Abstract: A cell selection method includes: when a terminal camps on a first network that does not support a voice service, and voice service needs to be initiated or received, falling back, by the terminal in a circuit switched fallback (CSFB) manner, to a second network that supports the voice service when the terminal fails to establish the voice service with the second network, saving, by the terminal, a location identifier of the first network and a location identifier of the second network to a blacklist. The blacklist is used by the terminal to choose to camp on a cell of the second network when performing CSFB subsequently.

Abstract: A voice service processing method includes: sending, by a terminal device, a first message to a network device of a first network, where the first message requests a circuit switched fallback (CSFB) voice service; receiving, by the terminal device, a second message sent by the network device of the first network, where the second message instructs the terminal device to perform a network redirection; if the second message carries no frequency information, determining, by the terminal device, a redirection frequency, where the redirection frequency is a frequency supported by a second network; and sending, by the terminal device based on the redirection frequency, a connection request to a network device of the second network, to perform a circuit switched (CS) voice service.

Abstract: The present disclosure discloses a method and apparatus for motion planning of a robot, a method and apparatus for path planning of a robot, and a method and apparatus for grasping of a robot. The method includes: when the robot operates on an object to be operated, performing, in combination with a space model of a real scene where the object is located, collision detection on the object and a collision subject in the space model; and determining a motion planning scheme for the robot corresponding to a result of the collision detection based on collision sensitivity of the object and collision sensitivity of the collision subject, the motion planning scheme being formed by the robot operating on the object.

Abstract: The present invention provides a voice service processing method and a terminal device. The method includes: sending, by a terminal device, a first message to a network device of a first network, where the first message is used to request a circuit switched fallback CSFB voice service; receiving, by the terminal device, a second message sent by the network device of the first network, where the second message is used to instruct the terminal device to perform network redirection; if the second message carries no frequency information, determining, by the terminal device, a redirection frequency, where the redirection frequency is a frequency supported by a second network; and sending, by the terminal device based on the redirection frequency, a connection request to a network device of the second network, to perform a CS voice service.

Abstract: A method related to the field of mobile communications technologies and for processing radio frequency resources includes detecting, by a terminal, a service mode of a first service that uses a primary subscriber identification module (SIM) card, where the service mode includes a real-time service mode and a non-real-time service mode, and reducing, by the terminal, a proportion of radio frequency (RF) resources occupied by a secondary SIM card when the service mode of the first service is the real-time service mode, where the primary SIM card is a card for performing the real-time service mode, and the secondary SIM card is a card, other than the primary SIM card, in a multi-SIM multi-standby terminal.

Abstract: A method related to the field of mobile communications technologies and for processing radio frequency resources includes detecting, by a terminal, a service mode of a first service that uses a primary subscriber identification module (SIM) card, where the service mode includes a real-time service mode and a non-real-time service mode, and reducing, by the terminal, a proportion of radio frequency (RF) resources occupied by a secondary SIM card when the service mode of the first service is the real-time service mode, where the primary SIM card is a card for performing the real-time service mode, and the secondary SIM card is a card, other than the primary SIM card, in a multi-SIM multi-standby terminal.

Abstract: A cell selection method includes: when a terminal camps on a first network that does not support a voice service, and voice service needs to be initiated or received, falling back, by the terminal in a circuit switched fallback (CSFB) manner, to a second network that supports the voice service when the terminal fails to establish the voice service with the second network, saving, by the terminal, a location identifier of the first network and a location identifier of the second network to a blacklist. The blacklist is used by the terminal to choose to camp on a cell of the second network when performing CSFB subsequently.

Abstract: Embodiments of the present invention provide a call prompt method. A first interface that shows that a first terminal is in a call with a second terminal is displayed on the first terminal. If a third terminal initiates a call to the first terminal at this moment, a second interface indicating the call initiated by the third terminal is displayed on the first terminal, and a sound is output, where the sound includes a call voice and a prompt tone of the initiated call. If the call initiated by the third terminal to the first terminal is rejected, the call voice is output on the first terminal and the prompt tone stops to be output. Additionally or alternatively, if the third terminal stops initiating the call, the first interface is displayed on the first terminal, and the call voice between the first terminal and the terminal continues to be output.

Abstract: Embodiments of the present invention provide a call prompt method. A first interface that shows that a first terminal is in a call with a second terminal is displayed on the first terminal. If a third terminal initiates a call to the first terminal at this moment, a second interface indicating the call initiated by the third terminal is displayed on the first terminal, and a sound is output, where the sound includes a call voice and a prompt tone of the initiated call. If the call initiated by the third terminal to the first terminal is rejected, the call voice is output on the first terminal and the prompt tone stops to be output. Additionally or alternatively, if the third terminal stops initiating the call, the first interface is displayed on the first terminal, and the call voice between the first terminal and the terminal continues to be output.

Abstract: The present invention provides a voice service processing method and a terminal device. The method includes: sending, by a terminal device, a first message to a network device of a first network, where the first message is used to request a circuit switched fallback CSFB voice service; receiving, by the terminal device, a second message sent by the network device of the first network, where the second message is used to instruct the terminal device to perform network redirection; if the second message carries no frequency information, determining, by the terminal device, a redirection frequency, where the redirection frequency is a frequency supported by a second network; and sending, by the terminal device based on the redirection frequency, a connection request to a network device of the second network, to perform a CS voice service.