技术领域technical field
本发明涉及IP机顶盒领域，尤其涉及一种自适应IP机顶盒显示风格切换方法。The invention relates to the field of IP set-top boxes, in particular to an adaptive IP set-top box display style switching method.
背景技术Background technique
IP技术的飞速发展给数字电视带来了巨大威胁，但在短期内由于网络成本的原因使两者只能共存而无法替代。由于他们无法满足流媒体等服务，因此还不完全是一个将DVB和IP合二为一的STB。随着具有MPEG-II和MPEG-IV双解码功能芯片的推出和完善，一个集DVB和IP于一体的终端产品将会成为家庭的一员，他连接着家庭的显示设备、计算机甚至其他的智能化设备，满足家庭信息化的需求。The rapid development of IP technology has brought a huge threat to digital TV, but in the short term, due to the cost of the network, the two can only coexist and cannot be replaced. It's not quite a DVB and IP-in-one STB since they can't cater for services like streaming. With the introduction and improvement of chips with MPEG-II and MPEG-IV dual decoding functions, a terminal product integrating DVB and IP will become a member of the family. equipment to meet the needs of family informatization.
IP机顶盒各个模块在Internet的高速接入中协同工作。用户首先通过发送命令请求一个URL。在使用PPP点对点协议的一次交易过程中，该命令最终到达Internet业务提供者的调制解调器共用机架上。然后通过动态分配法，该用户获得本次交易中使用的IP地址，并把请求送往Internet。当Internet的内容被找到之后，接着把他送到Internet业务提供者(ISP)那里，再由ISP的路由器负责把他送到电缆电视网络，最后回到用户的机顶盒。在有线电视的机顶盒，信息内容被截获。机顶盒在电视机与电缆网络之间完成一个网关的任务。他的任务是管理IP的通信流量，具有控制用户进出网络的能力一旦IP包到达机顶盒，把视频信号从该包中分离下来，对其中的数据进行译码，然后把他送到浏览器里准备在电视机上显示。Each module of the IP set-top box works together in the high-speed Internet access. A user first requests a URL by sending a command. During a transaction using the PPP point-to-point protocol, the order finally arrives at the modem pool of the Internet service provider. Then through the dynamic allocation method, the user obtains the IP address used in this transaction and sends the request to the Internet. When the content of the Internet is found, it is then sent to the Internet service provider (ISP), and then the router of the ISP is responsible for sending it to the cable TV network, and finally returns to the user's set-top box. In cable TV set-top boxes, the information content is intercepted. The set-top box acts as a gateway between the TV and the cable network. His task is to manage the communication flow of IP, and has the ability to control the user's access to the network. Once the IP packet reaches the set-top box, the video signal is separated from the packet, the data in it is decoded, and then sent to the browser for preparation. Shown on TV.
发明内容Contents of the invention
IP机顶盒现有功能虽然较多，仍缺乏基于观众类型的实时界面风格变换机制，难点在于观众类型难以精确检测。为了解决上述问题，本发明提供了一种自适应IP机顶盒显示风格切换方法。Although the IP set-top box has many functions, it still lacks a real-time interface style change mechanism based on the type of viewer. The difficulty is that it is difficult to accurately detect the type of viewer. In order to solve the above problems, the present invention provides an adaptive IP set-top box display style switching method.
根据本发明的一方面，提供了一种自适应IP机顶盒显示风格切换方法，所述方法包括使用自适应IP机顶盒显示风格切换系统以根据图像采集结果自适应切换IP机顶盒显示界面的显示风格，所述自适应IP机顶盒显示风格切换系统包括：According to one aspect of the present invention, a method for switching the display style of an adaptive IP set-top box is provided, the method includes using an adaptive IP set-top box display style switching system to adaptively switch the display style of the display interface of the IP set-top box according to the image acquisition result, so The adaptive IP set-top box display style switching system includes:
IP机顶盒，包括封装盒体和集成电路板，封装盒体的一个侧面开有散热通风孔，封装盒体上开有散热通风孔的侧面的对立侧面设置有连接卡件，集成电路板位于封装盒体内，包括以太网接口、解码处理设备和DSP处理芯片，集成电路板上还设有红外接收器，用于接收用户输入的控制指令；The IP set-top box includes a packaging box body and an integrated circuit board. One side of the packaging box body is provided with a cooling vent, and the opposite side of the side of the packaging box body with the cooling ventilation hole is provided with a connecting clip. The integrated circuit board is located in the packaging box. The body includes an Ethernet interface, a decoding processing device and a DSP processing chip, and an infrared receiver is also provided on the integrated circuit board to receive control instructions input by the user;
固定机构，设置在封装盒体上，包括蛋形塑料外壳、环形连接带、抖动分析元件以及若干个拍摄元件，蛋形塑料外壳固定连接在伸缩支架上，环形连接带位于塑料外壳的底部，与连接卡件连接，若干个拍摄元件非等间距地分布在环形连接带上；The fixing mechanism is arranged on the packaging box body, including an egg-shaped plastic shell, an annular connection belt, a jitter analysis element and several shooting elements. The connecting clips are connected, and several shooting elements are distributed on the annular connecting belt at an uneven distance;
若干个拍摄元件用于对IP机顶盒所在场景分别进行拍摄以分别获得若干个实时场景图像流，抖动分析元件分别与若干个拍摄元件连接，对每一个拍摄元件执行以下处理：基于实时场景图像流中前后实时场景图像的数据分析，判断并输出其中的运动物体的运动矢量；Several shooting components are used to shoot the scene where the IP set-top box is located to obtain several real-time scene image streams respectively. The jitter analysis component is connected to several shooting components respectively, and performs the following processing on each shooting component: based on the real-time scene image stream Data analysis of front and back real-time scene images, judgment and output of motion vectors of moving objects;
场景模拟设备，与若干个拍摄元件连接，用于接收若干个拍摄元件拍摄的若干个实时场景图像，并对若干个实时场景图像进行场景模拟处理以获得并输出三维虚拟图像；The scene simulation device is connected with several shooting elements, and is used for receiving several real-time scene images captured by several shooting elements, and performing scene simulation processing on several real-time scene images to obtain and output a three-dimensional virtual image;
抖动分析元件基于若干个拍摄元件的若干个运动矢量确定伸缩云台相应的抖动矢量；The jitter analysis component determines the corresponding jitter vector of the telescopic pan/tilt based on several motion vectors of several shooting elements;
伸缩云台，包括伸缩支架、梯形安装台和直流电机，伸缩支架位于梯形安装台上，直流电机位于梯形安装台内，直流电机用于接收抖动矢量，并基于抖动矢量控制伸缩支架进行相应的伸缩动作；Telescopic pan/tilt, including telescopic bracket, trapezoidal mounting platform and DC motor. The telescopic bracket is located on the trapezoidal mounting platform. The DC motor is located in the trapezoidal mounting platform. The DC motor is used to receive the jitter vector and control the telescopic bracket to perform corresponding expansion and contraction based on the jitter vector. action;
数据处理设备，将多个目标场景图像分别进行归一化处理以获得相同尺寸的多个归一化图像，将多个归一化图像中的一部分归一化图像作为多个训练图像，将多个归一化图像中的剩余归一化图像作为多个测试图像；The data processing device performs normalization processing on a plurality of target scene images respectively to obtain a plurality of normalized images of the same size, uses a part of the normalized images in the plurality of normalized images as a plurality of training images, and converts the plurality of normalized images into The remaining normalized images in the normalized images are used as multiple test images;
模型创建设备，使用多个训练图像创建运动物体识别模型，使用多个测试图像测试运动物体识别模型，运动物体识别模型包括一个输入层、多个特征提取隐含层和一个输出层，输入层输入多个训练图像，输出层输出运动物体类型，基于IP机顶盒所在场景的复杂度确定特征提取隐含层的个数，复杂度越高，特征提取隐含层的个数越多；Model creation equipment, using multiple training images to create a moving object recognition model, using multiple test images to test the moving object recognition model, the moving object recognition model includes an input layer, multiple feature extraction hidden layers and an output layer, the input layer input Multiple training images, the output layer outputs the type of moving object, and the number of feature extraction hidden layers is determined based on the complexity of the scene where the IP set-top box is located. The higher the complexity, the more the number of feature extraction hidden layers;
类型识别设备，用于接收三维虚拟图像，将待处理图像作为输入，使用模型创建设备测试完的运动物体识别模型以获得待处理图像中的运动物体的类型，获得的运动物体的类型为男性老人、女性老人、男性儿童、女性儿童、男性成人以及女性成人中的一种；The type recognition device is used to receive a three-dimensional virtual image, use the image to be processed as input, and use the model to create a moving object recognition model tested by the device to obtain the type of the moving object in the image to be processed, and the type of the obtained moving object is male elderly , female elderly, male children, female children, male adults and female adults;
界面风格切换设备，设置在集成电路板上，与类型识别设备连接，用于基于接收到的运动物体的类型自动切换IP机顶盒显示界面的显示风格。The interface style switching device is arranged on the integrated circuit board and connected with the type identification device, and is used to automatically switch the display style of the display interface of the IP set-top box based on the type of the received moving object.
本发明至少具有以下两处重要发明点：The present invention has at least the following two important invention points:
(1)基于对云台上的若干个拍摄元件的图像内容分析，确定每一个拍摄元件中运动物体的运动矢量，基于若干个拍摄元件的若干个运动矢量确定伸缩云台相应的抖动矢量，从而便于最大数量的拍摄元件对运动目标进行跟踪拍摄；(1) based on the image content analysis to several photographing elements on the cloud platform, determine the motion vector of moving object in each photographing element, determine the corresponding shaking vector of telescopic pan platform based on several motion vectors of several photographing elements, thereby It is convenient for the maximum number of shooting elements to track and shoot moving targets;
(2)通过获取IP机顶盒所在场景的复杂度，以确定运动物体识别模型中的特征提取隐含层的个数，从而在避免过高运算复杂度的同时，保证了运动物体类型的识别效果。(2) Determine the number of hidden layers for feature extraction in the moving object recognition model by obtaining the complexity of the scene where the IP set-top box is located, thereby ensuring the recognition effect of the moving object type while avoiding excessive computational complexity.
附图说明Description of drawings
以下将结合附图对本发明的实施方案进行描述，其中：Embodiments of the present invention will be described below in conjunction with the accompanying drawings, wherein:
图1为根据本发明实施方案示出的自适应IP机顶盒显示风格切换系统的竖立方向的结构示意图。Fig. 1 is a schematic structural diagram showing the vertical direction of an adaptive IP set-top box display style switching system according to an embodiment of the present invention.
图2为根据本发明实施方案示出的自适应IP机顶盒显示风格切换系统的横置方向的结构示意图。Fig. 2 is a schematic structural diagram of a display style switching system of an adaptive IP set-top box according to an embodiment of the present invention in a horizontal orientation.
具体实施方式Detailed ways
下面将参照附图对本发明的自适应IP机顶盒显示风格切换系统的实施方案进行详细说明。The implementation of the adaptive IP set-top box display style switching system of the present invention will be described in detail below with reference to the accompanying drawings.
为了克服上述不足，本发明搭建了一种自适应IP机顶盒显示风格切换方法，所述方法包括使用自适应IP机顶盒显示风格切换系统以根据图像采集结果自适应切换IP机顶盒显示界面的显示风格。图1为根据本发明实施方案示出的自适应IP机顶盒显示风格切换系统的竖立方向的结构示意图，图2为根据本发明实施方案示出的自适应IP机顶盒显示风格切换系统的横置方向的结构示意图，如图所示，所述系统包括：In order to overcome the above-mentioned shortcomings, the present invention sets up an adaptive IP set-top box display style switching method, which includes using an adaptive IP set-top box display style switching system to adaptively switch the display style of the IP set-top box display interface according to the image acquisition results. Fig. 1 is a schematic structural diagram of the vertical direction of the adaptive IP set-top box display style switching system shown according to the embodiment of the present invention, and Fig. 2 is a schematic diagram of the horizontal orientation of the adaptive IP set-top box display style switching system shown according to the embodiment of the present invention Structural schematic diagram, as shown in the figure, the system includes:
IP机顶盒，包括封装盒体和集成电路板，封装盒体的一个侧面开有散热通风孔，封装盒体上开有散热通风孔的侧面的对立侧面设置有连接卡件，集成电路板位于封装盒体内，包括以太网接口、解码处理设备和DSP处理芯片，集成电路板上还设有红外接收器，用于接收用户输入的控制指令；The IP set-top box includes a packaging box body and an integrated circuit board. One side of the packaging box body is provided with a cooling vent, and the opposite side of the side of the packaging box body with the cooling ventilation hole is provided with a connecting clip. The integrated circuit board is located in the packaging box. The body includes an Ethernet interface, a decoding processing device and a DSP processing chip, and an infrared receiver is also provided on the integrated circuit board to receive control instructions input by the user;
固定机构，设置在封装盒体上，包括蛋形塑料外壳、环形连接带、抖动分析元件以及若干个拍摄元件，蛋形塑料外壳固定连接在伸缩支架上，环形连接带位于塑料外壳的底部，与连接卡件连接，若干个拍摄元件非等间距地分布在环形连接带上；The fixing mechanism is arranged on the packaging box body, including an egg-shaped plastic shell, an annular connection belt, a jitter analysis element and several shooting elements. The connecting clips are connected, and several shooting elements are distributed on the annular connecting belt at an uneven distance;
若干个拍摄元件用于对IP机顶盒所在场景分别进行拍摄以分别获得若干个实时场景图像流，抖动分析元件分别与若干个拍摄元件连接，对每一个拍摄元件执行以下处理：基于实时场景图像流中前后实时场景图像的数据分析，判断并输出其中的运动物体的运动矢量；Several shooting components are used to shoot the scene where the IP set-top box is located to obtain several real-time scene image streams respectively. The jitter analysis component is connected to several shooting components respectively, and performs the following processing on each shooting component: based on the real-time scene image stream Data analysis of front and back real-time scene images, judgment and output of motion vectors of moving objects;
场景模拟设备，与若干个拍摄元件连接，用于接收若干个拍摄元件拍摄的若干个实时场景图像，并对若干个实时场景图像进行场景模拟处理以获得并输出三维虚拟图像；The scene simulation device is connected with several shooting elements, and is used for receiving several real-time scene images captured by several shooting elements, and performing scene simulation processing on several real-time scene images to obtain and output a three-dimensional virtual image;
抖动分析元件基于若干个拍摄元件的若干个运动矢量确定伸缩云台相应的抖动矢量；The jitter analysis component determines the corresponding jitter vector of the telescopic pan/tilt based on several motion vectors of several shooting elements;
伸缩云台，包括伸缩支架、梯形安装台和直流电机，伸缩支架位于梯形安装台上，直流电机位于梯形安装台内，直流电机用于接收抖动矢量，并基于抖动矢量控制伸缩支架进行相应的伸缩动作；Telescopic pan/tilt, including telescopic bracket, trapezoidal mounting platform and DC motor. The telescopic bracket is located on the trapezoidal mounting platform. The DC motor is located in the trapezoidal mounting platform. The DC motor is used to receive the jitter vector and control the telescopic bracket to perform corresponding expansion and contraction based on the jitter vector. action;
数据处理设备，将多个目标场景图像分别进行归一化处理以获得相同尺寸的多个归一化图像，将多个归一化图像中的一部分归一化图像作为多个训练图像，将多个归一化图像中的剩余归一化图像作为多个测试图像；The data processing device performs normalization processing on a plurality of target scene images respectively to obtain a plurality of normalized images of the same size, uses a part of the normalized images in the plurality of normalized images as a plurality of training images, and converts the plurality of normalized images into The remaining normalized images in the normalized images are used as multiple test images;
模型创建设备，使用多个训练图像创建运动物体识别模型，使用多个测试图像测试运动物体识别模型，运动物体识别模型包括一个输入层、多个特征提取隐含层和一个输出层，输入层输入多个训练图像，输出层输出运动物体类型，基于IP机顶盒所在场景的复杂度确定特征提取隐含层的个数，复杂度越高，特征提取隐含层的个数越多；Model creation equipment, using multiple training images to create a moving object recognition model, using multiple test images to test the moving object recognition model, the moving object recognition model includes an input layer, multiple feature extraction hidden layers and an output layer, the input layer input Multiple training images, the output layer outputs the type of moving object, and the number of feature extraction hidden layers is determined based on the complexity of the scene where the IP set-top box is located. The higher the complexity, the more the number of feature extraction hidden layers;
类型识别设备，用于接收三维虚拟图像，将待处理图像作为输入，使用模型创建设备测试完的运动物体识别模型以获得待处理图像中的运动物体的类型，获得的运动物体的类型为男性老人、女性老人、男性儿童、女性儿童、男性成人以及女性成人中的一种；The type recognition device is used to receive a three-dimensional virtual image, use the image to be processed as input, and use the model to create a moving object recognition model tested by the device to obtain the type of the moving object in the image to be processed, and the type of the obtained moving object is male elderly , female elderly, male children, female children, male adults and female adults;
界面风格切换设备，设置在集成电路板上，与类型识别设备连接，用于基于接收到的运动物体的类型自动切换IP机顶盒显示界面的显示风格。The interface style switching device is arranged on the integrated circuit board and connected with the type identification device, and is used to automatically switch the display style of the display interface of the IP set-top box based on the type of the received moving object.
接着，继续对本发明的自适应IP机顶盒显示风格切换系统的具体结构进行进一步的说明。Next, continue to further describe the specific structure of the adaptive IP set-top box display style switching system of the present invention.
所述自适应IP机顶盒显示风格切换系统中还可以包括：The adaptive IP set-top box display style switching system may also include:
手动切换按键，设置在封装盒体上，与集成电路板连接，用于根据用户的操作，手动切换IP机顶盒显示界面的显示风格。The manual switching button is arranged on the packaging box and connected to the integrated circuit board, and is used to manually switch the display style of the display interface of the IP set-top box according to the user's operation.
所述自适应IP机顶盒显示风格切换系统中：In the adaptive IP set-top box display style switching system:
DSP处理芯片用于响应红外接收器接收的控制指令，并按照接收的控制指令对控制以太网接口和解码处理设备的各项操作。The DSP processing chip is used to respond to the control instructions received by the infrared receiver, and to control the various operations of the Ethernet interface and the decoding processing device according to the received control instructions.
所述自适应IP机顶盒显示风格切换系统中：In the adaptive IP set-top box display style switching system:
伸缩云台的侧面还嵌有液晶显示面板，与抖动分析元件连接，用于实时显示若干个拍摄元件的若干个运动矢量；There is also a liquid crystal display panel embedded on the side of the telescopic head, which is connected with the shake analysis element and used to display several motion vectors of several shooting elements in real time;
其中，所述液晶显示面板还用于实时显示所述伸缩云台相应的抖动矢量。Wherein, the liquid crystal display panel is also used to display the corresponding shake vector of the telescopic pan/tilt in real time.
所述自适应IP机顶盒显示风格切换系统中：In the adaptive IP set-top box display style switching system:
多个目标场景图像为对IP机顶盒所在场景不同时刻不同角度预先拍摄的多个三维图像；The plurality of target scene images are a plurality of three-dimensional images pre-shot at different angles at different times of the scene where the IP set-top box is located;
其中，在多个目标场景图像中都存在各种类型运动物体。Among them, various types of moving objects exist in multiple target scene images.
以及所述自适应IP机顶盒显示风格切换系统中：And in the adaptive IP set-top box display style switching system:
多个特征提取隐含层用于建立从输入图像到运动物体类型的非线形映射。Multiple feature extraction hidden layers are used to build nonlinear mappings from input images to moving object types.
另外，DSP芯片的内部采用程序和数据分开的哈佛结构，具有专门的硬件乘法器，广泛采用流水线操作，提供特殊的DSP指令，可以用来快速的实现各种数字信号处理算法。In addition, the inside of the DSP chip adopts the Harvard structure that separates the program and data, has a special hardware multiplier, widely uses pipeline operations, and provides special DSP instructions, which can be used to quickly implement various digital signal processing algorithms.
根据数字信号处理的要求，DSP芯片一般具有如下的一些主要特点：(1)在一个指令周期内可完成一次乘法和一次加法。(2)程序和数据空间分开，可以同时访问指令和数据。(3)片内具有快速RAM，通常可通过独立的数据总线在两块中同时访问。(4)具有低开销或无开销循环及跳转的硬件支持。(5)快速的中断处理和硬件I/O支持。(6)具有在单周期内操作的多个硬件地址产生器。(7)可以并行执行多个操作。(8)支持流水线操作，使取指、译码和执行等操作可以重叠执行。According to the requirements of digital signal processing, DSP chips generally have the following main features: (1) A multiplication and an addition can be completed within one instruction cycle. (2) The program and data spaces are separated, and instructions and data can be accessed at the same time. (3) There is fast RAM on-chip, which can be accessed simultaneously in two blocks usually through an independent data bus. (4) Hardware support with low-overhead or no-overhead loops and jumps. (5) Fast interrupt handling and hardware I/O support. (6) Having multiple hardware address generators operating in a single cycle. (7) Multiple operations can be performed in parallel. (8) Support pipeline operation, so that operations such as instruction fetching, decoding and execution can be overlapped.
根据DSP芯片工作的数据格式来分类的。数据以定点格式工作的DSP芯片称为定点DSP芯片，如TI公司的TMS320C1X/C2X、TMS320C2XX/C5X、TMS320C54X/C62XX系列，AD公司的ADSP21XX系列，AT&T公司的DSP16/16A，Motolora公司的MC56000等。以浮点格式工作的称为浮点DSP芯片，如TI公司的TMS320C3X/C4X/C8X，AD公司的ADSP21XXX系列，AT&T公司的DSP32/32C，Motolora公司的MC96002等。Classified according to the data format in which the DSP chip works. The DSP chip whose data works in a fixed-point format is called a fixed-point DSP chip, such as TI's TMS320C1X/C2X, TMS320C2XX/C5X, TMS320C54X/C62XX series, AD's ADSP21XX series, AT&T's DSP16/16A, Motolora's MC56000, etc. Those working in floating-point format are called floating-point DSP chips, such as TI's TMS320C3X/C4X/C8X, AD's ADSP21XXX series, AT&T's DSP32/32C, Motorola's MC96002, etc.
不同浮点DSP芯片所采用的浮点格式不完全一样，有的DSP芯片采用自定义的浮点格式，如TMS320C3X，而有的DSP芯片则采用IEEE的标准浮点格式，如Motorola公司的MC96002、FUJITSU公司的MB86232和ZORAN公司的ZR35325等。The floating-point formats used by different floating-point DSP chips are not exactly the same. Some DSP chips use custom floating-point formats, such as TMS320C3X, while some DSP chips use IEEE standard floating-point formats, such as Motorola’s MC96002, MB86232 of FUJITSU Company and ZR35325 of ZORAN Company, etc.
采用本发明的自适应IP机顶盒显示风格切换系统，针对现有技术中IP机顶盒显示风格难以基于现场观众类型实时变换的技术问题，通过采用类型识别设备，用于接收现场精确合成的三维虚拟图像，将待处理图像作为输入，使用模型创建设备测试完的运动物体识别模型以获得待处理图像中的运动物体的类型，获得的运动物体的类型为男性老人、女性老人、男性儿童、女性儿童、男性成人以及女性成人中的一种，还通过采用界面风格切换设备，设置在集成电路板上，与类型识别设备连接，用于基于接收到的运动物体的类型自动切换IP机顶盒显示界面的显示风格。Adopting the self-adaptive IP set-top box display style switching system of the present invention, aiming at the technical problem that the display style of IP set-top boxes in the prior art is difficult to change in real time based on the type of on-site audience, by using type identification equipment, it is used to receive accurately synthesized 3D virtual images on site, The image to be processed is used as input, and the model is used to create a moving object recognition model tested by the device to obtain the type of moving object in the image to be processed. The types of moving objects obtained are male elderly, female elderly, male children, female children, male Adults and one of the female adults also adopt an interface style switching device, which is arranged on the integrated circuit board and connected with the type identification device, and is used to automatically switch the display style of the IP set-top box display interface based on the type of the received moving object.
可以理解的是，虽然本发明已以较佳实施例披露如上，然而上述实施例并非用以限定本发明。对于任何熟悉本领域的技术人员而言，在不脱离本发明技术方案范围情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均仍属于本发明技术方案保护的范围内。It can be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or be modified into equivalent changes, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.
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