive the input parameter set of user, the desired output parameter sets of user, input by user Closure parameter sets and derivation set of relationship；

Step (3-2-2)：Judge whether the desired output parameter o in the desired output parameter sets UO of user is defeated in user In the closure parameter sets entered, and if it exists, step (3-2-3) is executed, if there is no execute step (3-2-5)；

Step (3-2-3)：Synthetic schemes stack CompositionPlanStack set is added in desired output parameter o In；

Step (3-2-4)：The synthetic schemes SC for handling synthetic schemes stack CompositionPlanStack stack tops, if the conjunction It is Parameter nodes at all start nodes of scheme SC, and is all contained in the input parameter set UI of user, then terminates to close At algorithm, corresponding service in synthetic schemes is called；Otherwise, take start node not in the input of user from synthetic schemes SC Any node X (Parameter nodes PN or production node RN) in parameter sets UI,

If the nodes X is production node RN, the derivation pass that right end is the node is found out in set of relationship DR from deriving System, is added to the derivation relationship in synthetic schemes SC, and synthetic schemes SC is pressed into synthetic schemes stack CompositionPlanStack stack tops；

If section X points are Parameter nodes PN, the derivation pass that right end is the nodes X is found out in set of relationship DR from deriving System, if it is the 4th derive type "=>The derivation relationship of type " is then added to the derivation relationship in synthetic schemes SC, Synthetic schemes SC is pressed into synthetic schemes stack CompositionPlanStack stack tops；Type " ∨ classes are derived if it is second The derivation relationship of type ", then the derivation relationship for splitting into n third derivation type are separately added into the synthetic schemes, (RN₁∨RN₂ ∨...∨RN_n) → PN, then RN₁→ PN, RN₂→PN……RN_n→ PN is separately added into SC, forms n synthetic schemes, and It is respectively pressed into synthetic schemes stack CompositionPlanStack stack tops；

Step (3-2-5)：Judge whether if it is empty non-empty then completes output synthetic schemes stack to synthetic schemes stack set；It is no The then synthetic schemes of return to step (3-2-4) processing synthetic schemes stack stack top.

Such as Fig. 9, UI is inputted according to user and user is defeated in service model (deriving relationship) by above-mentioned two step Go out UO, atomic service can be synthesized to more complicated composite services, then intelligent robot service system calls composite services Interface specifically executes corresponding atomic service function, meets user demand.

Embodiment 5：

The purpose of the present embodiment 5 is to provide a kind of computer readable storage medium.

Embodiment 6：

The purpose of the present embodiment 6 is to provide a kind of terminal device.

Embodiment 7：

The purpose of the present embodiment 7 is to provide a kind of intelligent Service method under intelligent Service space.

A kind of intelligent Service method under intelligent Service space, this method include：

Step (1)：Receive user service request and environmentally sensitive information data；

Step (2)：Environmentally sensitive information data is mapped as using sensing data mapping method by general sensing ontology text Part；

Step (3)：Based on the intelligent space service model that service combining method is established, asked according to user service and general Sensing ontology file obtain intelligent Service.

Embodiment 8：

The purpose of the present embodiment 8 is to provide a kind of computer readable storage medium.

Embodiment 9：

The purpose of the present embodiment 9 is to provide a kind of terminal device.

Embodiment 10：

The purpose of the present embodiment 10 is to carry out experimental verification to embodiment 1-9 using the present embodiment.

Sensing data in intelligent Service space is stored in MySql databases by the present embodiment in real time, as environment Information data source.The storage of operative sensor data in the database is as shown in Figure 10.

The realization program of data mapping and Services Composition is write using Eclipse 4.6.0 and JDK 1.7.Data map journey By calling, the Ontology API [18] under Jena3.1.0 software packages carry out example to sequence to SSN ontologies and attribute adds.Pass through Prot é g é softwares verify the ontology file after data mapping herein, as shown in figure 11 in Prot é g é softwares The part sectional drawing that SSN ontologies are shown under OntoGraf plug-in unit labels.The element of purple diamond shape representative is in red boxes in Figure 11 For the instances of ontology after addition, their arrow line tables with the relation on attributes of corresponding ontology class in figure in different colors Show, other purple diamond shaped elements are the instances of ontology of manual creation in figure.

The present embodiment 10 is according to different scales quantity of service to the Services Composition based on non recounting reverse strand algorithm of realization Method has carried out performance simulation test, and compared with having been done with the Service Combination Algorithm in literary [9], as shown in figure 12.

Figure 12 (a) is the service request test under general case, under the smaller scene of quantity of service, is realized herein Non recounting reverse strand Service Combination Algorithm it is suitable with FSC quick service combinational algorithm performances, the time for carrying out Services Composition is equal Planning time is serviced less than HTN.Non recounting reverse strand algorithm first can ask to join before carrying out Services Composition to the input of user Number carries out the calculating of input parameter closure set, avoids the backtracking phenomenon (loop occur) in service search.Closure computation meeting Portion of time is consumed, when servicing scale is smaller, the time is slightly larger than FSC algorithms, but with the increase of service scale, closure collection The advantage closed in Services Composition displays, and when quantity of service is more than 130, the assembly time of non recounting reverse strand is slightly less than FSC algorithms.

The present embodiment has carried out the test of three groups of repetitive requests to each algorithm, is 1 request, 5 requests and 10 times respectively Request, Figure 12 (b) are the test result of duplicate customer service request.HTN services planning algorithm and FSC Service Combination Algorithms not It is basically unchanged with performance under number user's repetitive requests, elapsed time is essentially identical.This paper algorithms when 1 user asks with FSC algorithm spent times are similar.Since the coarse granularity services combined can be added to service buffering after the completion of algorithm combination Pond looks for whether the requested service in first being buffered from service, finds then when user, which is repeated several times, inputs identical request It will not be combined, so the Services Composition time can be greatly decreased in user's repetitive requests same services task, to improve The performance of service request algorithm.

5 test scene information on services of table

Tab.5Services information for an experimental scene

Under the intelligent Service space environment in Shandong University's service robot laboratory, nurse's machine as shown in fig. 13 that is utilized Device people platform carries out actual scene verification to Service Combination Algorithm.This paper test scenes wish ring of the robot with reference to SSN ontologies Border information, which provides to the user, send water service role, and specific fine-grained services include that designated robot ID and inquiry robot are current Position, robot Information Mobile Service obtain cup position, and the state etc. for whether having water in cup inquired, observer robot is passed through Task execution situation judges the feasibility of algorithm.The fine-grained services main information of test scene is as shown in table 5.

The Service Combination Algorithm test result realized herein is as shown in figure 14.User service model user interface (SUI, Service UserInterfaces) in input service request parameter room, water, robot, cup, destination and phase It carries out taking user demand in service pool after hoping output parameter fetch_info, Service Combination Algorithm receive task order The combination of business is obtained from the service path for being input to output.Combined result has extracted 7 fine-grained services in service pool, and Composite services are exported, the circle service label in Figure 14 corresponds to the service in table 5.By service model execute interface (SEI, Service Execution Interfaces) these specific fine-grained services are called, realize the function services that user needs.

The experimental results showed that using being realized that, based on non recounting reverse strand service combining method, intelligent Service is empty herein Between in robot can effectively synthesize and executed with the coarse granularity services that fine-grained services are basic component, provide multiple to user The satisfaction of miscellaneous functional requirement realizes Intelligent Service.

Beneficial effects of the present invention：

1, sensing data mapping and service combining method and device under a kind of intelligent Service space of the present invention, will be true Group's situation of crowd and social force model combine under real video, everyone distinctiveness ratio is obtained using the movement locus of crowd, And the distinctiveness ratio between groupuscule and groupuscule is obtained according to clustering algorithm from bottom to top to distinctiveness ratio, to realize real scene Distinctiveness ratio situation between the distribution situation and crowd of crowd evacuation eve crowd.Crowd will utilize society during evacuation Compare theoretical informatics group clustering phenomena, i.e. Herd Behavior, the path that microscopic individual is carried out using improved social force model is advised It draws and collision avoids and realize Herd Behavior, complete the crowd evacuation emulation under complex scene.The experimental results showed that this method The crowd evacuation emulation under complex scene can be realized authentic and validly, improve the accuracy of crowd evacuation emulation, really Evacuation grouping phenomenon and Herd Behavior phenomenon in the process are demonstrated, is got ready for further people study population evacuation.

2, sensing data mapping and service combining method and device, foundation under a kind of intelligent Service space of the present invention Gestalt theory flows tracking pedestrian movement track in video from crowd, obtains the distinctiveness ratio between pedestrian, and according between individual Distinctiveness ratio obtains the groupuscule under real scene；Group is formed according to distinctiveness ratio matrix between groupuscule with social comparison theory And instruct the selection of personal follower in group；Due to the number, group's shape of people in groupuscule in context of methods, person to person it Between cohesion and the position arrangement of people be all the data extracted from real scene, and non-artificial input；And it considers urgent In the case of evacuate during social comparison theory's instructor's clustering the characteristics of integrating group's phenomenon it is notable, therefore this method can be compared with It is theoretical ripe simple and practicable really to simulate group's phenomenon.

The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.Therefore, the present invention is not intended to be limited to this These embodiments shown in text, and it is to fit to widest range consistent with the principles and novel features disclosed in this article.

Claims

1. a kind of sensing data mapping method, which is characterized in that this method includes：

Receive environment heat transfer agent data；

2. the method as described in claim 1, which is characterized in that described to be reflected environmentally sensitive information data using SASML language The specific method step for being mapped to SSN ontologies includes：

Using pre-defined SASML schema files according to the mapping relations of mark, SASML is written into environmentally sensitive information data In schema file, relationship map file is created；

3. a kind of service combining method, which is characterized in that this method includes：

Different intelligent functions of the equipments are uniformly packaged by the consistent service interface of canonical form using Web service technology, and will clothes Business interface is stored in fixed service pool；

When the service of single service interface in service pool cannot be satisfied user service request, using non recounting reverse strand algorithm root It asks to extract existing fine-grained services in service pool according to user service and is combined into coarse granularity services.

4. method as claimed in claim 3, which is characterized in that this method will also be to environmental information sheet using Web service technology The access of body knowledge base is uniformly packaged into the consistent service interface of canonical form with status modifier, and service interface is stored in solid Fixed service pool.

Or, with the WSDL of Web service to describe file corresponding for each service of the service interface.

Or, in the method, predefining service fundamental, the service fundamental includes the input parameter of service, service Output parameter, the predetermined environmental condition of service call, influence ambient condition generated after service execution and to the work(of service It can description；The user service request is corresponding with the input parameter of service.

Or, in the method, according to the correlation between Web service parameter, service pool being built and derives Network Service Model, is pushed away Lead derivation relationship type in Network Service Model include first derive type, second derive type, third derives type and the Four derive type；

Described first, which derives the generation node that type indicates that one derives in network, is subjected to multiple input output parameter node；

The second derivation type indicates that multiple input output parameter node can generate the generation node in the same derivation network；

The third derives the generation node that type indicates that one derives in network and is subjected to an input/output argument node；

The 4th derivation type indicates that an input/output argument node can generate a generation node derived in network.

5. method as claimed in claim 3, which is characterized in that described to be asked according to user service using non recounting reverse strand algorithm It asks to extract existing fine-grained services in service pool and be combined into the specific method steps of coarse granularity services and includes：

According to the input parameter of user, the derivation set of relations for meeting the input parameter set is found out in deriving Network Service Model It closes；

According to the desired output parameter of user and set of relationship is derived, asks the expectation for meeting user defeated in the derivation set of relationship Go out the service synthetic schemes of each parameter in parameter.

6. method as claimed in claim 5, which is characterized in that the input parameter according to user is deriving network service mould The specific method step that the derivation set of relationship for meeting the input parameter set is found out in type includes：

Receive the input parameter set and service model production set of user；

Parameter initialization gives the input parameter aggregate assignment of user to closure parameter sets input by user, and will derive relationship Set is set to empty set；

Handle service model production set in each production, if its left end parameter be integrally incorporated in it is input by user In closure parameter sets and not in deriving set of relationship, next step is executed, otherwise skips and executes in next step；

If the right end parameter of the production in closure parameter sets input by user, is not added into；If the production Left end number of parameters is more than 1, then it belongs to the derivation relationship of the first derivation type, is added and derives set of relationship；If the production Left end number of parameters be equal to 1, then its belong to third derive type derivation relationship, be added derive set of relationship；It is closed if deriving The right end parameter of the production is not present in assembly in closing, then it belongs to the derivation relationship of the 4th derivation type, and derivation relationship is added Set；If deriving in set of relationship, there are the right end parameters of the production, belong to the derivation relationship of the second derivation type, repair Change this relationship, the production is added in its left part；

Judge to derive whether set of relationship increases, if increasing, returns to the production in processing service model production set, otherwise It completes, output derives set of relationship and closure parameter sets input by user.

7. method as claimed in claim 5, which is characterized in that the desired output parameter according to user and derivation set of relations Close the specific side for the service synthetic schemes that each parameter in the desired output parameter for meet user is sought in the derivation set of relationship Method step includes：

It receives the input parameter set of user, the desired output parameter sets of user, closure parameter sets input by user and pushes away Lead set of relationship；

The desired output parameter in the desired output parameter sets of user is judged whether in closure parameter sets input by user, If in the presence of next step being executed, if being executed there is no lower two steps are skipped；

The desired output parameter is added in synthetic schemes stack set；

The synthetic schemes of synthetic schemes stack stack top is handled, if all start node of the synthetic schemes is Parameter nodes, and Included in the input parameter set of user, then terminate composition algorithm, calls corresponding service in synthetic schemes；Otherwise, from this Any node of the start node not in the input parameter set of user is taken in synthetic schemes, if the node is production node, The derivation relationship that right end is the node then is found out from derivation set of relationship, which is added in the synthetic schemes, The synthetic schemes is pressed into synthetic schemes stack stack top；If the node is Parameter nodes, right end is found out in set of relationship be from leading The derivation relationship, then be added to the synthetic schemes by the derivation relationship of the node, the derivation relationship for deriving type if it is the 4th In, which is pressed into synthetic schemes stack stack top；The derivation relationship for deriving type if it is second then splits into n the The derivation relationship of three derivation types is separately added into the synthetic schemes, forms n synthetic schemes, and be respectively pressed into synthetic schemes stack Stack top；

Judge whether if it is empty non-empty then completes output synthetic schemes stack to synthetic schemes stack set；Otherwise processing synthesis side is returned to The synthetic schemes of case stack stack top.

8. a kind of intelligent Service method, which is characterized in that this method includes：

Receive user service request and environmentally sensitive information data；

Based on the intelligent space service model that service combining method is established, according to user service request and general sensing ontology text Part obtains intelligent Service.

9. a kind of computer readable storage medium, wherein being stored with a plurality of instruction, which is characterized in that described instruction is suitable for by terminal The processor of equipment equipment loads and executes the method according to any one of claim 1-2.

Or described instruction is suitable for being loaded by the processor of terminal device equipment and being executed according to described in any one of claim 2-7 Method.

Or described instruction is suitable for being loaded by the processor of terminal device equipment and being executed according to the method described in claim 8.

10. a kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates Machine readable storage medium storing program for executing is for storing a plurality of instruction, which is characterized in that described instruction is appointed for executing according in claim 1-2 Method described in one.

Described instruction is used to execute the method according to any one of claim 2-7.

Described instruction is for executing according to the method described in claim 8.