Trajectory generation method, system, device, electronic device and storage medium

Abstract

The present application relates to a trajectory generation method, system, device, electronic device and storage medium, wherein the method comprises: receiving first image data obtained by multiple devices identifying a target object at a first receiving moment; respectively determining the first maximum image identifier corresponding to the first image data obtained by each of the devices, and determining the first minimum image identifier in the first maximum image identifier corresponding to each of the devices; determining the second image data based on the first minimum image identifier, and generating the trajectory of the target object according to the second image data. The present application solves the technical problem that when searching images with images in a cluster mode, due to the inconsistent time when each device feeds back the search results to the client or the receiving platform, jumps will occur when drawing the trajectory of a person in the time sequence of the search results. The technical effect of no jumps when drawing the trajectory of a person in the time sequence of the search results is achieved, thereby improving the quality of user experience.

Description

Technical Field

[0001] The present application relates to the field of trajectory tracking technology, and in particular to a trajectory generation method, system, device, electronic device and storage medium. Background Art

[0002] In the related technology, the platform sends an image search instruction to the device, the device searches for images, and uploads the search results to the platform. The platform draws the trajectory of the personnel according to the time order of the search results.

[0003] In cluster mode, the platform sends image search commands to multiple devices at the same time, and multiple devices perform image search separately, and upload the search results to the platform separately. Since multiple devices cannot synchronously send the search results back to the platform, that is, the time when multiple devices upload the search results to the platform is inconsistent, when the platform draws the trajectory of the personnel in chronological order, the drawn trajectory will keep changing or cause repeated drawing.

[0004] like Figure 1 As shown, a client sends image search commands to multiple smart devices at the same time. If each smart device is not specially processed, it will return its own search results, which will be summarized by the client and draw the trajectory of the person.

[0005] Since each smart device stores different analysis results and has different performance, the image search results returned to the client at the same time may also have time differences. Figure 2 As shown in the figure, the white strip indicates that the client received N different image search results reported by N devices at 10:00:00 on June 15, 2021. Figure 2 It can be seen that the search results returned by device x are the fastest, which is already at 11:00 on June 11, 2021, while the search results returned by device n are the slowest, which only return to 9:00 on June 11, 2021. According to the current trajectory display scheme, the client sorts the search results at the current moment by time and forms a personnel trajectory. After 2 seconds, the search results received by the client have changed, such as Figure 2 As shown in the black strip in the middle, the personnel trajectory is formed by sorting the search results at the current moment, such as Figure 2 As shown in the figure, the trajectory of the person in the time period between the two solid lines perpendicular to the time axis will be revised. Since the search results of multiple devices will continue to be reported, the trajectory of the person will keep changing, seriously affecting the customer experience.

[0006] The main disadvantage of the relevant technology is that it is only applicable to a single device. For image search in cluster mode, since the time when each device feeds back the search results to the client or the receiving platform is inconsistent, there will be technical problems of jumps when drawing the personnel trajectory according to the time sequence of the search results.

[0007] Regarding the technical problem that in the related technology of image search in cluster mode, due to the inconsistent time when each device feeds back the search results to the client or the receiving platform, jumps will occur when drawing the trajectory of people according to the time sequence of the search results, and no effective solution has been proposed yet. Summary of the invention

[0008] In this embodiment, a trajectory generation method, device, system, electronic device and storage medium are provided to solve the technical problem in the related art that, for image search in cluster mode, due to the inconsistent time when each device feeds back the search results to the client or the receiving platform, jumps may occur when drawing the trajectory of the person according to the time sequence of the search results.

[0009] In the first aspect, a trajectory generation method is provided in this embodiment, comprising: receiving first image data obtained by multiple devices for identifying a target object at a first receiving moment, wherein the first image data carries a sequentially compiled image identifier, and the larger the image identifier, the later the first image data is generated; respectively determining a first maximum image identifier corresponding to the first image data acquired by each of the devices, and determining a first minimum image identifier in the first maximum image identifier corresponding to each of the devices; determining second image data based on the first minimum image identifier, and generating the trajectory of the target object according to the second image data.

[0010] In some of the embodiments, determining the second image data based on the first minimum image identifier and generating the trajectory of the target object based on the second image data includes: selecting any target image identifier that is not greater than the first minimum image identifier from the first image data acquired by multiple devices; determining the sub-data corresponding to all image identifiers in the first image data that are not greater than the target image identifier as the second image data, and generating the trajectory of the target object based on the second image data.

[0011] In some of the embodiments, after generating the trajectory of the target object according to the second image data, the method further includes: obtaining third image data at a second receiving time, wherein the third image data is obtained by caching sub-data of the first image data that does not participate in generating the trajectory of the target object, and the second receiving time is later than the first receiving time; obtaining fourth image data between the first receiving time and the second receiving time obtained by multiple devices identifying the target object; determining the second maximum image identifier corresponding to the image data obtained by each device in the third image data and the fourth image data, and determining the second minimum image identifier in the second maximum image identifier corresponding to each device; determining the sub-image data corresponding to the image identifier whose image identifiers in the third image data and the fourth image data are not greater than the second minimum image identifier as fifth image data; and generating the trajectory of the target object according to the fifth image data.

[0012] In some of the embodiments, caching the first image data that does not participate in generating the trajectory of the target object includes: caching the sub-data corresponding to all image identifiers in the first image data that are larger than the target image identifier; or caching the sub-data in the first image data that corresponds to the target image identifier and the sub-data corresponding to all image identifiers that are larger than the target image identifier.

[0013] In some of the embodiments, after determining the sub-data corresponding to all image identifiers in the first image data that are not greater than the target image identifier as the second image data, and generating the trajectory of the target object based on the second image data, the method further includes: obtaining the image data acquisition progress of any of the devices, and determining whether the image data acquisition progress of the device reaches a preset threshold; when the image data acquisition progress of the device reaches the preset threshold, stopping receiving the image data of the device.

[0014] In some of the embodiments, the image identification includes time information of generating the image data; and / or sequential arrangement information of the image data.

[0015] In a second aspect, a trajectory generation system is provided in this embodiment, including: a first device and multiple second devices, the first device is communicatively connected to the multiple second devices, each of the second devices is used to acquire image data, and the first device is used to execute the trajectory generation method according to any one of claims 1 to 6.

[0016] According to a third aspect, a trajectory generating device is provided in the present embodiment, comprising: a first image data receiving unit, a first minimum image identifier determining unit and a trajectory drawing unit; the first image data receiving unit is used to receive, at a first receiving moment, first image data obtained by multiple devices for identifying a target object, wherein the first image data carries a sequentially compiled image identifier, and the larger the image identifier, the later the first image data is generated; the first minimum image identifier determining unit is used to respectively determine the first maximum image identifier corresponding to the first image data acquired by each of the devices, and determine the first minimum image identifier in the first maximum image identifier corresponding to each of the devices; the trajectory drawing unit is used to determine the second image data based on the first minimum image identifier, and generate the trajectory of the target object according to the second image data.

[0017] In a fourth aspect, an electronic device is provided in this embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the trajectory generation method described in the first aspect when executing the computer program.

[0018] In a fifth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the trajectory generation method described in the first aspect is implemented.

[0019] Compared with the related art, a trajectory generation method provided in this embodiment receives first image data obtained by multiple devices identifying a target object at a first receiving moment, wherein the first image data carries a sequentially compiled image identifier, and the larger the image identifier, the later the first image data is generated; the first maximum image identifier corresponding to the first image data obtained by each of the devices is determined respectively, and the first minimum image identifier is determined in the first maximum image identifier corresponding to each of the devices; the second image data is determined based on the first minimum image identifier, and the trajectory of the target object is generated according to the second image data. The technical problem that jumps will occur when drawing the trajectory of a person according to the time sequence of the search results due to the inconsistent time when each device feeds back the search results to the client or the receiving platform for image search in cluster mode is solved, and the technical effect of no jumps will occur when drawing the trajectory of a person according to the time sequence of the search results is achieved, thereby improving the quality of user experience.

[0020] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 It is a structural diagram of the image search device in cluster mode;

[0023] Figure 2 It is a schematic diagram of the progress of image data acquisition by image search in cluster mode;

[0024] Figure 3 is a flow chart of the trajectory generation method of this embodiment;

[0025] Figure 4 is a flow chart of the trajectory generation method of the preferred embodiment;

[0026] Figure 5 It is a structural block diagram of the trajectory generating device of this embodiment. DETAILED DESCRIPTION

[0027] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0028] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0029] Image search is a professional search engine system that provides users with relevant graphic and image data retrieval services on the Internet by searching image text or visual features. It is a subdivision of search engines. You can search by entering keywords similar to the image name or content, or by uploading images or image URLs similar to the search results.

[0030] In this embodiment, a trajectory generation method is provided. Figure 3 is a flow chart of the trajectory generation method of this embodiment, such as Figure 3 As shown, the process includes the following steps:

[0031] Step S301: receiving first image data obtained by multiple devices identifying a target object at a first receiving moment, wherein the first image data carries a sequentially compiled image identifier, and a larger image identifier indicates a later time when the first image data was generated.

[0032] like Figure 1 As shown, image search in cluster mode means that a client or platform connects to multiple devices, the platform sends the information of the target object to be searched to each device, each device searches for images based on the information of the target object to be searched, and uploads the search data to the client or platform.

[0033] In this embodiment, the first receiving time refers to any time in the time period used by multiple devices to upload the searched image data to the platform or the client.

[0034] In this embodiment, the image identifier refers to the information of the shooting time carried by the image data when the image data is shot, and can also be the information of the sequence number corresponding to the shooting time carried by the image data when the image data is shot. The larger the image identifier, the later the time corresponding to the shooting of the image data is.

[0035] In this embodiment, the first image data refers to the image data received by the client or platform corresponding to the first receiving moment during the time period when multiple devices search for the target object and upload the searched image data to the client or platform.

[0036] Step S302: determining the first maximum image identifier corresponding to the first image data acquired by each device respectively, and determining the first minimum image identifier in the first maximum image identifier corresponding to each device.

[0037] In this embodiment, in the first image data acquired by the client or platform, each frame of image data carries its own image identification information, and each frame of image data also carries information of the device used to generate the image data. The largest image identification in the image data uploaded by each device is first determined, and then the smallest image identification is filtered out from these largest image identifications.

[0038] Step S303: determining the second image data based on the first minimum image identifier, and generating a trajectory of the target object according to the second image data.

[0039] In this embodiment, the second image data is image data used to draw the trajectory of the target object. In this application, in order to generate the trajectory of the target object that will not jump, the second image data that does not affect the generation of the target object trajectory is first determined. The second image data is determined based on the first minimum image identifier, because the first image data corresponding to the minimum image identifier and the first image data corresponding to a value smaller than the minimum image identifier can both draw the trajectory of the target image that does not jump.

[0040] Through the above steps, the client or platform first obtains image data from multiple devices. At the first receiving moment, the image data obtained by the client or platform is called the first image data. Since each frame of the first image information carries the information of the device used to shoot the image data and carries the image identifier that generates the image information, the first maximum image identifier corresponding to each device is first screened out, and then the first minimum image identifier is screened out from these maximum image identifiers. Based on the first image data corresponding to the first minimum image identifier, the second image data used to draw the trajectory of the target object is determined, and the trajectory of the target object is generated based on the second image data. When the trajectory of the target object is generated, no jump occurs. The technical problem that jumps will occur when drawing the trajectory of personnel according to the time sequence of the search results due to the inconsistent time when each device feeds back the search results to the client or receiving platform for image search in cluster mode is solved, and the technical effect of no jump when drawing the trajectory of personnel according to the time sequence of the search results is achieved, thereby improving the quality of user experience.

[0041] In some of the embodiments, the second image data is determined based on the first minimum image identifier, and the trajectory of the target object is generated based on the second image data, including: selecting any target image identifier that is not greater than the first minimum image identifier from the first image data acquired by multiple devices; determining the sub-data corresponding to all image identifiers that are not greater than the target image identifier in the first image data as the second image data, and generating the trajectory of the target object based on the second image data.

[0042] In this embodiment, any target image identifier refers to selecting any image identifier not greater than the first minimum image identifier as any target image identifier, and using sub-data in the first image data corresponding to the image identifier not greater than any target image identifier as the second image data.

[0043] First, any target image identifier is screened out, and then second image data is determined according to any target image identifier, and then the trajectory of the target object is generated according to the second image data.

[0044] In some of the embodiments, the first minimum image identifier is used as any target image identifier, the first image data corresponding to the first minimum image identifier and all first image data smaller than the first minimum image identifier are used as second image data, and then the trajectory of the target object is generated based on the second image data.

[0045] In some of the embodiments, after generating the trajectory of the target object according to the second image data, the method further includes: obtaining third image data at a second receiving time, wherein the third image data is obtained by caching sub-data of the first image data that does not participate in generating the trajectory of the target object, and the second receiving time is later than the first receiving time; obtaining fourth image data between the first receiving time and the second receiving time obtained by multiple devices identifying the target object; determining the second maximum image identifier corresponding to the image data obtained by each device in the third image data and the fourth image data, respectively, and determining the second minimum image identifier in the second maximum image identifier corresponding to each device; determining the sub-image data corresponding to the image identifiers whose image identifiers in the third image data and the fourth image data are not greater than the second minimum image identifier as fifth image data; and generating the trajectory of the target object according to the fifth image data.

[0046] In this embodiment, the second receiving time refers to another time in the time period used by a device to upload the searched image data to the platform or the client, and the second receiving time is later than the first receiving time.

[0047] At the second receiving moment, the first image data not participating in generating the trajectory of the target object is first cached, and the cached image data is obtained.

[0048] Acquiring the third image data refers to acquiring sub-data in the cached image data in a time period between the first receiving moment and the second receiving moment.

[0049] Acquiring the fourth image data refers to acquiring image data obtained by multiple devices recognizing the target object during a time period between the first receiving moment and the second receiving moment.

[0050] Similarly, in the third image data and the fourth image data, the second largest image identifier corresponding to the image data acquired by each device is first determined, and then the second smallest image identifier is selected from these second largest image identifiers. The fifth image data is then acquired based on the second smallest image identifier, and finally the trajectory of the target object is generated based on the fifth image data.

[0051] The fifth image data refers to sub-image data corresponding to image identifiers of all image identifiers not greater than the second minimum image identifier in the third image data and the fourth image data.

[0052] In some of the embodiments, caching the first image data that does not participate in generating the trajectory of the target object includes: caching the sub-data corresponding to all image identifiers in the first image data that are greater than the target image identifier; or, caching the sub-data in the first image data that corresponds to the target image identifier and the sub-data corresponding to all image identifiers that are greater than the target image identifier.

[0053] In some of the embodiments, after determining the sub-data corresponding to all image identifiers in the first image data that are not greater than the target image identifier as the second image data and generating the trajectory of the target object based on the second image data, the method also includes: obtaining the image data acquisition progress of any device, and determining whether the image data acquisition progress of the device reaches a preset threshold; when the image data acquisition progress of the device reaches the preset threshold, stopping receiving the image data of the device.

[0054] In this embodiment, the image data acquisition progress refers to the progress of the platform or client acquiring image data from the device. Acquiring the image data acquisition progress of any device refers to the platform or client acquiring the image data acquisition progress of any one of the devices, and a preset threshold is set for the image data acquisition progress to determine whether the image data acquisition progress of one of the devices reaches the preset threshold. When the image data acquisition progress of any device reaches the preset threshold, receiving the image data of the device is stopped.

[0055] The preset threshold is generally 100%, which means that when the progress of the platform or the client acquiring the image data from the device reaches 100%, the platform or the client stops acquiring the image data from the device.

[0056] In some of the embodiments, the image identification includes time information of generating the image data; and / or sequential arrangement information of the image data.

[0057] The present embodiment is described and illustrated below through preferred embodiments.

[0058] Figure 4 is a flow chart of the trajectory generation method of this preferred embodiment. In this embodiment, taking N devices as an example, N ≥ 2, N is a natural number. Figure 4 As shown, the trajectory generation method includes the following steps:

[0059] Step S401: Determine whether the image data acquisition progress of all devices is equal to 100%. If the image data acquisition progress of all devices is not equal to 100%, proceed to step S403. If the image data acquisition progress of all devices is equal to 100%, proceed to step S402.

[0060] Step S402: Stop acquiring image data from the device.

[0061] Step S403: At the first receiving moment, first image data obtained by N devices identifying the target object is received, and the process proceeds to step S404.

[0062] Step S404: Determine the first maximum image identifier corresponding to the first image data acquired by each device respectively, and proceed to step S405.

[0063] Step S405: Determine the first minimum image identifier in the first maximum image identifier corresponding to each device, and proceed to step S406.

[0064] Step S406: Determine whether the image identifier corresponding to the first image data is greater than the first minimum image identifier. When the image identifier corresponding to the first image data is greater than the first minimum image identifier, proceed to step S407; when the image identifier corresponding to the first image data is not greater than the first minimum image identifier, proceed to step S408.

[0065] Step S407: using the sub-data corresponding to all image identifiers not greater than the first minimum image identifier in the first image data to generate a partial trajectory of the target object.

[0066] Step S408: Cache the sub-data corresponding to all image identifiers greater than the first minimum image identifier in the first image data, and proceed to step S409.

[0067] Step S409: At the second receiving moment, obtain the third image data, wherein the third image data is obtained by caching the sub-data of the first image data that does not participate in generating the trajectory of the target object, and obtaining the fourth image data between the first receiving moment and the second receiving moment obtained by N devices identifying the target object, and proceed to step S410.

[0068] Step S410: In the third image data and the fourth image data, respectively determine the second maximum image identifier corresponding to the image data acquired by each device, and determine the second minimum image identifier in the second maximum image identifier corresponding to each device; and determine the sub-image data corresponding to the image identifiers whose image identifiers in the third image data and the fourth image data are not greater than the second minimum image identifier as the fifth image data.

[0069] Step S411: Generate a trajectory of the target object according to the fifth image data.

[0070] Specifically, Figure 2 As shown, at 10:00:00 on June 15, 2021, the client only draws the personnel trajectory corresponding to all image data less than or equal to 9:00 on June 11, 2021. The image data greater than 9:00 on June 11, 2021 is cached first and not drawn; at 10:00:02 on June 15, 2021, the client draws the personnel trajectory corresponding to all image data from 9:00 on June 11, 2021 to 10:00 on June 11, 2021. All image data from 9:00 on June 11, 2021 to 10:00 on June 11, 2021, including the image data from 9:00 on June 11, 2021 to 10:00 on June 11, 2021 newly reported by device n and the image data in the cache from 9:00 on June 11, 2021 to 10:00 on June 11, 2021, and the image data beyond 10:00 on June 11, 2021 continues to be cached; this cycle continues until the trajectory generation of the target image is completed.

[0071] This embodiment also provides a trajectory generation system, including: a first device and multiple second devices, the first device is communicatively connected with the multiple second devices, each second device is used to obtain image data, and the first device is used to execute the steps in any one of the above method embodiments.

[0072] In this embodiment, a trajectory generating device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. The terms "module", "unit", "subunit" and the like used below can implement a combination of software and / or hardware of predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0073] Figure 5 is a structural block diagram of the trajectory generating device of this embodiment, such as Figure 5 As shown, the device includes: a first image data receiving unit, a first minimum image identifier determining unit and a trajectory drawing unit;

[0074] A first image data receiving unit is used to receive first image data obtained by multiple devices identifying a target object at a first receiving time, wherein the first image data carries a sequentially compiled image identifier, and a larger image identifier indicates a later time when the first image data is generated;

[0075] A first minimum image identifier determining unit, configured to respectively determine a first maximum image identifier corresponding to the first image data acquired by each device, and determine a first minimum image identifier from the first maximum image identifier corresponding to each device;

[0076] The trajectory drawing unit is used to determine the second image data based on the first minimum image identifier, and generate the trajectory of the target object according to the second image data.

[0077] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0078] In this embodiment, an electronic device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0079] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0080] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0081] S1, receiving first image data obtained by multiple devices identifying a target object at a first receiving moment, wherein the first image data carries a sequentially compiled image identifier, and a larger image identifier indicates a later time when the first image data was generated.

[0082] S2, respectively determining a first maximum image identifier corresponding to the first image data acquired by each device, and determining a first minimum image identifier among the first maximum image identifiers corresponding to each device.

[0083] S3, determining second image data based on the first minimum image identifier, and generating a trajectory of the target object according to the second image data.

[0084] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0085] In addition, in combination with the trajectory generation method provided in the above embodiments, a storage medium may be provided in this embodiment to implement the trajectory generation method. The storage medium stores a computer program, and when the computer program is executed by a processor, any trajectory generation method in the above embodiments is implemented.

[0086] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0087] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0088] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0089] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A trajectory generation method, characterized in that: include: receiving, at a first receiving time, first image data obtained by multiple devices identifying a target object, wherein the first image data carries a sequentially compiled image identifier, and a larger image identifier indicates a later time when the first image data was generated; respectively determining a first maximum image identifier corresponding to the first image data acquired by each of the devices, and determining a first minimum image identifier among the first maximum image identifiers corresponding to each of the devices; determining second image data based on the first minimum image identifier, and generating a trajectory of the target object according to the second image data; Determining second image data based on the first minimum image identifier, and generating the trajectory of the target object according to the second image data includes: Selecting any target image identifier that is not larger than the first minimum image identifier from the first image data acquired by the plurality of devices; The sub-data corresponding to all image identifiers not greater than the target image identifier in the first image data are determined as second image data, and the trajectory of the target object is generated according to the second image data.

2. The trajectory generation method according to claim 1, characterized in that: After generating the trajectory of the target object according to the second image data, the method further includes: At a second receiving time, acquiring third image data, wherein the third image data is obtained by caching sub-data of the first image data that does not participate in generating the trajectory of the target object, and the second receiving time is later than the first receiving time; Acquire fourth image data between the first receiving time and the second receiving time obtained by multiple devices identifying the target object; In the third image data and the fourth image data, respectively determine the second maximum image identifier corresponding to the image data acquired by each of the devices, and determine the second minimum image identifier in the second maximum image identifier corresponding to each of the devices; determining sub-image data corresponding to image identifiers of all image identifiers not greater than the second minimum image identifier in the third image data and the fourth image data as fifth image data; A trajectory of the target object is generated based on the fifth image data.

3. The trajectory generation method according to claim 2, characterized in that: Caching the first image data that does not participate in generating the trajectory of the target object includes: Cache the sub-data corresponding to all image identifiers greater than the target image identifier in the first image data; or, The sub-data corresponding to the target image identifier and the sub-data corresponding to all image identifiers greater than the target image identifier in the first image data are cached.

4. The trajectory generation method according to claim 1, characterized in that: After determining the sub-data corresponding to all image identifiers in the first image data that are not greater than the target image identifier as second image data, and generating the trajectory of the target object according to the second image data, the method further includes: Obtaining the image data acquisition progress of any of the devices, and determining whether the image data acquisition progress of the device reaches a preset threshold; When the image data acquisition progress of the device reaches a preset threshold, the image data of the device is stopped from being received.

5. The trajectory generation method according to claim 1, characterized in that: The image identification includes time information of generating the image data; and / or sequential arrangement information of the image data.

6. A trajectory generation system, characterized in that: include: A first device and a plurality of second devices, wherein the first device is communicatively connected with the plurality of second devices, each of the second devices is used to acquire image data, and the first device is used to execute the trajectory generation method according to any one of claims 1 to 5.

7. A trajectory generating device, characterized in that: include: a first image data receiving unit, a first minimum image identifier determining unit, and a trajectory drawing unit; The first image data receiving unit is used to receive first image data obtained by multiple devices identifying a target object at a first receiving time, wherein the first image data carries a sequentially compiled image identifier, and a larger image identifier indicates a later time when the first image data is generated; The first minimum image identifier determining unit is used to respectively determine the first maximum image identifier corresponding to the first image data acquired by each of the devices, and determine the first minimum image identifier among the first maximum image identifiers corresponding to each of the devices; The trajectory drawing unit is used to determine the second image data based on the first minimum image identifier, and generate the trajectory of the target object according to the second image data; Determining the second image data based on the first minimum image identifier and generating the trajectory of the target object according to the second image data includes: selecting any target image identifier that is not greater than the first minimum image identifier from the first image data acquired by multiple devices; determining the sub-data corresponding to all image identifiers that are not greater than the target image identifier in the first image data as the second image data, and generating the trajectory of the target object according to the second image data.

8. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the trajectory generation method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the trajectory generation method according to any one of claims 1 to 5 are implemented.

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