Device control method, device and electronic equipment

Abstract

The disclosed embodiments disclose a device control method, apparatus, and electronic device. A specific implementation of the method includes: determining whether the first trajectory data meets the acquisition requirements; in response to the first trajectory data meeting the acquisition requirements, generating second trajectory data based on the adjustment of the first trajectory data, wherein the second trajectory indicated by the second trajectory data is the trajectory of the execution device performing the preset task; and controlling the execution device to perform the preset task according to the second trajectory. This implementation more accurately obtains the trajectory data corresponding to the trajectory of the execution device performing the preset task.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a device control method, apparatus, and electronic device. Background Art

[0002] With the development of artificial intelligence technology, smart devices that can perform related tasks have been developed. For example, the above-mentioned smart devices may include smart sweepers, smart speakers, etc. In practice, in order to enable smart devices to perform related tasks according to a certain trajectory, it is necessary to collect trajectory data of the trajectory. In related technologies, the smart device is remotely controlled to move, and the smart device collects trajectory data during the movement. Summary of the invention

[0003] This disclosure section is provided to introduce concepts in a brief form, which will be described in detail in the detailed description section below. This disclosure section is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0004] The embodiments of the present disclosure provide a device control method, apparatus, and electronic device to more accurately obtain trajectory data corresponding to the trajectory of an execution device executing a preset task.

[0005] In a first aspect, an embodiment of the present disclosure provides a device control method, the method comprising: determining whether first trajectory data meets collection requirements; in response to the first trajectory data meeting the collection requirements, generating second trajectory data based on adjustment of the first trajectory data, wherein a second trajectory indicated by the second trajectory data is a trajectory of an execution device executing a preset task; and controlling the execution device to execute the preset task according to the second trajectory.

[0006] In a second aspect, an embodiment of the present disclosure provides a device control apparatus, the apparatus comprising: a determination unit, configured to determine whether the collected first trajectory data meets collection requirements; a generation unit, configured to generate second trajectory data in response to the first trajectory data meeting the collection requirements and based on an adjustment of the first trajectory data, wherein the second trajectory indicated by the second trajectory data is a trajectory of an execution device executing a preset task; and a control unit, configured to control the execution device to execute the preset task according to the second trajectory.

[0007] In a third aspect, an embodiment of the present disclosure provides a device control system, the system comprising: a collection device and an execution device. The collection device, in response to determining that the collected first trajectory data meets the collection requirements, generates second trajectory data based on the adjustment of the first trajectory data; and controls the execution device to execute a preset task according to the second trajectory indicated by the second trajectory.

[0008] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the device control method as described in the first aspect.

[0009] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the device control method as described in the first aspect.

[0010] The device control method, apparatus, and electronic device provided by the embodiments of the present disclosure can determine whether the first trajectory data meets the collection requirements. Further, in response to the first trajectory data meeting the collection requirements, the second trajectory data is generated based on the adjustment of the first trajectory data. In practice, the second trajectory indicated by the second trajectory data is the trajectory of the execution device performing the preset task. Further, the execution device can be controlled to perform the preset task according to the second trajectory. Thereby, the trajectory data corresponding to the trajectory of the execution device performing the preset task is obtained more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0012] Figure 1 is a flow chart of an embodiment of a device control method according to the present disclosure;

[0013] Figure 2 is a flow chart of generating second trajectory data in one embodiment of a device control method according to the present disclosure;

[0014] Figure 3 is a flow chart for determining whether first trajectory data meets collection requirements in one embodiment of a device control method according to the present disclosure;

[0015] Figure 4 is a structural schematic diagram of an embodiment of a device control apparatus according to the present disclosure;

[0016] Figure 5A and Figure 5B is a timing diagram of an embodiment of a device control system according to the present disclosure;

[0017] Figure 6 is an exemplary system architecture to which the device control method of an embodiment of the present disclosure may be applied;

[0018] Figure 7It is a schematic diagram of the basic structure of an electronic device provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0020] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0021] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0022] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0024] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0025] Please refer to Figure 1 , which shows the process of an embodiment of the device control method according to the present disclosure. Figure 1 The device control method shown comprises the following steps:

[0026] Step 101: determine whether the first trajectory data meets the collection requirements.

[0027] In this embodiment, the electronic device (for example, Figure 6The collection device 601 shown in FIG. 6 can determine whether the first trajectory data meets the collection requirements.

[0028] The first trajectory data may be trajectory data collected by the execution subject. In practice, the first trajectory indicated by the first trajectory data may include multiple trajectory points.

[0029] In some scenarios, the execution subject may determine whether the first trajectory includes a pre-specified trajectory point. In response to the first trajectory including the pre-specified trajectory point, the execution subject may determine that the first trajectory data does not meet the acquisition requirement. In response to the first trajectory not including the pre-specified trajectory point, the execution subject may determine that the first trajectory data meets the acquisition requirement.

[0030] Step 102 : in response to the first trajectory data satisfying the acquisition requirement, generating second trajectory data based on the adjustment of the first trajectory data.

[0031] In this embodiment, in response to the first trajectory data satisfying the collection requirement, the execution subject may generate the second trajectory data based on the adjustment of the first trajectory data.

[0032] The second trajectory indicated by the second trajectory data is a trajectory of the execution device executing the preset task. In practice, the execution device may be a device that executes the preset task (for example, Figure 6 Execution device 602 shown in ).

[0033] In some scenarios, the execution subject may adjust the first trajectory using a preset trajectory optimization algorithm, thereby adjusting the first trajectory data. Further, the execution subject may use the adjusted first trajectory data as the second trajectory data.

[0034] Step 103: Control the execution device to execute the preset task according to the second trajectory.

[0035] In this embodiment, the execution subject may control the execution device to execute the preset task according to the second trajectory.

[0036] The above-mentioned preset tasks may include various pre-set tasks. For example, the preset tasks may include voice broadcast, goods placement, etc.

[0037] As described in the background technology, in the related art, the trajectory data is collected by controlling the smart device to move by remote control. In practice, the movement of the smart device by remote control may cause a large deviation between the movement trajectory of the smart device and the expected trajectory. As a result, the accuracy of the collected trajectory data is low. In addition, collecting trajectory data by remote control of the smart device may result in low flexibility in collecting trajectory data.

[0038] In this embodiment, first, it is determined whether the first trajectory data meets the acquisition requirements. Further, if the first trajectory data meets the acquisition requirements, the second trajectory data is generated based on the adjustment of the first trajectory data. In practice, the second trajectory indicated by the second trajectory data can be the trajectory of the execution device performing the preset task. Thus, the trajectory data corresponding to the trajectory of the execution device performing the preset task can be obtained more accurately. Further, the execution device is controlled to perform the preset task according to the second trajectory. Thus, the execution device can be implemented to perform the preset task according to the expected trajectory.

[0039] In some embodiments, the above execution entity may be Figure 2 The process shown in the figure executes the above step 102. The process includes the following steps 1021 and 1022.

[0040] Step 1021: Send first trajectory data to a terminal device, so that the terminal device adjusts a first trajectory indicated by the first trajectory data.

[0041] In some scenarios, if there are adjacent trajectory points in the first trajectory whose distance is less than a first preset value and / or greater than a second preset value, the terminal device can adjust the distance between the adjacent trajectory points to be greater than or equal to the first preset value and less than or equal to the second preset value.

[0042] Step 1022: Based on the adjustment information fed back by the terminal device, adjust the first trajectory data to generate second trajectory data.

[0043] The adjustment information may include the trajectory point information of the adjusted trajectory point in the first trajectory. In some scenarios, the execution subject may adjust the trajectory point information of the corresponding trajectory point in the first trajectory data according to the adjustment information. Further, the execution subject may use the adjusted first trajectory data as the second trajectory data.

[0044] Thus, after the acquisition device acquires the first trajectory data, the first trajectory is adjusted through the terminal device. Further, the acquisition device generates the second trajectory data according to the adjustment information fed back by the terminal device. Thus, the computing load of the acquisition device can be shared by the terminal device.

[0045] In some embodiments, the terminal device may adjust the first trajectory through the steps shown below.

[0046] In the first step, a first trajectory indicated by first trajectory data is displayed.

[0047] The second step is to adjust the first trajectory according to the user's adjustment operation and / or a preset trajectory optimization algorithm.

[0048] In some scenarios, the first trajectory may be adjusted only according to an adjustment operation performed by the user, or may be optimized only according to a preset trajectory optimization algorithm to achieve adjustment of the first trajectory.

[0049] In other scenarios, after the user performs an adjustment operation on the first trajectory, the first trajectory may be further optimized according to a preset trajectory optimization algorithm to achieve adjustment of the first trajectory.

[0050] In some other scenarios, after the first trajectory is optimized according to a preset trajectory optimization algorithm, the first trajectory may be further adjusted according to an adjustment operation performed by the user.

[0051] Thus, the terminal device may adjust the first trajectory in combination with the adjustment operation performed by the user and the preset trajectory optimization algorithm.

[0052] In some embodiments, the adjusting operation includes adjusting at least one of the following items of the trajectory point in the first trajectory: coordinates, velocity, angular velocity, acceleration.

[0053] In practice, the user may adjust the coordinates, velocity, angular velocity and acceleration of one or more trajectory points in the first trajectory.

[0054] Therefore, by the user adjusting the coordinates, speed, angular velocity and acceleration of the trajectory points in the first trajectory, the terminal device can adjust the first trajectory.

[0055] In some embodiments, the above execution entity may be Figure 3 The process shown in the figure executes the above step 101. The process includes the steps 1011 and 1012 shown below.

[0056] Step 1011 , playing the collected video to allow the user to confirm whether to re-collect the first trajectory data.

[0057] The above-mentioned acquisition video is used to show the acquisition position of the first trajectory data. In practice, multiple acquisition positions of the first trajectory data are shown in the acquisition video.

[0058] Therefore, the user can view the collection position of the first trajectory data through the collection video to confirm whether to re-collect the first trajectory data.

[0059] Step 1012: In response to the user performing a first confirmation operation, determining that the first trajectory data meets the collection requirement.

[0060] The first confirmation operation indicates not to re-collect the first trajectory data.

[0061] Therefore, if the user instructs not to re-collect the first trajectory data, it can be determined that the first trajectory data meets the collection requirement.

[0062] In some embodiments, Figure 3 The process shown may also include step 1013 as shown below.

[0063] Step 1013: In response to a second confirmation operation performed by the user, it is determined that the first trajectory data does not meet the collection requirement.

[0064] The second confirmation operation indicates to re-collect the first trajectory data or part of the trajectory data in the first trajectory data.

[0065] Therefore, if the user instructs to re-collect the first trajectory data or part of the trajectory data in the first trajectory data, it can be determined that the first trajectory data does not meet the collection requirement.

[0066] In some embodiments, the above execution entity may also perform the following steps.

[0067] Specifically, in response to the first trajectory data not meeting the collection requirement, the first trajectory data or part of the trajectory data in the first trajectory data is recollected according to the start collection position and the end collection position specified by the user.

[0068] The above-mentioned starting acquisition position may be the starting position for acquiring the first trajectory data or part of the trajectory data in the first trajectory data. Correspondingly, the above-mentioned ending acquisition position may be the ending position for acquiring the first trajectory data or part of the trajectory data in the first trajectory data.

[0069] In practice, the user may specify a start collection position and an end collection position for recollecting the first trajectory data or the above-mentioned partial trajectory data.

[0070] Therefore, if the first trajectory data does not meet the collection requirement, the first trajectory data or part of the trajectory data in the first trajectory data may be recollected.

[0071] In some embodiments, the collected video is captured during the collection process of the first trajectory data.

[0072] In practice, the acquisition device may acquire the above-mentioned acquisition video during the process of acquiring the first trajectory data.

[0073] In some embodiments, the execution entity may execute step 103 in the following manner.

[0074] Specifically, a control instruction is sent to the execution device, wherein the control instruction is used to control the execution device to execute a preset task according to the second trajectory.

[0075] Therefore, by sending control instructions to the execution device, the execution device can execute the preset task according to the second trajectory.

[0076] In some embodiments, the execution entity may execute step 103 in the following manner.

[0077] The second trajectory data is sent to the execution device, so that the execution device executes the preset task according to the second trajectory.

[0078] Therefore, by sending the second trajectory data to the execution device, the execution device executes the preset task according to the second trajectory.

[0079] In some embodiments, the execution device executes the preset task according to the second trajectory in the following manner.

[0080] The first step is to use the three-dimensional map to move according to the track point information of each track point in the second track.

[0081] The above-mentioned trajectory point information includes at least one of the following: coordinates, speed, angular velocity, acceleration.

[0082] In some scenarios, for each track point in the second track, the execution device can use a three-dimensional map to determine the spatial position corresponding to the track point, and move at the spatial position corresponding to the track point according to the speed, angular velocity and acceleration of the track point.

[0083] The second step is to execute preset tasks during the movement.

[0084] Thus, the execution device can execute the preset task according to the second track through the three-dimensional map, thereby improving the accuracy of the execution device executing the preset task according to the second track.

[0085] In some embodiments, the preset task includes taking images and / or videos.

[0086] Further references Figure 4 As an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a device control device, and the device embodiment is Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0087] like Figure 4 As shown, the device control apparatus of this embodiment includes: a determination unit 401, a generation unit 402, and a control unit 403. The determination unit 401 can be used to: determine whether the collected first trajectory data meets the collection requirements. The generation unit 402 can be used to: in response to the first trajectory data meeting the collection requirements, generate second trajectory data based on the adjustment of the first trajectory data, wherein the second trajectory indicated by the second trajectory data is the trajectory of the execution device to perform the preset task. The control unit 403 can be used to: control the execution device to perform the preset task according to the second trajectory.

[0088] In this embodiment, the specific processing of the determining unit 401, the generating unit 402, and the control unit 403 of the device control device and the technical effects thereof can be referred to respectively. Figure 1 The relevant descriptions of step 101, step 102, and step 103 in the corresponding embodiment are not repeated here.

[0089] In some embodiments, the generating unit 402 is further configured to: send the first trajectory data to the terminal device so that the terminal device adjusts the first trajectory indicated by the first trajectory data; and adjust the first trajectory data based on the adjustment information fed back by the terminal device to generate the second trajectory data.

[0090] In some embodiments, the terminal device adjusts the first trajectory in the following manner: displaying the first trajectory indicated by the first trajectory data; and adjusting the first trajectory according to the user's adjustment operation and / or a preset trajectory optimization algorithm.

[0091] In some embodiments, the adjusting operation includes adjusting at least one of the following items of the trajectory point in the first trajectory: coordinates, velocity, angular velocity, acceleration.

[0092] In some embodiments, the determination unit 401 is further used to: play a collection video to allow the user to confirm whether to re-collect the first trajectory data, wherein the collection video is used to display the collection position of the first trajectory data; in response to the user performing a first confirmation operation, determine that the first trajectory data meets the collection requirements, wherein the first confirmation operation indicates not to re-collect the first trajectory data.

[0093] In some embodiments, the determining unit 401 is further configured to: in response to a second confirmation operation performed by the user, determine that the first trajectory data does not meet the collection requirement, wherein the second confirmation operation indicates to re-collect the first trajectory data or part of the first trajectory data.

[0094] In some embodiments, the device control apparatus may further include a collection unit ( Figure 4 The acquisition unit is further configured to: in response to the first trajectory data not meeting the acquisition requirement, re-acquire the first trajectory data or part of the trajectory data in the first trajectory data according to the start acquisition position and the end acquisition position specified by the user.

[0095] In some embodiments, the collected video is captured during the collection process of the first trajectory data.

[0096] In some embodiments, the control unit 403 is further used to: send a control instruction to the execution device, wherein the control instruction is used to control the execution device to execute a preset task according to the second trajectory.

[0097] In some embodiments, the control unit 403 is further configured to: send the second trajectory data to the execution device, so that the execution device executes the preset task according to the second trajectory.

[0098] In some embodiments, the execution device executes the preset task according to the second trajectory in the following manner: using a three-dimensional map, moving according to the trajectory point information of each trajectory point in the second trajectory, wherein the trajectory point information includes at least one of the following: coordinates, speed, angular velocity, acceleration; executing the preset task during the movement.

[0099] In some embodiments, the preset task includes taking images and / or videos.

[0100] Further references Figure 5A and Figure 5B , which shows a timing diagram of some embodiments of the device control system according to the present disclosure. The device control system includes a collection device and an execution device. The interaction process between the collection device and the execution device is shown in Figure 5A Step 501 and step 502 are shown.

[0101] Step 501 : In response to determining that the collected first trajectory data meets the collection requirement, the collection device generates second trajectory data based on the adjustment of the first trajectory data.

[0102] Step 502: The acquisition device controls the execution device to execute a preset task according to the second trajectory indicated by the second trajectory.

[0103] Regarding the implementation process of step 501 and step 502, please refer to the above content and will not be repeated here.

[0104] In some embodiments, the device control system may further include a terminal device. For the interaction process between the terminal device and the acquisition device, see Figure 5B Step 503, step 504 and step 505 are shown.

[0105] Step 503: The terminal device adjusts the first trajectory indicated by the first trajectory data based on the first trajectory data sent by the acquisition device.

[0106] Step 504: The terminal device feeds back adjustment information of the first trajectory to the acquisition device.

[0107] Step 505: The acquisition device adjusts the first trajectory data based on the adjustment information to generate second trajectory data.

[0108] Regarding the implementation process of step 503, step 504 and step 505, please refer to the above content and will not be repeated here.

[0109] Further references Figure 6 , Figure 6An exemplary system architecture is shown in which the device control method according to one embodiment of the present disclosure can be applied.

[0110] like Figure 6 As shown, the system architecture may include a trajectory data collection device 601, an execution device 602, and a terminal device 603. In practice, the collection device 601, the execution device 602, and the terminal device 603 interact with each other through a network. Here, the network may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0111] The acquisition device 601 may be a device for collecting trajectory data. The acquisition device 601 may be hardware or software. When the acquisition device 601 is hardware, it may be equipped with a gyroscope, an accelerometer, a camera, a depth camera, etc. In practice, the acquisition device 601 may be a handheld device. When the acquisition device 601 is software, it may be installed in a device for collecting trajectory data, which may be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0112] The execution device 602 may be a device for executing a preset task. The execution device 602 may be hardware or software. When the execution device 602 is hardware, it may be an automated device such as a robot. When the execution device 602 is software, it may be installed in an automated device such as a robot, and it may be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0113] The terminal device 603 can be hardware or software. When the terminal device 603 is hardware, it can include but is not limited to smart phones, tablet computers, laptop computers, desktop computers, etc. In practice, the terminal device 603 can have a built-in trajectory optimization algorithm. When the terminal device 603 is software, it can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules, or it can be implemented as a single software or software module. It is not specifically limited here.

[0114] In some scenarios, the acquisition device 601 can determine whether the first trajectory data meets the acquisition requirements. Further, in response to the first trajectory data meeting the acquisition requirements, the acquisition device 601 can send the first trajectory data to the terminal device 603. Further, the terminal device 603 can adjust the first trajectory indicated by the first trajectory data and feedback the adjustment information to the acquisition device 601. Thus, the acquisition device 601 can adjust the first trajectory data based on the adjustment information fed back by the terminal device 603 to generate the second trajectory data. Finally, the acquisition device 601 can control the execution device 602 to perform the preset task according to the second trajectory indicated by the second trajectory data. It should be noted that the device control method provided in the embodiment of the present disclosure can be executed by the acquisition device 601, and accordingly, the device control device can be set in the acquisition device 601.

[0115] It should be understood that Figure 6 The number of collection devices, execution devices and terminal devices in the embodiment is only for illustration. Any number of collection devices, execution devices and terminal devices may be provided according to the implementation requirements.

[0116] Reference below Figure 7 , which shows an electronic device (eg, Figure 7 Schematic diagram of the structure of the acquisition device). Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0117] like Figure 7 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0118] Typically, the following devices may be connected to the I / O interface 705: input devices 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 708 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 709. The communication devices 709 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0119] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 709, or installed from a storage device 708, or installed from a ROM 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0120] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0121] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0122] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0123] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: determines whether the first trajectory data meets the collection requirement; in response to the first trajectory data meeting the collection requirement, generates second trajectory data based on the adjustment of the first trajectory data, wherein the second trajectory indicated by the second trajectory data is the trajectory of the execution device executing the preset task; and controls the execution device to execute the preset task according to the second trajectory.

[0124] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0125] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of the unit does not limit the unit itself in some cases. For example, the determination unit may also be described as a unit for "determining whether the first trajectory data meets the collection requirements".

[0127] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0128] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0130] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0131] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A device control method, characterized in that: include: Determining whether the first trajectory data meets the collection requirements; In response to the first trajectory data satisfying the collection requirement, generating second trajectory data based on the adjustment of the first trajectory data, wherein the second trajectory indicated by the second trajectory data is a trajectory of the execution device executing the preset task; Controlling the execution device to execute the preset task according to the second trajectory; The method further includes: in response to the first trajectory data not meeting the collection requirement, re-collecting the first trajectory data or part of the trajectory data in the first trajectory data according to the starting collection position and the ending collection position specified by the user; wherein, in response to the first trajectory data not meeting the collection requirement, includes: in response to the first trajectory containing a pre-specified trajectory point, determining that the first trajectory data does not meet the collection requirement.

2. The method according to claim 1, characterized in that The generating second trajectory data based on the adjustment of the first trajectory data includes: Sending the first trajectory data to a terminal device, so that the terminal device adjusts a first trajectory indicated by the first trajectory data; Based on the adjustment information fed back by the terminal device, the first trajectory data is adjusted to generate the second trajectory data.

3. The method according to claim 2, characterized in that The terminal device adjusts the first trajectory in the following manner: displaying a first trajectory indicated by the first trajectory data; The first trajectory is adjusted according to an adjustment operation of a user and / or a preset trajectory optimization algorithm.

4. The method according to claim 3, characterized in that The adjustment operation includes adjusting at least one of the following items of the track points in the first track: Coordinates, velocity, angular velocity, acceleration.

5. The method according to claim 1, characterized in that The determining whether the first trajectory data meets the collection requirement includes: Playing a collection video to allow the user to confirm whether to re-collect the first trajectory data, wherein the collection video is used to display a collection location of the first trajectory data; In response to a user performing a first confirmation operation, it is determined that the first trajectory data meets the collection requirement, wherein the first confirmation operation indicates not to re-collect the first trajectory data.

6. The method according to claim 5, characterized in that The determining whether the first trajectory data meets the collection requirement further includes: In response to a second confirmation operation performed by the user, it is determined that the first trajectory data does not meet the collection requirement, wherein the second confirmation operation indicates to re-collect the first trajectory data or part of the first trajectory data.

7. The method according to claim 5, characterized in that The collected video is shot during the collection process of the first trajectory data.

8. The method according to claim 1, characterized in that The controlling the execution device to execute the preset task according to the second trajectory includes: A control instruction is sent to the execution device, wherein the control instruction is used to control the execution device to execute the preset task according to the second trajectory.

9. The method according to claim 1, characterized in that: The controlling the execution device to execute the preset task according to the second trajectory includes: The second trajectory data is sent to the execution device, so that the execution device executes the preset task according to the second trajectory.

10. The method according to claim 1, characterized in that The execution device executes the preset task according to the second trajectory in the following manner: Using the three-dimensional map, moving according to the track point information of each track point in the second track, wherein the track point information includes at least one of the following: coordinates, speed, angular velocity, acceleration; During the moving process, the preset task is executed.

11. The method according to claim 1, characterized in that: The preset task includes taking images and / or videos.

12. A device control device, characterized in that: include: A determination unit, used to determine whether the collected first trajectory data meets the collection requirements; a generating unit, configured to generate second trajectory data in response to the first trajectory data satisfying the collection requirement and based on the adjustment of the first trajectory data, wherein the second trajectory indicated by the second trajectory data is a trajectory of the execution device executing the preset task; A control unit, configured to control the execution device to execute the preset task according to the second trajectory; a re-collection unit, configured to, in response to the first trajectory data not satisfying the collection requirement, re-collect the first trajectory data or part of the trajectory data in the first trajectory data according to a starting collection position and an ending collection position specified by a user; wherein, in response to the first trajectory data not satisfying the collection requirement, include: in response to the first trajectory containing a pre-specified trajectory point, determining that the first trajectory data does not satisfy the collection requirement.

13. A device control system, characterized in that: It includes acquisition equipment and execution equipment, including: The acquisition device, in response to determining that the acquired first trajectory data meets the acquisition requirements, generates second trajectory data based on the adjustment of the first trajectory data; controls the execution device to execute the preset task according to the second trajectory indicated by the second trajectory; and in response to the first trajectory data not meeting the acquisition requirements, re-collects the first trajectory data or part of the trajectory data in the first trajectory data according to the starting acquisition position and the ending acquisition position specified by the user; wherein, in response to the first trajectory data not meeting the acquisition requirements, includes: in response to the first trajectory containing a pre-specified trajectory point, determining that the first trajectory data does not meet the acquisition requirements.

14. The system according to claim 13, characterized in that The system further comprises a terminal device, wherein: The terminal device adjusts the first trajectory indicated by the first trajectory data based on the first trajectory data sent by the acquisition device; and feeds back adjustment information of the first trajectory to the acquisition device; The acquisition device adjusts the first trajectory data based on the adjustment information to generate the second trajectory data.

15. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 11.

16. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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