A construction zone speed limit control method, system, storage medium and device

Abstract

The application belongs to the technical field of automatic driving, and provides a construction operation area speed limit control method, system, storage medium and equipment, which solves the problem that the current control scheme may not respond to the dynamic changes of the construction operation area in time and accurately without the support of a dispatching center. The method comprises the following steps: obtaining construction operation area information through an uplink operation personnel air defense system and sending the information to a train automatic driving device; performing construction operation area validity judgment by using the train automatic driving device according to the construction operation area information; calculating an automatic driving reference speed curve based on the construction operation area validity judgment, and performing personnel air defense speed limit operation according to the automatic driving reference speed curve. The construction operation area speed limit control method improves the safety of the construction operation.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, and in particular relates to a method, system, storage medium and device for speed limit control in construction work areas. Background Technology

[0002] With the rapid development of railway transportation, while improving transport efficiency, conventional railways also face significant challenges in construction and operational safety. Safety management in construction work areas is particularly crucial, as it directly impacts train operation safety and the reliability of railway transportation. Traditional railway construction safety management primarily relies on centralized control at dispatch centers and equipment such as LKJ (Train Operation Monitoring and Recording) devices on trains. While these systems provide a degree of safety assurance, they also have limitations, such as reliance on manual operation, system response time delays, and adaptability issues in complex environments.

[0003] Existing technical solutions mainly include train speed limit control based on dispatching commands and Automatic Train Operation (ATO) systems. These solutions typically require train drivers to manually adjust train speeds according to dispatching commands, or rely on the train's automatic control system to enforce speed limits.

[0004] However, without the support of a dispatch center, these systems may not be able to respond to dynamic changes in the construction work area in a timely and accurate manner. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method, system, storage medium, and device for speed control in construction work areas. Based on information about the construction work area, the system determines the validity of the work area, calculates a reference speed curve for automatic driving based on the validity, and then executes speed-limited operation for civil defense purposes. This ensures the safe passage of trains through construction areas and improves the safety of construction operations.

[0006] This invention is achieved through the following technical solution: Information about the construction work area is obtained through the civil defense system for track work and sent to the train automatic driving equipment; Based on the information about the construction work area, the validity of the construction work area is determined using the train automatic driving equipment. Based on the effectiveness assessment of the construction work area, a reference speed curve for autonomous driving is calculated, and speed-limited operation is implemented according to the autonomous driving reference speed curve.

[0007] Optional, The information regarding the construction work area includes: Whether a construction zone exists, the distance from the construction zone, whether the construction distance is calculated based on the kilometer marker, the starting kilometer marker of the construction zone, the ending kilometer marker of the construction zone, the construction zone number, the status of personnel avoiding vehicles in the work area, and the speed limit in the work area.

[0008] Optional, The step of determining the validity of the construction work area using the train automatic driving equipment based on the construction work area information includes: Based on the information of the construction work area, if the preset valid conditions are met, the construction work area is determined to be valid.

[0009] Optional, The process of calculating an autonomous driving reference speed curve based on the effectiveness assessment of the construction work area, and implementing civil defense speed-limited operation according to the autonomous driving reference speed curve, includes: Calculate the autonomous driving reference speed and obtain the autonomous driving reference speed curve; Speed ​​control is performed based on the aforementioned autonomous driving reference speed curve.

[0010] Optional, The calculation of the autonomous driving reference speed includes:

[0011] in, V ref ( t () represents the reference speed for automatic train operation at time t; V limit ( t )for t Speed ​​limits are in place on the route at all times; V t ( t )for t The speed limit for the work area set by the civil defense system must be maintained at all times when working on the track. V 0 ( t ( ) represents the train's speed at time t; P 0 ( t P represents the train's position at time t; t This marks the starting point of the construction work area; P e This is the end point of the construction work area; a c This is the reference acceleration for the train; a d This is the reference deceleration for the train. S This indicates the validity of the construction work area.

[0012] Optional, The method further includes: Fuzzy control is used to perform speed control, and control decisions are made through variables and fuzzy control rules.

[0013] Optional, Define the variables, including: speed error, error change rate, and control quantity; Set up fuzzy control rules and determine the control quantity based on the speed error and the rate of change of the error.

[0014] The present invention also provides a speed limit control system for construction work areas, used to implement the aforementioned method, the system comprising: The data acquisition module is used to obtain information about the construction work area through the civil defense system for track work and send it to the train automatic driving equipment; The validity determination module is used to determine the validity of the construction work area based on the construction work area information using the train automatic driving equipment. The speed limit control module is used to calculate the reference speed curve for automatic driving based on the effectiveness judgment of the construction work area, and to execute the speed limit operation for civil defense according to the reference speed curve for automatic driving.

[0015] Optional, The information regarding the construction work area includes: Whether a construction zone exists, the distance from the construction zone, whether the construction distance is calculated based on the kilometer marker, the starting kilometer marker of the construction zone, the ending kilometer marker of the construction zone, the construction zone number, the status of personnel avoiding vehicles in the work area, and the speed limit in the work area.

[0016] Optional, The validity determination module is also configured to: Based on the information of the construction work area, if the preset valid conditions are met, the construction work area is determined to be valid.

[0017] Optional, The speed limit control module is also configured to: Calculate the autonomous driving reference speed and obtain the autonomous driving reference speed curve; Speed ​​control is performed based on the aforementioned autonomous driving reference speed curve.

[0018] Optional, The speed limit control module is also configured to: Fuzzy control is used to perform speed control, and control decisions are made through variables and fuzzy control rules.

[0019] The present invention also provides a computer-readable storage medium storing one or more programs, which, when executed, can implement the aforementioned construction work area speed limit control method.

[0020] The present invention also provides a device, including a processor, a communication interface, a computer-readable storage medium, and a communication bus; wherein the processor, the communication interface, and the computer-readable storage medium communicate with each other through the communication bus; The processor is used to execute programs stored in a computer-readable storage medium.

[0021] Compared with the prior art, the present invention has the following advantages: 1. The speed limit control method for construction work areas proposed in this invention determines the effectiveness of the construction work area based on the information of the construction work area, calculates the reference speed curve for automatic driving based on the effectiveness of the construction work area, and implements speed limit operation for civil defense, so as to ensure the safe passage of trains in the construction area and improve the safety of construction operations.

[0022] 2. By utilizing the train automatic driving equipment, the train's operating speed is automatically adjusted based on the received construction work area information and speed limit instructions, reducing reliance on manual dispatching and improving the efficiency of safety management in the construction area and the safety of train operation.

[0023] 3. By combining the effectiveness of the construction work area to calculate the reference speed curve of the train's automatic driving system, the train's acceleration and deceleration are automatically controlled to ensure that the train speed is consistent with the safety requirements of the construction area, flexibly respond to different construction environments and train operating states, and improve safety assurance and reliability.

[0024] 4. By using fuzzy control methods to precisely adjust the traction or braking force of the train, the train speed error is always kept within an acceptable range, which improves the safety and automation level of the work area.

[0025] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A flowchart illustrating the speed limit control method in the construction work area is shown. Figure 2 A schematic block diagram of the speed limit control system in the construction work area is shown. Figure 3 This diagram illustrates the information communication between the civil defense system for track maintenance and the automatic train operation equipment according to an embodiment of the present invention. Figure 4 This diagram illustrates the processing of the reference speed curve for automatic train operation in the construction zone according to an embodiment of the present invention. Figure 5 This diagram illustrates the change in the speed limit of automatic train operation from an effective to an ineffective construction work area, according to an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of a device according to an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] See appendix Figure 1 The method of the present invention includes: S1. Obtain information about the construction work area through the civil defense system for track work and send it to the train automatic driving equipment; The construction work area information includes: Whether a construction zone exists, the distance from the construction zone, whether the construction distance is calculated based on the kilometer marker, the starting kilometer marker of the construction zone, the ending kilometer marker of the construction zone, the construction zone number, the status of personnel avoiding vehicles in the work area, and the speed limit in the work area.

[0030] S2. Based on the construction work area information, use the train automatic driving equipment to determine the validity of the construction work area; Specifically, if the construction work area information meets the preset valid conditions, the construction work area is determined to be valid.

[0031] S3. Based on the effectiveness judgment of the construction operation area, calculate the reference speed curve for autonomous driving, and implement the speed limit operation for civil defense according to the reference speed curve for autonomous driving.

[0032] The step of calculating the autonomous driving reference speed curve based on the effectiveness judgment of the construction work area, and implementing civil defense speed-limited operation according to the autonomous driving reference speed curve, includes: Calculate the autonomous driving reference speed and obtain the autonomous driving reference speed curve; Speed ​​control is performed based on the aforementioned autonomous driving reference speed curve.

[0033] The calculation of the autonomous driving reference speed includes:

[0034] in, V ref ( t () represents the reference speed for automatic train operation at time t; V limit ( t )for t Speed ​​limits are in place on the route at all times; V t ( t )for t The speed limit for the work area set by the civil defense system must be maintained at all times when working on the track. V 0 ( t ( ) represents the train's speed at time t; P 0 ( t P represents the train's position at time t; t P is the starting point of the construction work area. e This is the end point of the construction work area; a c This is the reference acceleration for the train; a d This is the reference deceleration for the train; S This indicates the validity of the construction work area.

[0035] Among them, fuzzy control is used to perform speed control, and control decisions are made through variables and fuzzy control rules.

[0036] The variables defined include: speed error, error change rate, and control quantity; Set up fuzzy control rules and determine the control quantity based on the speed error and the rate of change of the error.

[0037] Specifically, This invention designs a speed control method for construction work areas. It utilizes on-track civil defense equipment to acquire information about the construction work area and transmits it to the train's automatic driving system. Based on the received construction work area information, the automatic driving system automatically adjusts the train's speed to ensure safe passage through the construction area. This invention's speed control method for construction work areas controls train speed based on the relative distance between the train and the construction work area, categorizing train speed control into three scenarios: approaching the construction work area, entering the construction work area, and leaving the construction work area.

[0038] 1. Obtain information about the construction work area through the civil defense system for track work and send it to the train automatic driving equipment.

[0039] The track maintenance personnel protection system (hereinafter referred to as the personnel protection system) mainly includes three parts: train approach alarm equipment, railway construction area management equipment, and station-level construction operation management equipment. The train approach alarm equipment sends construction area information to the train automatic driving equipment via serial communication. This construction area information includes: whether a construction area exists, the distance to the construction area, whether the construction distance is calculated based on kilometer markers, the starting kilometer marker of the construction area, the ending kilometer marker of the construction area, the construction area number, the status of personnel in the work area to avoid trains, and the speed limit of the work area. The status of personnel in the work area to avoid trains has three possibilities: all personnel are off the track to avoid trains, there are personnel who have not avoided trains, and the status of personnel to avoid trains is unknown.

[0040] In this embodiment, the civil defense system for track operation and the related technologies for obtaining information about the construction work area are all existing technologies and will not be described in detail here.

[0041] 2. Based on the information about the construction work area, the validity of the construction work area is determined using the train automatic driving equipment.

[0042] In this embodiment, the construction work area is considered valid if the following information is simultaneously satisfied by the train automatic driving equipment: 1. The system receives a message from the civil defense system stating "Is the construction distance calculated based on the kilometer marker?" and the value is 1 (1 indicates yes, 0 indicates no). 2. The system receives a message from the civil defense system indicating whether a construction area exists, which is 1 (1 indicates yes, 0 indicates no). 3. If, before entering the work area, the train receives a message from the civil defense system indicating "Personnel in the work area have not yet moved out" or "Personnel status is unknown," and 4. The train's position has not crossed the end point of the construction zone (including the end point).

[0043] 3. Based on the effectiveness assessment of the construction work area, calculate the reference speed curve for autonomous driving, and implement speed-limited operation for civil defense according to the reference speed curve for autonomous driving.

[0044] In this embodiment, based on the effectiveness judgment of the construction work area, an autonomous driving reference speed curve is calculated, and civil defense speed-limited operation is implemented according to the autonomous driving reference speed curve, including: Calculate the autonomous driving reference speed and obtain the autonomous driving reference speed curve; Speed ​​control is performed based on the aforementioned autonomous driving reference speed curve.

[0045] 1. Calculation of reference speed curve for autonomous driving.

[0046] Using the train automatic driving equipment, based on the validity judgment of the construction work area, combined with the information of the construction work area and the real-time operation data of the train, the automatic driving reference speed is calculated and the automatic driving reference speed curve is obtained.

[0047] V ref ( t () indicates the reference speed for automatic train operation at time t:

[0048] in, V limit ( t )for t Speed ​​limits are in place on the route at all times. V t ( t )for t The speed limit for the work area set by the civil defense system must be observed at all times when working on the track. V 0 ( t ( ) represents the train's speed at time t. P 0 ( t P represents the train's position at time t. t P is the starting point of the construction work area. e This is the end point of the construction work area. a c The reference acceleration for the train (configurable, positive value). a d The train's reference deceleration (configurable, negative value). S Indicates the effectiveness of the construction work area ( S =1 indicates that the construction work area is valid. S =0 indicates that the construction work area is invalid.

[0049] 2. Speed ​​control method for automatic train operation in construction work area.

[0050] In this embodiment, fuzzy control can be used to make control decisions through variable definition and fuzzy control rules.

[0051] (1) Variable definition The goal of train speed tracking control is to make the actual speed of the train as close as possible to a given reference speed. Therefore, the train speed error... e(t) It can be represented as:

[0052] By adjusting the train's traction or braking force using a fuzzy controller, the speed error e(t) is stabilized near zero within an allowable range, thereby achieving precise speed tracking.

[0053] The rate of change of error Δe(t) represents the difference between the error at the current time and the error at the previous time, i.e.

[0054] The control quantity u(t) represents the quantity that the control system needs to adjust, which is the acceleration of the train.

[0055] (2) Fuzzy control rules The control quantity u(t) is determined using a fuzzy control rule table. Its input variables are the error e(t) and the rate of change of error Δe(t), and its output is the control quantity u(t). The fuzzy set and fuzzy rules are as follows: Fuzzy set settings include: Error e(t): Very negative (NB): e(t) <- 5; Negative (N): -5 ≤ e(t) < -1; Zero (Z): -1 ≤ e(t) ≤ 1; Positive (P): 1 <e(t) ≤ 5; Very positive (PB): e(t)>5.

[0056] Error change rate Δe(t): Very negative (NB): Δe(t) < -2; Negative (N): -2 ≤ Δe(t) < -0.5; Zero (Z): - 0.5 ≤ Δe(t) ≤ 0.5; Positive (P): 0.5<Δe(t) ≤ 2; Very positive (PB): Δe(t)>2.

[0057] Control quantity u(t): Very small (VS), corresponding to control quantity μ VS = a 1; Small (S), corresponding control quantity μ S = a 2; M corresponds to the control quantity. μ S = a 2; Large (L), corresponding to control quantity μ L = a 4; Very large (VL), corresponding control quantity μ VL = a 5.

[0058] in, a 1 (negative value, configurable) a 2 (negative value, configurable) a3 (can be configured as a positive or negative value) a 4 (positive value, configurable) a 5 (positive value, configurable).

[0059] The fuzzy rules are shown in Table 1.

[0060] Table 1

[0061] By combining the fuzzy control rule table, the final output control quantity is determined through matching. u i (Very small, small, medium, large, very large control values, respectively corresponding to) a 1, a 2, a 3, a 4, a 5), thereby obtaining precise control output.

[0062] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] See appendix Figure 2 The diagram illustrates the structure of a construction work area speed limit control system for implementing the above method, including a data acquisition module, a validity judgment module, and a speed limit control module.

[0064] The data acquisition module is used to obtain information about the construction work area through the civil defense system for track work and send it to the train automatic driving equipment; The validity determination module is used to determine the validity of the construction work area based on the construction work area information using the train automatic driving equipment. The speed limit control module is used to calculate the reference speed curve for automatic driving based on the effectiveness judgment of the construction work area, and to execute the speed limit operation for civil defense according to the reference speed curve for automatic driving.

[0065] Figure 3 This is a schematic diagram of the information communication between the track maintenance personnel protection system and the train automatic driving equipment in an embodiment of the present invention. In this embodiment, the track maintenance personnel protection system mainly includes three parts: train proximity alarm equipment, railway construction area management equipment, and station-level construction operation management equipment. The train proximity alarm equipment sends the construction operation area information to the train automatic driving equipment through serial communication.

[0066] Figure 4 This is a schematic diagram of the automatic train reference speed curve processing in the construction work area according to an embodiment of the present invention. In this embodiment, if the construction work area is determined to be valid, the train performs speed limit control and decelerates according to the automatic train reference speed curve to pass through the construction work area at the specified speed limit; if the construction work area is determined to be invalid.

[0067] Figure 5 This is a schematic diagram illustrating the change in the speed limit of the automatic train operation from an effective to an ineffective construction work area, according to an embodiment of the present invention. V 0 represents the train's current speed. P 0 represents the train's current position, P t P is the starting point of the construction work area. e This is the end point of the construction work area. V limit Speed ​​limits on the line V t The civil defense speed limit set for civil defense operations on the track.

[0068] When the construction work area is valid, the train's automatic driving speed limit is from V limit Towards V t The change is that the speed limit for automatic train operation in the construction area is... V t : If, at time t1, the construction work area changes from valid to invalid, then the train's automatic driving speed limit changes from the line speed limit at time t1 to... V limit ; If the construction work area changes from valid to invalid at time t2, then the train's automatic driving speed limit will change from the line speed limit at time t2. V t Change to V limit ; When the train leaves the construction zone at time t3, and the construction zone changes from valid to invalid, the train's automatic speed limit will change from... V t Change to V limit .

[0069] Furthermore, embodiments of the present invention also provide a speed limit control device for construction work areas, comprising: The data acquisition module obtains construction work area information through the on-track operation civil defense system and sends it to the train automatic driving equipment. The construction work area information includes: whether a construction area exists, the distance from the construction area, whether the construction distance is calculated based on the kilometer marker, the starting kilometer marker of the construction area, the ending kilometer marker of the construction area, the construction area number, the personnel avoidance status in the work area, and the speed limit in the work area.

[0070] The validity determination module uses the train automatic driving equipment to determine the validity of the construction work area based on the construction work area information; wherein, based on the construction work area information, if the preset validity conditions are met, the construction work area is determined to be valid.

[0071] The speed limit control module calculates an autonomous driving reference speed curve based on the validity of the construction work area, and executes civil defense speed limit operation according to the autonomous driving reference speed curve. Specifically, it calculates the autonomous driving reference speed to obtain the autonomous driving reference speed curve for the construction work area; and performs speed control based on the autonomous driving reference speed curve for the construction work area.

[0072] Based on the same inventive concept, the present invention also provides a computer-readable storage medium storing one or more programs, which, when executed, can realize the aforementioned construction work area speed limit control method.

[0073] like Figure 6 As shown in the illustration, this embodiment of the invention also provides a device, including a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus.

[0074] The memory is a computer-readable storage medium used to store one or more programs.

[0075] The processor is configured to execute a program stored in a computer-readable storage medium.

[0076] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus.

[0077] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for speed limit control in a construction work area, characterized in that, include: Information about the construction work area is obtained through the civil defense system for track work and sent to the train automatic driving equipment; Based on the information about the construction work area, the validity of the construction work area is determined using the train automatic driving equipment. Based on the effectiveness assessment of the construction work area, an autonomous driving reference speed curve is calculated, and civil defense speed-limited operation is implemented according to the autonomous driving reference speed curve, including: calculating the autonomous driving reference speed and obtaining the autonomous driving reference speed curve; and implementing speed control based on the autonomous driving reference speed curve. The calculation of the autonomous driving reference speed includes: in, V ref ( t () represents the reference speed for automatic train operation at time t; V limit ( t )for t Speed ​​limits are in place on the route at all times; V t ( t )for t The speed limit for the work area set by the civil defense system must be maintained at all times when working on the track. V 0 ( t ( ) represents the train's speed at time t; P 0 ( t P represents the train's position at time t; t This marks the starting point of the construction work area; P e This is the end point of the construction work area; a c This is the reference acceleration for the train; a d This is the reference deceleration for the train. S This indicates the validity of the construction work area.

2. The method according to claim 1, characterized in that, The information regarding the construction work area includes: Whether a construction zone exists, the distance from the construction zone, whether the construction distance is calculated based on kilometer markers, the starting kilometer marker of the construction zone, the ending kilometer marker of the construction zone, the construction zone number, the status of personnel avoiding vehicles in the work area, and the speed limit in the work area.

3. The method according to claim 2, characterized in that, The step of determining the validity of the construction work area using the train automatic driving equipment based on the construction work area information includes: Based on the information of the construction work area, if the preset valid conditions are met, the construction work area is determined to be valid.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Fuzzy control is used to perform speed control, and control decisions are made through variables and fuzzy control rules.

5. The method according to claim 4, characterized in that, Define the variables, including: speed error, error change rate, and control quantity; Set up fuzzy control rules and determine the control quantity based on the speed error and the rate of change of the error.

6. A speed limit control system for construction work areas, characterized in that, The construction work area speed limit control method according to any one of claims 1-5, wherein the system comprises: The data acquisition module is used to obtain information about the construction work area through the civil defense system for track work and send it to the train automatic driving equipment; The validity determination module is used to determine the validity of the construction work area based on the construction work area information using the train automatic driving equipment. The speed limit control module is used to calculate the autonomous driving reference speed curve based on the effectiveness judgment of the construction operation area, and to execute the civil defense speed limit operation according to the autonomous driving reference speed curve. The module includes: calculating the autonomous driving reference speed and obtaining the autonomous driving reference speed curve; and executing speed control based on the autonomous driving reference speed curve. The calculation of the autonomous driving reference speed includes: in, V ref ( t () represents the reference speed for automatic train operation at time t; V limit ( t )for t Speed ​​limits are in place on the route at all times; V t ( t )for t The speed limit for the work area set by the civil defense system must be maintained at all times when working on the track. V 0 ( t ( ) represents the train's speed at time t; P 0 ( t P represents the train's position at time t; t This marks the starting point of the construction work area; P e This is the end point of the construction work area; a c This is the reference acceleration for the train; a d This is the reference deceleration for the train. S This indicates the validity of the construction work area.

7. The system according to claim 6, characterized in that, The information regarding the construction work area includes: Whether a construction zone exists, the distance from the construction zone, whether the construction distance is calculated based on the kilometer marker, the starting kilometer marker of the construction zone, the ending kilometer marker of the construction zone, the construction zone number, the status of personnel avoiding vehicles in the work area, or the speed limit in the work area.

8. The system according to claim 7, characterized in that, The validity determination module is also configured to: Based on the information of the construction work area, if the preset valid conditions are met, the construction work area is determined to be valid.

9. The system according to any one of claims 6-8, characterized in that, The speed limit control module is also configured to: Fuzzy control is used to perform speed control, and control decisions are made through variables and fuzzy control rules.

10. A computer-readable storage medium storing one or more programs, characterized in that, When one or more of these programs are executed, the construction work area speed limit control method described in any one of claims 1-5 can be implemented.

11. An electronic device, comprising a processor, a communication interface, a computer-readable storage medium as described in claim 10, and a communication bus; wherein, The processor, communication interface, and computer-readable storage medium communicate electronically with each other via a communication bus; characterized in that, The processor is used to execute programs stored in a computer-readable storage medium.

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