Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a channel allocation method and a central base station for a security service in an electric power wireless private network, which effectively reduce the occupation of the channel capacity during the transmission of the service, improve the utilization efficiency of a wireless frequency spectrum, have low cost, flexibility and strong expandability and improve the security and reliability of service data transmission.
In one aspect, the present invention provides a channel allocation method for a security service in a wireless private power network, where the service is divided into security partitions in a secondary power system of the wireless private power network according to security requirements, and the method includes:
receiving time slot application information sent by a terminal station of a security partition, wherein the time slot application information comprises the service priority of the terminal station of the security partition;
searching for an idle time slot in a channel divided with time slots according to the service priority of the terminal station of the safe partition;
and allocating the free time slot to the safe partition terminal station which sends out the time slot application information.
Further, the searching for a free time slot in a channel divided with time slots according to the service priority of the terminal station in the security partition includes:
extracting the service priority of each safe subarea terminal station;
and acquiring the idle time slot in the channel in a polling mode according to the service priority of each safe zone terminal station.
Further, the searching and locating the free time slot in the channel in a polling manner according to the service priority of each secure partition terminal station includes:
when the number of the idle time slots is reduced to an idle preset value, stopping polling;
generating a time slot idle table before the polling is stopped, wherein the time slot idle table comprises all current idle time slot information;
and positioning the idle time slot in the time slot idle table in a mode of inquiring the time slot idle table according to the service priority of each safe partition terminal station.
Further, the acquiring the idle time slot in the channel in a polling manner includes:
acquiring the idle time slot in the channel in a polling mode;
and monitoring the searched idle time slot in real time, and if the idle time slot conflicts with the time slot application information, acquiring the idle time slot in the channel in a polling mode again.
Further, the allocating the free time slot to the secure partition end station which sends out the time slot application information, then includes:
if the idle time slot is distributed to all the safe subarea terminal stations which send the time slot application information, the distribution is finished;
if the channel does not have the idle time slot and the terminal station of the safe subarea sends the time slot application information, extracting the service priority in the unallocated time slot application information;
if the service priority is the lowest priority, the distribution is finished;
and if the service priority is not the lowest priority, reallocating the time slot occupied by the service with the lowest priority to the terminal station of the security partition where the service with the lowest priority is located.
Further, the reallocating the time slot occupied by the lowest priority service to the service with the service priority being the non-lowest priority includes:
acquiring a time slot occupied by the lowest priority service in the channel;
removing the time slot occupied by the lowest priority service to obtain the idle time slot;
reassigning the idle time slot to the traffic of non-lowest priority; and simultaneously refusing the time slot application from the terminal station of the security partition with the lowest service priority in a response period.
Further, the allocating the free timeslot to the secure partition terminal station that sends out the timeslot application information includes:
generating a time slot allocation table according to each idle time slot corresponding to the service priority in each acquired time slot application information;
and sending the time slot allocation table to each safe partition terminal station.
In another aspect, the present invention provides a central base station for channel allocation of services in a wireless power private network, wherein the services are respectively divided into security partition terminal stations in a secondary power system of the wireless power private network according to security requirements, and the central base station includes:
the terminal station comprises an application receiving module, a time slot processing module and a time slot processing module, wherein the application receiving module is used for receiving time slot application information sent by a terminal station of a security partition, and the time slot application information comprises the service priority of the security partition;
the time slot inquiry module is used for searching idle time slots in the channels divided with the time slots according to the service priority of the terminal station of the safe subarea;
and the time slot allocation information sending module is used for allocating the idle time slot to the terminal station of the security partition which sends the time slot application information.
Further, the time slot inquiry module includes:
a priority extracting unit, configured to extract service priorities of the terminal stations in the security partitions;
and the polling inquiry unit acquires the idle time slot in the channel in a polling mode according to the service priority of each safe zone terminal station.
Further, the time slot inquiry module further includes:
the polling stopping unit is used for stopping polling when the number of the idle time slots is reduced to an idle preset value;
a time slot idle table generating unit, configured to generate a time slot idle table before the polling is stopped, where the time slot idle table includes all current idle time slot information;
and the inquiry time slot idle table unit is used for positioning the idle time slot in the time slot idle table in a mode of inquiring the time slot idle table according to the service priority of each safe partition terminal station.
Further, the time slot inquiry module further includes:
and the real-time monitoring unit is used for monitoring the searched idle time slot in real time, and if the idle time slot conflicts with the time slot application information, acquiring the idle time slot in the channel in a polling or inquiring way of the time slot idle list again.
Further, the time slot inquiry module further includes:
a reallocation unit, configured to extract a service priority in the unallocated timeslot application information when there is no idle timeslot in a channel and the secure partition terminal station sends the timeslot application information; if the service priority is the lowest priority, the distribution is finished; and if the service priority is not the lowest priority, reallocating the time slot occupied by the service with the lowest priority to the terminal station of the security partition where the service with the lowest priority is located.
According to the technical scheme, the channel allocation method and the central base station for the security service in the electric power wireless private network provided by the invention effectively reduce the occupation of the channel capacity during the transmission of the service, improve the utilization efficiency of a wireless frequency spectrum, have low cost, flexibility and strong expandability, and realize the mutually independent and rapid transmission of service data, thereby completing the isolation of empty physical layers of different services and improving the security and reliability of service data transmission.
1. The technical scheme of the invention adopts the wireless transmission technology based on time slot isolation, saves the frequency spectrum resources and improves the frequency spectrum utilization rate.
2. According to the technical scheme, empty port physical isolation among different safety partition service bearers is realized, and the safety among different service types of the power communication system is ensured.
3. According to the technical scheme, the priority is divided according to the typical characteristics of different safety partitions, and the access control based on the priority is adopted, so that the overall service quality of the power communication system is improved.
4. According to the technical scheme, each safe subarea terminal station periodically sends time slot application information to the central station according to the service characteristics and the change condition of the terminal station, and the central base station allocates time slot resources as required, so that the whole system can be more dynamically and flexibly adapted to service requirements, and the system has stronger real-time performance.
5. According to the technical scheme, on the basis of polling, the time slot list is created to record the distribution information of the idle time slots of the channel for distribution, and the time slot list is maintained in real time, so that the detection of the distributed time slots is avoided, and the distribution time can be greatly shortened.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a channel allocation method for security services in a wireless private power network, wherein the services are respectively divided into security partitions in a secondary power system of the wireless private power network according to security requirements, and the specific steps are as follows:
100. and receiving time slot application information sent by the terminal station of the security partition, wherein the time slot application information comprises the service priority of the terminal station of the security partition.
Each safe subarea terminal station periodically sends time slot application information to the central station according to the service characteristics and the change condition of the terminal station; the central base station receives time slot application information sent by the terminal station of the security zone, and the service priority of the terminal station of the security zone is obtained by planning in the initial planning stage of the power wireless private network.
The central base station divides different time slots in a carrier frequency channel and records the total amount of the time slots at the same time, and all the time slots are idle time slots at the moment; the empty physical layer isolation of different safety requirement services is realized by dividing the time slot, so that the frequency spectrum resource is saved, and the frequency spectrum utilization rate is improved.
Meanwhile, dividing the service priority of the power communication network according to the service characteristics of different safety partitions; and the access control based on the priority is adopted, so that the overall service quality of the power communication system is improved.
101. And searching for idle time slots in the channel divided with the time slots according to the service priority of the terminal station of the security partition.
When the service of the terminal station of the security partition is a bearer control service, the requirements on real-time performance, reliability and security are high, and generally high-priority service guarantee is required; when the service of the terminal station of the security partition is a non-control service, the requirements on real-time performance, reliability and security are higher, and the service is generally only second to the control service; when the service of the terminal station of the safe zone is a bearer production management service and an information service, the requirement on the safety of data is high, and the requirements on the real-time performance and the reliability are relatively low, so that the priority is the lowest.
When the service types of the service priority of each safety partition are more, the central base station only reserves the channel resources of the fixed distribution part for the low-priority service node, and ensures that the low-priority service node cannot apply for the channel for a long time; the high priority service node will occupy most channel resources, ensuring the service quality of the service. The priority of each service node is configured when planning the network, and each service node declares the priority of the service node when applying for the time slot, so that the central node can carry out time slot allocation; the idle detection is not carried out on the allocated time slot in the channel any more, and the allocation time can be effectively shortened.
102. And allocating the free time slot to the terminal station of the security partition which sends out the time slot application information.
The central base station distributes the corresponding idle time slot in the channel to the terminal station of the safe subarea which sends the time slot application information; each safe subarea terminal station receives the allocated time slot, obtains the time slot allocation condition of the terminal station, and transmits data in the corresponding time slot, so that the transmission process is safe and quick; the central base station allocates time slot resources as required, so that the whole system can be more dynamically and flexibly adapted to service requirements, and the system has stronger real-time performance.
As shown in fig. 2, step 101, according to the service priority of the terminal station in the security partition, searching for an idle timeslot in a channel divided by timeslots, specifically as follows:
200. extracting service priority of each safe zone terminal station;
201. acquiring idle time slots in a channel in a polling mode according to the service priority of each safe partition terminal station; when the channel starts to be allocated, the searching is easy when a large number of free time slots exist in the channel, so the polling method is adopted to search the channel.
As shown in fig. 3, step 201, according to the service priority of each terminal station in the security partition, after acquiring the free time slot in the channel in a polling manner, comprises the following steps:
300. generating a time slot idle table before stopping polling, wherein the time slot idle table comprises all current idle time slot information;
301. when the number of idle time slots is reduced to an idle preset value, stopping polling;
302. and positioning idle time slots in the time slot idle table in a mode of inquiring the time slot idle table according to the service priority of each security partition terminal station.
As the time slots in the channel are gradually allocated, the number of free time slots is less and less, and it is more and more difficult to search for the free time slots, so that it is necessary to establish a free time slot list through a certain polling, and store all the current free time slot information, including location, size, continuity, etc. In the next allocation, after extracting the time slot application, the central base station does not poll the channel directly, but searches in the idle time slot list, and once the allocation is successful, the information of the idle time slot is released in the time slot list immediately.
As shown in fig. 4, step 201 specifically includes the following steps according to the service priority of each secure partition terminal station:
400. the idle time slots are acquired in the channel in a polling manner.
401. And monitoring the searched idle time slot in real time, and if the idle time slot conflicts with the time slot application information. Then the channel is again polled to acquire free slots.
As shown in fig. 5, step 302 locates an idle timeslot in the timeslot idle table by querying the timeslot idle table according to the service priority of each security partition terminal station, which is specifically as follows:
500. acquiring an idle time slot in a time slot idle table in a mode of inquiring the time slot idle table;
501. and monitoring the positioned idle time slot in real time, and if the idle time slot conflicts with the time slot application information, acquiring the idle time slot in the time slot idle table in a mode of inquiring the time slot idle table again.
Step 102, allocating the free time slot to the terminal station of the secure partition sending out the time slot application information, and then:
if the idle time slots are distributed to all the safe subarea terminal stations sending the time slot application information, the distribution is finished; generating a time slot allocation table according to each idle time slot corresponding to the service priority in each acquired time slot application information; and sending the time slot allocation table to each safe partition terminal station.
And if no idle time slot exists in the channel and the terminal station of the safety partition sends out time slot application information, judging whether to carry out time slot allocation on the service in the terminal station of the safety partition to be allocated or not according to the service priority of the safety partition.
The method comprises the following steps of judging whether to allocate time slots to services in a terminal station of a security partition to be allocated according to service priority of the terminal station of the security partition, and specifically comprising the following steps:
extracting service priority in the unallocated time slot application information; if the service priority is the lowest priority, the distribution is finished; and if the service priority is not the lowest priority, reallocating the time slot occupied by the service with the lowest priority to the terminal station of the safety zone where the service with the lowest priority is located.
As shown in fig. 6, reallocating the timeslot occupied by the lowest priority service to the service whose service priority is not the lowest priority includes:
600. acquiring a time slot occupied by the lowest priority service in a channel;
601. removing the time slot occupied by the lowest priority service to obtain an idle time slot;
602. reallocating the idle time slot to the service with the non-lowest priority; and simultaneously refusing the time slot application from the terminal station of the security partition with the lowest service priority in a response period.
The step of dividing the service priority of each safety partition comprises the following steps:
according to the safety requirements of each safety partition, the service priority of each safety partition is divided into:
priority 1: a real-time control area and a non-control production area;
priority 2: a production management area;
priority 3: and a management information area.
The safety levels of the safety partitions of the priority 1, the priority 2 and the priority 3 are sequentially decreased, and the influence degrees of the delay requirement and the communication failure of the safety partition of the priority 1 on the power grid are higher than those of the safety partitions of the priority 2 and the priority 3; when the time slot application information received by the central base station is higher than the standard application quantity, the channel resources occupied by the high-priority service account for 85 to 95 percent of the total channel resources; in the coverage area of a base station, each terminal accesses to a time slot according to the priority order; a priority mechanism followed by time slot application is adopted to divide a carrier frequency channel of the power communication network into a plurality of time slots, and different safety partitions are accessed into the power communication network in a time slot access mode, so that the air interface physical layer isolation of different safety requirement services is completed.
As shown in fig. 7, the present invention provides a central base station for channel allocation of services in a wireless power private network, wherein the services are divided into security partition terminal stations in a secondary power system of the wireless power private network according to security requirements, and the central base station is provided with: an application receiving module 10, a time slot inquiring module 11 and a time slot allocation information sending module 12.
The application receiving module 10 is configured to receive timeslot application information sent by a terminal station in a security partition, where the timeslot application information includes a service priority of the security partition.
And a time slot inquiry module 11, configured to search for an idle time slot in a channel divided with time slots according to the service priority of the terminal station in the security partition in the time slot application information in the application receiving module 10.
And a time slot allocation information sending module 12, configured to allocate the idle time slot queried by the time slot querying module 11 to the terminal station of the security partition that sends the time slot application information.
The modules correspond to the steps in fig. 1 of the method, and are not described herein again, specifically referring to the description of the method.
The central base station adopts a priority-based access control mode according to the typical characteristics of different safety partitions, so that the overall service quality of the power communication system is improved; and a time slot list is created to record the distribution information of the idle time slots of the channel for distribution, and the time slot list is maintained in real time, so that the detection of the distributed time slots is avoided, and the distribution time can be greatly shortened.
As shown in fig. 8, the time slot inquiry module includes: a priority extracting unit 20, a polling inquiring unit 21, a polling stopping unit 22, a time slot idle table generating unit 23, an inquiring time slot idle table unit 24, a real-time monitoring unit 25 and a reallocating unit 26.
A priority extracting unit 20, configured to extract service priorities of the terminal stations in each security partition in the application receiving module 10.
The polling inquiry unit 21 acquires the free time slots in the channels in a polling manner according to the service priorities of the terminal stations in the security partitions extracted by the priority extraction unit 20, and sends the polling results to the time slot allocation information sending module 12.
A stop polling unit 22 for controlling the stop polling unit 21 to stop polling when the number of idle slots falls to an idle preset value.
And the time slot idle table generating unit 23 is configured to generate a time slot idle table according to idle time slots in the polling querying unit 21 before the polling is stopped, where the time slot idle table includes information of all current idle time slots.
And a query slot idle table unit 24, configured to locate an idle slot in the slot idle table in a manner of querying the slot idle table in the slot idle table generation unit 23 according to the service priority of each security partition terminal station.
And the real-time monitoring unit 25 is configured to monitor the idle time slot found by the polling inquiry unit 21 in real time, and if the idle time slot conflicts with the time slot application information, obtain the idle time slot in the channel in a polling or time slot idle table inquiring manner again.
A reallocation unit 26, configured to extract, in the polling query unit 21, a service priority in the unallocated timeslot application information when there is no idle timeslot in the channel and a terminal station in a security partition sends out timeslot application information; if the service priority is the lowest priority, the distribution is finished; and if the service priority is not the lowest priority, reallocating the time slot occupied by the service with the lowest priority to the terminal station of the safety zone where the service with the lowest priority is located.
The invention provides a specific application example of a channel allocation method of a service in a power wireless private network, which comprises the following steps:
the electric power wireless private network time slot isolation access method based on the service safety partition is characterized in that: different time slots are divided on an appointed channel of the electric power wireless private network, different types of services share a frequency band by selecting different time slots according to priorities, and multi-service physical isolation of wireless air interface transmission is realized by adopting time slot isolation.
The specific implementation process is as follows: each terminal station in the security zone periodically sends time slot application information to the central station according to the characteristics and the change condition of the service. And after receiving the time slot allocation information, the central station executes a time slot allocation algorithm according to the priority, searches a proper time slot from the channel for allocation, forms a time slot allocation table and sends the time slot allocation table to each terminal station. After receiving the time slot allocation table, each station analyzes the time slot allocation table to obtain the time slot allocation condition of the station, and performs data transmission in the corresponding time slot.
The whole process comprises two aspects: a priority-based time slot allocation method; and a time slot search method combining polling and a free time slot list.
Firstly, the time slot allocation method based on the priority comprises the following steps:
according to the characteristics of the power secondary system, the importance degree and data flow, the current condition and the safety requirements of each related service system, the power secondary system is divided into four safety areas:
the safety zone I is a real-time control zone, and a typical system comprises: the system comprises a dispatching automation system (SCADA/EMS), a wide area vector measurement system, a distribution network automation system, a transformer substation automation system, relay protection, a safety automatic control system and the like. The system is characterized in that all systems with the real-time monitoring function belong to the safety area and are important links of power production and key points and cores of safety protection.
The safety zone II is a non-control production zone, and typical systems comprise: the system comprises a dispatcher training simulation system (DTS), a reservoir dispatching automation system, a relay protection and fault recording information management system, a point energy metering system, an electric power market operation system and the like. It is characterized by that in principle, the production service and wholesale transaction service systems without control function are all belonged to said zone, and are tightly connected with system or function module in control zone (safety I zone).
The safety zone III is a production management zone, and typical systems comprise: the system comprises a scheduling production management system (DMIS), a scheduling report system, a thunder and lightning monitoring system, meteorological information access and the like, and is mainly characterized by focusing on the production management system.
The secure area IV is a management information area, and a typical system includes: management Information Systems (MIS), office automation systems (OA), customer service systems, etc., are characterized by purely managed systems.
When carrying control services, the requirements on real-time performance, reliability and safety are high, and high-priority service guarantee is generally required; when the service is not controlled, the requirements on real-time performance, reliability and safety are higher, and the service is generally second to the controlled service; when bearing production management service and managing information service, the requirement on data security is high, and the requirements on real-time performance and reliability are relatively low, so that the priority is lowest.
Dividing the service priority of the power communication network according to the service characteristics of different safety partitions:
priority 1: a safety partition I real-time control area and a safety partition II non-control production area;
priority 2: safely dividing into a production management area III;
priority 3: the security partition IV manages the information area.
Within the coverage area of a base station, each terminal accesses the time slots according to the priority order. The priority mechanism followed by the time slot application is adopted, when the service types are more, only the channel resources of the fixed distribution part are reserved for the low-priority service node, and the low-priority service node is ensured not to be incapable of applying for the channel for a long time; the high priority service node will occupy most channel resources, ensuring the service quality of the service. The priority of each service node is configured when planning the network, and each service node declares the priority of the service node when applying for the time slot, so that the central node can carry out time slot allocation.
When the time SLOT number k of each frame reaches the maximum allocable time SLOT number MAX _ SLOT, the central node can not allocate a new time SLOT. For the time slot application initiated by the high-priority node, the central node traverses the whole time slot allocation table, searches the time slot occupied by the lowest-priority node and allocates the time slot to the high-priority node; for the time slot application initiated by the low-priority node, the central node does not respond any more, and the low-priority node can initiate the time slot application again after a plurality of multiframes.
The following is a formula for traffic preemption, where NB (New traffic, New incoming traffic), AB (Active traffic), and τ are QoS threshold values.
The time slot searching method combining polling and free time slot list includes the following two states:
in the first state, when the channel starts to be allocated, a large number of free time slots exist in the channel, and the channel is easy to search, so that the channel is searched by adopting a polling method. The polling steps are as follows:
the terminals with different service types send out time slot applications according to requirements;
the central base station receives the application;
inquiring the carrier one by one in a polling mode;
detecting whether the time slot is idle, if so, continuing, otherwise, returning to the step 3, and continuing to detect the next time slot;
detecting whether the time slot conflicts with the application, and if the time slot does not conflict with the application, distributing the application; otherwise, returning to the step 3, and continuing to detect the next time slot until the whole carrier is polled.
In the second state, as the time slots in the channel are gradually allocated, the number of idle time slots is less and less, and it is more and more difficult to search for the idle time slots, so that it is necessary to establish an idle time slot list through a certain polling, and store information of all current idle time slots, including location, size, continuity, etc. In the next allocation, after extracting the time slot application, the central base station does not poll the channel directly, but searches in the idle time slot list, and once the allocation is successful, the information of the idle time slot is released in the time slot list immediately.
The steps of the slot list method are as follows:
the method comprises the steps that a time slot list is created according to the distribution situation of idle time slots in a channel while time slot application is distributed by polling the channel once;
extracting a time slot application, extracting information of an idle time slot from a time slot list, and detecting conflict in a channel according to the information;
if no conflict occurs, directly distributing the application to a corresponding idle time slot in the channel, simultaneously releasing the time slot in the time slot list, extracting the next application and repeating the step 2;
if conflict occurs, continuously extracting idle time slots in the time slot list;
after the channel searching is finished, the allocation still cannot be carried out, the time slot application is abandoned, and the next application is extracted to repeat the step 2;
the time slot application is completely extracted or the channels are completely occupied, the time slot list is released, and the allocation process is finished;
as the allocation progresses, the slot list is released continuously, its size always being consistent with the number of free slots in the channel. When the allocation is finished, the channel utilization rate of the time slot allocation can be directly obtained according to the size of the time slot list. The idle detection is not carried out on the allocated time slot in the channel, and the allocation time can be effectively shortened.
Dividing a carrier frequency channel of the power communication network into a plurality of time slots, and accessing different safety partitions into the power communication network in a time slot access mode, thereby completing the air interface physical layer isolation of different safety requirement services; dividing four safety zones of the whole power secondary system into 3 priorities according to the service characteristics of different safety zones of the power communication network, and dividing time slots by combining different services with the priorities and QoS quality to finish a time slot isolation scheme; the method of combining polling and the free time slot list is adopted for searching the free time slot, the detection of the allocated time slot is avoided, and the time slot allocation efficiency can be improved.
In order to simulate different services of an electric power radio network, services of different security levels are randomly generated per unit time in the following examples, and the time slot isolation is verified by observing the allocation of different service data packets.
The time slot allocation of the service is distinguished according to the priority, and in order to evaluate the advantages and disadvantages of the invention, the effect is observed from the service time slot allocation result.
The packet scheduling situation of each time slot is as follows: the services with different security levels are distinguished by different colors, each time slot has a new data packet to apply for scheduling to the system, and the system can select the time slot to allow the scheduled data packet to be transmitted. In the whole simulation transmission process, the service types of adjacent time slots are different, and different services of various priorities are transmitted in turn, so that service isolation required by an algorithm is met. It can also be observed that the present algorithm achieves inter-traffic slot isolation at the expense of a small amount of throughput. In addition, the data packets not scheduled in the current queue will continue to be queued in the next time slot.
When searching for the idle time slot, the method of the idle time slot table is used for reducing the data packet application time, and by comparing the scheduling time of the invention with the scheduling time of the traditional PF (without using the idle time slot table), along with the increase of the data packets, the scheduling time of the method is far shorter than the scheduling time of the traditional PF algorithm. By adding the free time slot table in space, the time complexity of the algorithm is obviously smaller than that of the traditional PF algorithm.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.