CN116892939A - Track determination method and device, electronic equipment and storage medium - Google Patents

Track determination method and device, electronic equipment and storage medium Download PDF

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CN116892939A
CN116892939A CN202310843787.7A CN202310843787A CN116892939A CN 116892939 A CN116892939 A CN 116892939A CN 202310843787 A CN202310843787 A CN 202310843787A CN 116892939 A CN116892939 A CN 116892939A
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target
track
determining
trajectory
starting position
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张志恒
张璐
张治涛
金勇�
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Nanjing North Road Intelligent Control Technology Co ltd
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Nanjing North Road Intelligent Control Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment

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Abstract

The application discloses a track determining method, a track determining device, electronic equipment and a storage medium. The method comprises the steps that a starting position and a terminating position of a target object are obtained based on first equipment, and a planning path set is determined based on the starting position and the terminating position; acquiring an initial movement track of the target object in a time period corresponding to the starting position and the ending position based on second equipment; a target trajectory between the starting position and the ending position is determined based on the set of planned paths and the initial movement trajectory. The method solves the problem of track deficiency or track disorder caused by scattered deployment of the positioning equipment, and only needs to perform accurate positioning twice, so that the frequency of accurate positioning is reduced, the number of the deployed positioning equipment is reduced, and the running power consumption of the positioning equipment is reduced.

Description

Track determination method and device, electronic equipment and storage medium
Technical Field
The present application relates to the technical field of the present application, and in particular, to a track determining method, apparatus, electronic device, and storage medium.
Background
Along with the development of the age and the enhancement of technology, positioning equipment in special industries such as coal mines, chemical industry and the like is constantly optimized. Along with technical optimization, the accuracy and stability requirements of people on positioning results are higher and higher, and part of companies can judge personal safety of the people through track change.
At present, the Ultra Wide Band (UWB) special wireless communication mode brings about the advantages of strong anti-interference capability and high-precision positioning; therefore, the positioning equipment in special industries such as coal mines, chemical industry and the like is generally positioned by adopting UWB positioning equipment, but the UWB positioning equipment needs to be matched with a base station for use in positioning, so that the paving cost and the power consumption are higher, and the problems of track missing or track disorder also exist when the base station is scattered for paving.
Disclosure of Invention
The application provides a track determining method, a track determining device, electronic equipment and a storage medium, which are used for solving the problem of track missing or track disorder caused by scattered deployment of positioning equipment.
According to an aspect of the present application, there is provided a trajectory determination method including:
acquiring a starting position and a terminating position of a target object based on first equipment, and determining a planning path set based on the starting position and the terminating position;
acquiring an initial movement track of the target object in a time period corresponding to the starting position and the ending position based on second equipment;
a target trajectory between the starting position and the ending position is determined based on the set of planned paths and the initial movement trajectory.
According to another aspect of the present application, there is provided a trajectory determining device including:
the planning path set determining module is used for acquiring a starting position and a stopping position of the target object based on the first equipment and determining a planning path set based on the starting position and the stopping position;
the initial movement track acquisition module is used for acquiring an initial movement track of the target object in a time period corresponding to the starting position and the ending position based on second equipment;
and the target track determining module is used for determining a target track between the starting position and the ending position based on the planned path set and the initial moving track.
According to another aspect of the present application, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the trajectory determination method of any one of the embodiments of the present application.
According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a trajectory determining method according to any one of the embodiments of the present application.
According to the technical scheme, the starting position and the ending position of the target object are acquired based on the first equipment, and the planned path set is determined based on the starting position and the ending position; acquiring an initial movement track of the target object in a time period corresponding to the initial position and the final position based on the second equipment; a target trajectory between the starting position and the ending position is determined based on the set of planned paths and the initial movement trajectory. The problem of track deficiency or track disorder caused by scattered deployment of positioning equipment is solved, accurate positioning is only needed twice, frequency of accurate positioning is reduced, the number of deployed positioning equipment is reduced, and running power consumption of the positioning equipment is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a track determining method according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a track determining device according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a track determining method provided in an embodiment of the present application, where the method may be applied to a case of positioning by UWB positioning devices in special industries such as coal mine, chemical industry, etc., and the method may be performed by a track determining device, where the track determining device may be implemented in hardware and/or software, and the track determining device may be configured in electronic devices related to the special industries such as coal mine, chemical industry, etc. As shown in fig. 1, the method includes:
s110, acquiring a starting position and a terminating position of a target object based on the first equipment, and determining a planned path set based on the starting position and the terminating position.
The first device may be a positioning base station, and specifically, when positioning is performed by using the UWB positioning technology, the first device needs to cooperate with the positioning base station to obtain the position of the target object. The target object refers to a positioning object of the UWB positioning device, and specifically includes, but is not limited to, a vehicle, a mobile device, a worker, and the like, without limitation. In this embodiment, the positioning base station acquires the position information of the target object at any position as the initial position, and after any time period, the positioning base station acquires the position information of the target object again as the final position; after the starting position and the ending position are acquired, all paths of the starting position and the ending position are determined according to the starting position and the ending position, and a planning path set is formed. The position information is the coordinates of the target object under the first equipment coordinate system.
It will be appreciated that the time period between the start position and the end position is set by one skilled in the art based on experience and requirements and is not specifically limited herein.
It should be noted that, in the technical scheme of the application, the acquisition, storage, use, processing and the like of the data all conform to the relevant regulations of national laws and regulations.
On the basis of the above embodiment, optionally, the determining a planned path set based on the start position and the end position includes: determining a plurality of planned paths in a planned map based on the starting position and the ending position; the set of planned paths is formed based on a plurality of the planned paths.
Specifically, a planning map in the target object moving range is obtained, all planning paths between the starting position and the ending position are searched in the planning map according to the starting position and the ending position, and then a planning path set is formed according to the searched planning paths. It will be appreciated that the coordinate system in which the planning map is located is only the first device coordinate system.
S120, acquiring an initial movement track of the target object in a time period corresponding to the starting position and the ending position based on a second device.
The second device refers to a positioning device carried by the target object and provided with a pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) chip. In this embodiment, a movement track of a target object in a period corresponding to a start position and an end position is acquired as an initial movement track based on a positioning apparatus mounted with a PDR chip, that is, a point in time corresponding to a start point and an end point of the initial movement track is the same as a point in time corresponding to the start position and the end position, respectively.
On the basis of the foregoing embodiment, optionally, the acquiring, based on the second device, an initial movement track of the target object in a period corresponding to the start position and the end position includes: acquiring sensor information based on the second equipment, and determining a moving track of the target object in the moving process based on the sensor information; and determining an initial movement track based on the movement track in the movement process of the target object and the time periods corresponding to the starting position and the ending position.
The sensor information refers to information obtained by various sensors such as an accelerometer, a magnetometer, a gyroscope, etc., and specifically, the sensor information includes, but is not limited to, acceleration, angular velocity, magnetic force, pressure, etc. of the target object, which is not limited herein. In this embodiment, the touch sensor information is obtained by the positioning device with the PDR chip, and the step length and direction of the target object are calculated according to the sensor information and the PDR algorithm, so as to obtain the movement track of the target object in the movement process, and then the movement track in the time period is determined according to the movement track in the movement process and the time period between the starting position and the ending position, namely the initial movement track.
It should be noted that, the PDR positioning device uses an inertial measurement unit (Inertial Measurement Unit, IMU) to sense data such as acceleration, angular velocity, magnetic force, pressure and the like of the target object in the running process in the beaconing environment, and uses the data to calculate the step length and the direction of the target object, so as to achieve the purpose of positioning and tracking the target object, thus being not affected by the network environment in the positioning process.
S130, determining a target track between the starting position and the ending position based on the planned path set and the initial movement track.
In this embodiment, a target track between a start position and an end position is determined according to a planned path set acquired by a first device and an initial movement track acquired by a second device. The target track is an actual track between a starting position and an ending position.
On the basis of the above embodiment, optionally, the determining, based on the planned path set and the initial movement trajectory, a target trajectory between the start position and the end position includes: converting the initial movement track to obtain a target movement track; sequentially performing path fitting on the target moving track and the planned paths in the planned path set to obtain fitting degrees corresponding to all the planned paths; determining a target planning path based on the fitting degree corresponding to each planning path; a target trajectory between the starting position and the ending position is determined based on the target planned path and the target movement trajectory.
The target moving track refers to a moving track after the initial moving track is converted to a coordinate system where the initial position is located. In the embodiment, coordinate conversion is performed on all points in the initial movement track, and the initial movement track is converted to a coordinate system where the initial position is located, so that a target movement track is obtained; at this time, under the same coordinate system, for each planned path in the set of planned paths, path fitting degree integration is sequentially performed with the target movement path, the fitting degree of each planned path and the target movement path is deduced according to a preset interval on the X axis or the Y axis, the planned path with the minimum fitting degree is used as the target planned path, and then the target path between the starting position and the ending position is determined according to the target planned path and the target movement path.
On the basis of the above embodiment, optionally, the initial movement track includes a start point coordinate and an end point coordinate, where the start point coordinate corresponds to the start position, and the end point coordinate corresponds to the end position; the step of converting the movement track to obtain a target movement track comprises the following steps: determining a conversion factor between the first device coordinate system and the second device coordinate system based on the start position, the end position, the start point coordinates, and the end point coordinates; and converting the initial movement track based on the conversion factor to obtain a target movement track under the first equipment coordinate system.
The first equipment coordinate system refers to a coordinate system of the UWB positioning equipment, namely a coordinate system where a starting position and a stopping position are located; the second device coordinate system refers to a coordinate system of the positioning device on which the PDR chip is mounted, that is, a coordinate system in which an initial movement trajectory is located, where the initial movement trajectory includes a start point coordinate and an end point coordinate, the start point coordinate and the end point coordinate are coordinates of a start point and an end point of the initial movement trajectory, and it is understood that since the initial movement trajectory is determined according to a period of time corresponding to a start position and an end position, the start position corresponds to the end point coordinate, the end position corresponds to the end point coordinate, and the start position corresponds to the same point of time as the start position and the start point coordinate, and the end position corresponds to the same point of time as the end point coordinate.
In this embodiment, a conversion factor between the first device coordinate system and the second device coordinate system is determined according to the start position, the end position, the start point coordinate and the end point coordinate, and then all points in the initial movement track under the second device coordinate system are converted according to the conversion factor, so that the initial movement track is converted into the target movement track under the first device coordinate system.
On the basis of the embodiment, optionally, the conversion factor includes a expansion multiple and a rotation angle; the determining a conversion factor between the first device coordinate system and the second device coordinate system based on the start position, the end position, the start point coordinates, and the end point coordinates includes: the initial position corresponds to the initial point; and determining the expansion multiple and the rotation angle based on the coordinates of the starting position and the coordinates of the starting point, and the coordinates of the ending position and the coordinates of the end point.
In this embodiment, the starting position corresponds to the starting point, which may be understood as translating the second device coordinate system so that the starting position and the starting point coincide; inputting the coordinates of the starting position and the coordinates of the starting point, and the coordinates of the ending position and the coordinates of the ending point into a coordinate system conversion formula to form an equation set, and solving the equation set to obtain the expansion multiple and the rotation angle. The expansion and contraction times comprise expansion and contraction times on an X axis and expansion and contraction times on a Y axis.
Illustratively, the coordinate system conversion formula is as follows:
x ′ ＝β x *(xcosθ-ysinθ)
y ′ ＝β y *(xcosθ+ysinθ)
wherein, (x) ′ ，y ′ ) The coordinates of the point in the first equipment coordinate system, (x, y) are the coordinates of the point in the second equipment coordinate system, theta is the rotation angle, beta x Is the expansion multiple of X axis, beta y As a magnification of the Y axis, it can be understood that β x And beta y May be the same expansion times.
On the basis of the above embodiment, optionally, the target movement track includes step number information; the determining a target trajectory between the starting position and the ending position based on the target planned path and the target movement trajectory includes: setting a path point on the target planning path based on the step number information; a target trajectory between the starting position and the ending position is determined based on the waypoints.
In this embodiment, the moving track of the target object acquired by the second device includes the traveling step number information, and it can be understood that, since the target moving track is converted from the initial moving track, the target moving track inherits the step number information of the initial moving track. The method comprises the steps that a path point can be set on a target planning path according to step number information of a target moving track, and meanwhile, the time of each path point can be determined according to the time of a starting position and a stopping position, so that the target track between the starting position and the stopping position is determined according to the path point; the target track is a track which is deduced to be approximate to the real track.
According to the technical scheme, the starting position and the ending position of the target object are acquired based on the first equipment, and a planned path set is determined based on the starting position and the ending position; acquiring an initial movement track of the target object in a time period corresponding to the initial position and the final position based on the second equipment; a target trajectory between the starting position and the ending position is determined based on the set of planned paths and the initial movement trajectory. The problem of track deficiency or track disorder caused by scattered deployment of positioning equipment is solved, accurate positioning is only needed twice, frequency of accurate positioning is reduced, the number of deployed positioning equipment is reduced, and running power consumption of the positioning equipment is reduced.
Example two
Fig. 2 is a schematic structural diagram of a track determining device according to a second embodiment of the present application. As shown in fig. 2, the apparatus includes:
a planned path set determining module 210, configured to obtain a start position and an end position of the target object based on the first device, and determine a planned path set based on the start position and the end position;
an initial movement track obtaining module 220, configured to obtain, based on a second device, an initial movement track of the target object in a time period corresponding to the start position and the end position;
a target trajectory determination module 230 for determining a target trajectory between the start position and the end position based on the set of planned paths and the initial movement trajectory.
On the basis of the above embodiment, optionally, the planned path set determining module 210 is specifically configured to determine a plurality of planned paths in a planned map based on the start position and the end position; the set of planned paths is formed based on a plurality of the planned paths.
On the basis of the above embodiment, optionally, the initial movement track obtaining module 220 is specifically configured to obtain sensor information based on the second device, and determine a movement track of the target object in a movement process based on the sensor information; and determining an initial movement track based on the movement track in the movement process of the target object and the time periods corresponding to the starting position and the ending position.
On the basis of the above embodiment, optionally, the target track determining module 230 is specifically configured to convert the initial movement track to obtain a target movement track; sequentially performing path fitting on the target moving track and the planned paths in the planned path set to obtain fitting degrees corresponding to all the planned paths; determining a target planning path based on the fitting degree corresponding to each planning path; a target trajectory between the starting position and the ending position is determined based on the target planned path and the target movement trajectory.
On the basis of the above embodiment, optionally, the initial movement track includes a start point coordinate and an end point coordinate, where the start point coordinate corresponds to the start position, and the end point coordinate corresponds to the end position; the target trajectory determination module 230 includes a trajectory conversion unit for determining a conversion factor between the first device coordinate system and the second device coordinate system based on the start position, the end position, the start point coordinate and the end point coordinate; and converting the initial movement track based on the conversion factor to obtain a target movement track under the first equipment coordinate system.
On the basis of the above embodiment, optionally, the track conversion unit further includes a conversion factor determination subunit, configured to correspond the start position to the start point; and the coordinates of the starting position, the coordinates of the starting point, the coordinates of the ending position and the coordinates of the end point determine the expansion multiple and the rotation angle.
On the basis of the above embodiment, optionally, the target movement track includes step number information; the target track determining module 230 is a target track determining unit, configured to set a path point on the target planned path based on the step number information; a target trajectory between the starting position and the ending position is determined based on the waypoints.
The track determining device provided by the embodiment of the application can execute the track determining method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the executing method.
Example III
Fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present application. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as the trajectory determination method.
In some embodiments, the trajectory determination method may be implemented as a computer program, which is tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the trajectory determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the trajectory determination method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the trajectory determination method of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
Example IV
The fourth embodiment of the present application also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a trajectory determination method, the method comprising:
acquiring a starting position and a terminating position of a target object based on first equipment, and determining a planning path set based on the starting position and the terminating position; acquiring an initial movement track of the target object in a time period corresponding to the initial position and the final position based on the second equipment; a target trajectory between the starting position and the ending position is determined based on the set of planned paths and the initial movement trajectory.
In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.

Claims (10)

1. A track determining method, comprising:
acquiring a starting position and a terminating position of a target object based on first equipment, and determining a planning path set based on the starting position and the terminating position;
acquiring an initial movement track of the target object in a time period corresponding to the starting position and the ending position based on second equipment;
a target trajectory between the starting position and the ending position is determined based on the set of planned paths and the initial movement trajectory.
2. The method of claim 1, wherein the determining a set of planned paths based on the starting location and the ending location comprises:
determining a plurality of planned paths in a planned map based on the starting position and the ending position;
the set of planned paths is formed based on a plurality of the planned paths.
3. The method according to claim 1, wherein the acquiring, based on the second device, an initial movement trajectory of the target object in a period of time corresponding to the start position and the end position includes:
acquiring sensor information based on the second equipment, and determining a moving track of the target object in the moving process based on the sensor information;
and determining an initial movement track based on the movement track in the movement process of the target object and the time periods corresponding to the starting position and the ending position.
4. A method according to claim 1 or 3, wherein said determining a target trajectory between the starting position and the ending position based on the set of planned paths and the initial movement trajectory comprises:
converting the initial movement track to obtain a target movement track;
sequentially performing path fitting on the target moving track and the planned paths in the planned path set to obtain fitting degrees corresponding to all the planned paths;
determining a target planning path based on the fitting degree corresponding to each planning path;
a target trajectory between the starting position and the ending position is determined based on the target planned path and the target movement trajectory.
5. The method of claim 4, wherein the initial trajectory of movement includes a start point coordinate and an end point coordinate, the start point coordinate corresponding to the start position and the end point coordinate corresponding to the end position; the step of converting the movement track to obtain a target movement track comprises the following steps:
determining a conversion factor between the first device coordinate system and the second device coordinate system based on the start position, the end position, the start point coordinates, and the end point coordinates;
and converting the initial movement track based on the conversion factor to obtain a target movement track under the first equipment coordinate system.
6. The method of claim 5, wherein the conversion factor comprises a scaling factor and a rotation angle; the determining a conversion factor between the first device coordinate system and the second device coordinate system based on the start position, the end position, the start point coordinates, and the end point coordinates includes:
the initial position corresponds to the initial point;
and the coordinates of the starting position, the coordinates of the starting point, the coordinates of the ending position and the coordinates of the end point determine the expansion multiple and the rotation angle.
7. The method of claim 4, wherein the target movement trajectory comprises step number information; the determining a target trajectory between the starting position and the ending position based on the target planned path and the target movement trajectory includes:
setting a path point on the target planning path based on the step number information;
a target trajectory between the starting position and the ending position is determined based on the waypoints.
8. A trajectory determining device, comprising:
the planning path set determining module is used for acquiring a starting position and a stopping position of the target object based on the first equipment and determining a planning path set based on the starting position and the stopping position;
the initial movement track acquisition module is used for acquiring an initial movement track of the target object in a time period corresponding to the starting position and the ending position based on second equipment;
and the target track determining module is used for determining a target track between the starting position and the ending position based on the planned path set and the initial moving track.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the trajectory determination method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the trajectory determination method of any one of claims 1 to 7 when executed.
CN202310843787.7A 2023-07-10 2023-07-10 Track determination method and device, electronic equipment and storage medium Pending CN116892939A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310843787.7A CN116892939A (en) 2023-07-10 2023-07-10 Track determination method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310843787.7A CN116892939A (en) 2023-07-10 2023-07-10 Track determination method and device, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116892939A true CN116892939A (en) 2023-10-17

Family

ID=88310280

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310843787.7A Pending CN116892939A (en) 2023-07-10 2023-07-10 Track determination method and device, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN116892939A (en)

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