Methods, devices, equipment, and media for generating motion trajectories

Abstract

This specification provides a method, apparatus, device, and medium for generating a motion trajectory. The method includes: acquiring a first motion trajectory of a target object moving within a target region whose shape meets set conditions; detecting anomalies in each trajectory point of the first motion trajectory based on region parameters of the target region; for any trajectory point in the first motion trajectory, in response to the trajectory point being non-anomaly, determining a target trajectory point in the target region based on the region parameters and the first motion trajectory; and generating a second motion trajectory based on the target trajectory point. The second motion trajectory generated by the above method eliminates anomalies from the original trajectory, and all target trajectory points included in the second motion trajectory are points re-determined through trajectory fusion, thereby improving the accuracy of the generated motion trajectory.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a method, apparatus, device, and medium for generating motion trajectories. Background Technology

[0002] With the development of smart hardware, smart wearable devices are becoming increasingly popular. People can carry smart wearable devices with them while exercising to record their workout data. For example, during a run, a smart wearable device can record the running route and distance.

[0003] However, when running in a small outdoor area (such as a playground), the accuracy of recording running tracks through smart wearable devices is poor because the playground is small and easily obstructed by other buildings, and the GPS chip of smart wearable devices has poor accuracy. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this specification provides a method, apparatus, device and medium for generating motion trajectories.

[0005] According to a first aspect of the embodiments of this specification, a method for generating a motion trajectory is provided, the method comprising:

[0006] Obtain the first motion trajectory of the target object in the target area, which is an area whose shape meets the set conditions;

[0007] Based on the regional parameters of the target region, anomaly detection is performed on each trajectory point in the first motion trajectory. The regional parameters include at least one of the following: orientation information of the target region, center point position of the target region, track length of the first track region included in the target region, or track radius of the second track region included in the target region.

[0008] For any trajectory point in the first motion trajectory, in response to the trajectory point being a non-abnormal point, the target trajectory point corresponding to the trajectory point in the target area is determined based on the region parameters and the first motion trajectory;

[0009] Based on the target trajectory point, a second motion trajectory is generated.

[0010] In some embodiments of this specification, the first track region and the second track region are adjacent to the target boundary line;

[0011] Based on the regional parameters of the target area, anomaly detection is performed on each trajectory point in the first motion trajectory, including:

[0012] For any trajectory point in the first motion trajectory, based on the position of the target boundary line and the position of the trajectory point, the target track region to which the trajectory point belongs is determined, wherein the trajectory point is located within a set range corresponding to the target track region;

[0013] Anomaly detection is performed on the trajectory point based on its distance from the target orbit region.

[0014] In some embodiments of this specification, anomaly detection is performed on the trajectory point based on its distance relative to the target track region, including:

[0015] If the distance between the trajectory point and the target track area is greater than the set distance threshold, the trajectory point is identified as an abnormal trajectory point; otherwise, the trajectory point is identified as a non-abnormal point.

[0016] In some embodiments of this specification, the target track region includes a first track region and a second track region, the set distance threshold corresponding to the first track region is a first distance threshold, and the set distance threshold corresponding to the second track region is a second distance threshold;

[0017] If the distance between the trajectory point and the target track area is greater than a set distance threshold, the trajectory point is identified as an abnormal trajectory point; otherwise, the trajectory point is identified as a non-abnormal point, including:

[0018] If the target trajectory region is the first trajectory region, and the distance from the trajectory point to the first trajectory region is greater than the first distance threshold, then the trajectory point is determined to be an abnormal trajectory point;

[0019] If the target trajectory region is the second trajectory region, and the distance from the trajectory point to the center of the corresponding circle in the second trajectory region is greater than the second distance threshold, then the trajectory point is determined to be an abnormal trajectory point.

[0020] If the target trajectory region is the first trajectory region, and the distance from the trajectory point to the first trajectory region is less than or equal to a first distance threshold, then the trajectory point is determined as a non-anomaly point; or,

[0021] If the target trajectory region is the second trajectory region, and the distance from the trajectory point to the center of the corresponding circle in the second trajectory region is less than or equal to the second distance threshold, then the trajectory point is determined as a non-abnormal point.

[0022] In some embodiments of this specification, in response to the trajectory point being a non-anomaly, based on the region parameters and the first motion trajectory, determining the target trajectory point corresponding to the trajectory point in the target region includes:

[0023] In response to the fact that the trajectory point is a non-anomaly, the position coordinates of the projection point of the trajectory point on the target track area are determined based on the region parameters and the position coordinates of the trajectory point.

[0024] Based on the position coordinates of the trajectory point and the position coordinates of the projection point, determine the position coordinates of the target trajectory point corresponding to the trajectory point.

[0025] In some embodiments of this specification, determining the position coordinates of the projection point of the trajectory point on the target track region based on the region parameters and the position coordinates of the trajectory point includes:

[0026] If the trajectory point is located within a defined range corresponding to the first track region, then based on the position coordinates of the trajectory point and the position of the first track region, the position coordinates of the projection point of the trajectory point on the first track region are determined; or,

[0027] If the trajectory point is located within the set range corresponding to the second track area, then based on the position coordinates of the trajectory point and the position of the center of the corresponding circle in the second track area, the position coordinates of the projection point of the trajectory point on the second track area are determined.

[0028] In some embodiments of this specification, determining the position coordinates of the target trajectory point corresponding to the trajectory point based on the position coordinates of the trajectory point and the position coordinates of the projection point includes:

[0029] The position coordinates of the trajectory point and the position coordinates of the projection point are weighted and summed to obtain the position coordinates of the target trajectory point corresponding to the trajectory point.

[0030] In some embodiments of this specification, before performing anomaly detection on each trajectory point in the first motion trajectory based on the region parameters of the target region, the method further includes:

[0031] If the region parameters for the target region are already stored, retrieve the stored region parameters; or,

[0032] In the absence of stored region parameters for the target region, the region parameters are determined based on the first motion trajectory.

[0033] In some embodiments of this specification, when the region parameters of the target region are already stored, obtaining the stored region parameters includes:

[0034] If the region parameter is stored in local storage, retrieve the region parameter from local storage; or,

[0035] If the region parameter is not stored in the local storage but is stored in the cloud storage, retrieve the region parameter from the cloud storage.

[0036] In some embodiments of this specification, the parameters of the region are determined based on the first motion trajectory, including:

[0037] Based on the position coordinates of each trajectory point included in the first motion trajectory, the central axis of the target area is determined;

[0038] Based on the central axis of the target area, the parameters of the area are determined.

[0039] In some embodiments of this specification, determining the central axis of the target region based on the position coordinates of the various trajectory points included in the first motion trajectory includes:

[0040] Input the position coordinates of each trajectory point into the central axis determination model. Using the central axis determination model, determine the straight line that minimizes the sum of distances to each trajectory point, and use it as the central axis.

[0041] In some embodiments of this specification, the parameters of the target region are determined based on its central axis, including:

[0042] The orientation information of the central axis and the midpoint of the central axis are respectively determined as the orientation information of the target area and the center point position of the target area.

[0043] In some embodiments of this specification, determining the parameters of the target region based on its central axis further includes:

[0044] Based on the distance of each trajectory point to the central axis, the multiple trajectory points included in the first motion trajectory are divided into a first trajectory point and a second trajectory point. The first trajectory point is the trajectory point corresponding to the first track region, and the second trajectory point is the trajectory point corresponding to the second track region.

[0045] The distance from the first trajectory point to the central axis is determined as the orbital radius of the second orbital region;

[0046] The track length of the first track region is determined based on the length of the central axis and the track radius of the second track region.

[0047] In some embodiments of this specification, when the region parameters of the target region are not stored, after determining the region parameters based on the first motion trajectory, the method further includes:

[0048] Store the region parameters to local storage; and / or,

[0049] The parameters of this region are uploaded to the cloud to achieve cloud storage of these parameters.

[0050] In some embodiments of this specification, the method further includes:

[0051] With the target motion mode enabled, anomaly detection is performed on each trajectory point in the first motion trajectory based on the regional parameters of the target area.

[0052] In some embodiments of this specification, the target motion pattern includes a first motion pattern and a second motion pattern;

[0053] With the target motion mode enabled, based on the region parameters of the target area, anomaly detection is performed on each trajectory point in the first motion trajectory, including:

[0054] In response to the target object's activation operation, the first motion mode is activated. With the first motion mode activated, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters; or...

[0055] With the second motion mode activated, the motion state of the target object is determined based on its motion acceleration, motion angular velocity, and position coordinates at various times. If the motion state indicates that the target object is performing target motion, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters.

[0056] In some embodiments of this specification, the target area includes multiple motion tracks;

[0057] The method also includes:

[0058] If the target object changes its motion trajectory, the region parameters of the target area will be reacquired.

[0059] Based on the reacquired region parameters, a second motion trajectory is regenerated.

[0060] According to a second aspect of the embodiments of this specification, a motion trajectory generation apparatus is provided, the apparatus comprising:

[0061] The acquisition module is used to acquire the first motion trajectory of the target object in the target area, which is an area whose shape meets the set conditions.

[0062] The detection module is used to detect anomalies in each trajectory point of the first motion trajectory based on the regional parameters of the target area. The regional parameters include at least one of the following: the orientation information of the target area, the center point position of the target area, the track length of the first track area included by the target area, or the track radius of the second track area included by the target area.

[0063] The determination module is used to determine, for any trajectory point in the first motion trajectory, in response to the trajectory point being a non-abnormal point, the target trajectory point corresponding to the trajectory point in the target area based on the area parameters and the first motion trajectory;

[0064] The generation module is used to generate a second motion trajectory based on the target trajectory point.

[0065] In some embodiments of this specification, the first track region and the second track region are adjacent to the target boundary line;

[0066] The detection module, when used to detect anomalies in each trajectory point of the first motion trajectory based on the regional parameters of the target area, includes a determination submodule and a detection submodule.

[0067] The determining submodule is used to determine the target track region to which any trajectory point in the first motion trajectory belongs, based on the position of the target boundary line and the position of the trajectory point, wherein the trajectory point is located within a set range corresponding to the target track region;

[0068] This detection submodule is used to detect anomalies in the trajectory point based on the distance between the trajectory point and the target track area.

[0069] In some embodiments of this specification, the detection submodule, when used to detect anomalies in a trajectory point based on its distance relative to the target trajectory region, is configured to:

[0070] If the distance between the trajectory point and the target track area is greater than the set distance threshold, the trajectory point is identified as an abnormal trajectory point; otherwise, the trajectory point is identified as a non-abnormal point.

[0071] In some embodiments of this specification, the target track region includes a first track region and a second track region, the set distance threshold corresponding to the first track region is a first distance threshold, and the set distance threshold corresponding to the second track region is a second distance threshold;

[0072] The detection module, when determining a trajectory point as an abnormal trajectory point if its distance relative to the target track area is greater than a set distance threshold, and otherwise as a non-abnormal trajectory point, is configured to:

[0073] If the target trajectory region is the first trajectory region, and the distance from the trajectory point to the first trajectory region is greater than the first distance threshold, then the trajectory point is determined to be an abnormal trajectory point;

[0074] If the target trajectory region is the second trajectory region, and the distance from the trajectory point to the center of the corresponding circle in the second trajectory region is greater than the second distance threshold, then the trajectory point is determined to be an abnormal trajectory point.

[0075] If the target trajectory region is the first trajectory region, and the distance from the trajectory point to the first trajectory region is less than or equal to a first distance threshold, then the trajectory point is determined as a non-anomaly point; or,

[0076] If the target trajectory region is the second trajectory region, and the distance from the trajectory point to the center of the corresponding circle in the second trajectory region is less than or equal to the second distance threshold, then the trajectory point is determined as a non-abnormal point.

[0077] In some embodiments of this specification, the determining module, when determining the target trajectory point corresponding to the trajectory point in the target area based on the area parameters and the first motion trajectory in response to the trajectory point being a non-abnormal point, includes a first coordinate determining submodule and a second coordinate determining submodule.

[0078] The first coordinate determination submodule is used to determine the position coordinates of the projection point of the trajectory point on the target track area based on the area parameters and the position coordinates of the trajectory point in response to the trajectory point being a non-anomaly point.

[0079] The second coordinate determination submodule is used to determine the position coordinates of the target trajectory point corresponding to the trajectory point based on the position coordinates of the trajectory point and the position coordinates of the projection point.

[0080] In some embodiments of this specification, the first coordinate determination submodule, when determining the position coordinates of the projection point of the trajectory point on the target track region based on the region parameters and the position coordinates of the trajectory point, is used for:

[0081] If the trajectory point is located within a defined range corresponding to the first track region, then based on the position coordinates of the trajectory point and the position of the first track region, the position coordinates of the projection point of the trajectory point on the first track region are determined; or,

[0082] If the trajectory point is located within the set range corresponding to the second track area, then based on the position coordinates of the trajectory point and the position of the center of the corresponding circle in the second track area, the position coordinates of the projection point of the trajectory point on the second track area are determined.

[0083] In some embodiments of this specification, the second coordinate determination submodule, when determining the position coordinates of the target trajectory point corresponding to the trajectory point based on the position coordinates of the trajectory point and the position coordinates of the projection point, is used for:

[0084] The position coordinates of the trajectory point and the position coordinates of the projection point are weighted and summed to obtain the position coordinates of the target trajectory point corresponding to the trajectory point.

[0085] In some embodiments of this specification, the acquisition module is further configured to acquire stored region parameters if region parameters of the target region are already stored.

[0086] The determining module is also used to determine the region parameters based on the first motion trajectory when the region parameters of the target region are not stored.

[0087] In some embodiments of this specification, when the acquisition module is used to acquire stored region parameters if region parameters of the target region are already stored, it is used to:

[0088] If the region parameter is stored in local storage, retrieve the region parameter from local storage; or,

[0089] If the region parameter is not stored in the local storage but is stored in the cloud storage, retrieve the region parameter from the cloud storage.

[0090] In some embodiments of this specification, the determining module, when used to determine the parameters of the region based on the first motion trajectory, includes a central axis determining submodule and a parameter determining submodule;

[0091] The central axis determination submodule is used to determine the central axis of the target area based on the position coordinates of each trajectory point included in the first motion trajectory;

[0092] This parameter determination submodule is used to determine the parameters of the target area based on the central axis of the target area.

[0093] In some embodiments of this specification, the centerline determination submodule, when used to determine the centerline of the target region based on the position coordinates of the various trajectory points included in the first motion trajectory, is used for:

[0094] Input the position coordinates of each trajectory point into the central axis determination model. Using the central axis determination model, determine the straight line that minimizes the sum of distances to each trajectory point, and use it as the central axis.

[0095] In some embodiments of this specification, the parameter determining submodule, when used to determine the region parameter based on the central axis of the target region, is used for:

[0096] The orientation information of the central axis and the midpoint of the central axis are respectively determined as the orientation information of the target area and the center point position of the target area.

[0097] In some embodiments of this specification, the parameter determining submodule, when used to determine the region parameter based on the central axis of the target region, is further used for:

[0098] Based on the distance of each trajectory point to the central axis, the multiple trajectory points included in the first motion trajectory are divided into a first trajectory point and a second trajectory point. The first trajectory point is the trajectory point corresponding to the first track region, and the second trajectory point is the trajectory point corresponding to the second track region.

[0099] The distance from the first trajectory point to the central axis is determined as the orbital radius of the second orbital region;

[0100] The track length of the first track region is determined based on the length of the central axis and the track radius of the second track region.

[0101] In some embodiments of this specification, the device further includes:

[0102] The storage module is used to store the parameters of this region to local storage;

[0103] The upload module is used to upload the parameters of the region to the cloud for cloud storage.

[0104] In some embodiments of this specification, the detection module is further configured to detect anomalies in each trajectory point of the first motion trajectory based on the regional parameters of the target area when the target motion mode is enabled.

[0105] In some embodiments of this specification, the target motion pattern includes a first motion pattern and a second motion pattern;

[0106] When the detection module is used to detect anomalies in each trajectory point of the first motion trajectory based on the region parameters of the target area, under the condition that the target motion mode is enabled, it is used for:

[0107] In response to the target object's activation operation, the first motion mode is activated. With the first motion mode activated, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters; or...

[0108] With the second motion mode activated, the motion state of the target object is determined based on its motion acceleration, motion angular velocity, and position coordinates at various times. If the motion state indicates that the target object is performing target motion, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters.

[0109] In some embodiments of this specification, the target area includes multiple motion tracks;

[0110] The acquisition module is also used to reacquire the regional parameters of the target area when the target object changes its motion trajectory;

[0111] This generation module is also used to regenerate a second motion trajectory based on the reacquired region parameters.

[0112] According to a third aspect of the embodiments of this specification, a computing device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the operations performed by the motion trajectory generation method described above.

[0113] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, on which a program is stored, and the program is executed by a processor performing the operations performed by the above-described motion trajectory generation method.

[0114] According to a fifth aspect of the embodiments of this specification, a computer program product is provided, including a computer program that, when executed by a processor, implements the operations performed by the motion trajectory generation method described above.

[0115] The technical solutions provided in the embodiments of this specification may include the following beneficial effects:

[0116] The second motion trajectory generated by the above method eliminates abnormal points in the original trajectory, and each target trajectory point included in the second motion trajectory is a point re-determined through trajectory fusion, thereby improving the accuracy of the generated motion trajectory.

[0117] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0118] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0119] Figure 1 This is a flowchart illustrating a method for generating a motion trajectory according to an exemplary embodiment of this specification.

[0120] Figure 2 This is a diagram illustrating a second motion trajectory according to an exemplary embodiment of this specification.

[0121] Figure 3 This is a rendering of another second motion trajectory shown in this specification according to an exemplary embodiment.

[0122] Figure 4 This is a schematic diagram of a target area shown in this specification according to an exemplary embodiment.

[0123] Figure 5This is a flowchart illustrating an anomaly detection and target trajectory point determination process according to an exemplary embodiment of this specification.

[0124] Figure 6 This is a schematic diagram of the central axis of a target area according to an exemplary embodiment of this specification.

[0125] Figure 7 This is a flowchart illustrating an example of acquiring and storing region parameters according to an exemplary embodiment of this specification.

[0126] Figure 8 This is a flowchart illustrating a method for generating a motion trajectory according to an exemplary embodiment of this specification.

[0127] Figure 9 This is a block diagram illustrating a motion trajectory generation apparatus according to an exemplary embodiment of this specification.

[0128] Figure 10 This is a schematic diagram of the structure of a computing device according to an exemplary embodiment. Detailed Implementation

[0129] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed herein.

[0130] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “described,” and “the” as used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0131] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0132] This application provides a method for generating a motion trajectory, used to generate the motion trajectory of a target object when the target object moves within a target area. The target area is a region whose shape meets set conditions; for example, the target area could be a playground, or a region with a similar shape to a playground, etc. This application does not limit the specific type of the target area.

[0133] Taking a playground as an example, the motion trajectory generation method provided in this application can be used to generate a motion trajectory for a user when the user is running in the playground.

[0134] The above is merely an illustrative description of the application scenarios of this application and does not constitute a limitation on the application scenarios of this application. In many possible implementations, this application can be applied to the generation of motion trajectories in various types of target areas.

[0135] The method for generating the aforementioned motion trajectory can be executed by a computing device, which can be a terminal, such as a mobile phone, wearable device (e.g., smartwatch, smart bracelet, sports watch, sports bracelet, etc.), MP3 (Moving Picture Experts Group Audio Layer III) player, MP4 (Moving Picture Experts Group 4) player, etc. Optionally, the computing device can also be a server, such as a single server, multiple servers, a server cluster, a cloud computing platform, etc. This application does not limit the specific type of computing device.

[0136] When the computing device is a terminal, the terminal can display the generated motion trajectory of the target object through a visual interface after the motion trajectory of the target object is generated, so that the target object can view its own motion trajectory on the visual interface.

[0137] When the computing device is a server, the server can send the generated motion trajectory of the target object to the terminal after generating the motion trajectory. The terminal can then display the received motion trajectory through a visual interface, allowing the target object to view its own motion trajectory on the visual interface.

[0138] The above is a description of the application scenarios of this application. Next, the method for generating motion trajectories provided by this application will be described in detail with reference to the embodiments of this specification.

[0139] like Figure 1 As shown, Figure 1 This is a flowchart illustrating a method for generating a motion trajectory according to an exemplary embodiment of this specification. The method includes the following steps:

[0140] Step 101: Obtain the first motion trajectory of the target object in the target area.

[0141] The target area is a region whose shape meets the set conditions. For example, the target area can be a playground, or a region with a similar shape to a playground, etc. This application does not limit the specific type of the target area.

[0142] In one possible implementation, during the movement of the target object in the target area, the position coordinates of the target object in the target area at each moment are obtained, and the first motion trajectory of the target object in the target area is generated based on the position coordinates of the target object at each moment.

[0143] The computing device can have a built-in GPS chip, which can be used to obtain the GPS coordinates of the target object at various times, and use them as the position coordinates of the target object at various times.

[0144] Step 102: Based on the regional parameters of the target area, perform anomaly detection on each trajectory point in the first motion trajectory.

[0145] The target area includes the first track area and the second track area. Taking a playground as an example, the playground track generally consists of two straight sections and two semi-circular curves. The straight sections are the first track area, and the curves are the second track area.

[0146] The regional parameters of the target area may include at least one of the following: the orientation information of the target area, the center point position of the target area, the track length of the first track area of ​​the target area, or the track radius of the second track area of ​​the target area. Optionally, the regional parameters of the target area may also include other types of parameters, which are not limited in this application.

[0147] Based on this region parameter, the shape of the target region can be determined. Since the target object moves within the target region, the shape and distribution of the target object's trajectory can be defined by this region parameter.

[0148] Step 103: For any trajectory point in the first motion trajectory, in response to the trajectory point being a non-abnormal point, based on the region parameters and the first motion trajectory, determine the target trajectory point corresponding to the trajectory point in the target region.

[0149] Step 104: Generate a second motion trajectory based on the target trajectory point.

[0150] In one possible implementation, after determining the target trajectory points corresponding to each trajectory point that is a non-anomaly point, the second motion trajectory is generated based on each target trajectory point and the time information corresponding to each target trajectory point.

[0151] In generating the second motion trajectory based on each target trajectory point and the time information corresponding to each target trajectory point, the target trajectory points can be connected in order from early to late according to the time information corresponding to each target trajectory point, thereby obtaining the second motion trajectory.

[0152] The second motion trajectory generated through steps 101 to 104 above eliminates abnormal points in the first motion trajectory, which serves as the original motion trajectory. Furthermore, each target trajectory point included in the second motion trajectory is a point re-determined through trajectory fusion, thereby improving the accuracy of the generated motion trajectory.

[0153] It should be noted that the effect diagram of the motion trajectory determined by the method provided in this application can be found in [reference needed]. Figure 2 and Figure 3 , Figure 2 and Figure 3 These are effect diagrams illustrating two second motion trajectories according to an exemplary embodiment of this specification. Figure 2 The effect shown and as Figure 3 In the resulting image, the determined second motion trajectory is smoother and better matches the shape of the target area, thus improving the generation effect of the motion trajectory.

[0154] After introducing the basic implementation process of this application, the various non-limiting implementation methods of this application will be described in detail below.

[0155] For the target area, which includes the first track area and the second track area, the first track area and the second track area are connected at the target boundary line. Taking the target area as a playground, the first track area as a straight track, and the second track area as a curve as an example, the target boundary line is the straight track and curve boundary line.

[0156] It should be noted that when the map display accuracy is greater than the set accuracy value, the first and second track areas may be displayed as a single linear area, and the target boundary line may be displayed as a single target boundary point. That is, when the map display accuracy is greater than the set accuracy value, the first and second track areas will connect at the target boundary point. See also... Figure 4 , Figure 4 This is a schematic diagram of a target area illustrated in this specification according to an exemplary embodiment, in which... Figure 4 In the target area shown, because the map display precision is greater than the set precision value, the target boundary line between straight sections and curves is displayed as follows: Figure 4 The target boundary points are shown as 1, 2, 3 and 4.

[0157] Given that the first and second track regions are connected to the target boundary line, when detecting anomalies at each trajectory point in the first motion trajectory based on the region parameters of the target region, the following steps may be included:

[0158] Step 1021: For any trajectory point in the first motion trajectory, based on the position of the target boundary line and the position of the trajectory point, determine the target track area to which the trajectory point belongs, wherein the trajectory point is located within the set range corresponding to the target track area.

[0159] By using the target boundary line, the target area can be divided into the first track area and the second track area, thus allowing the determination of which track area a trajectory point belongs to based on the position of the target boundary line and the position of the trajectory point.

[0160] In one possible implementation, for any trajectory point in the first motion trajectory, the target orbit region to which the trajectory point belongs is determined based on the positional relationship between the target boundary line and the trajectory point.

[0161] Still as Figure 4 Taking the target area shown as an example, for such Figure 4 The target area shown is divided into four track regions by target boundary points 1, 2, 3, and 4. The track region between target boundary points 1 and 2 is the first track region, denoted as Straight Road 1. The track region between target boundary points 2 and 3 is the second track region, denoted as Curve 1. The track region between target boundary points 3 and 4 is the first track region, denoted as Straight Road 2. The track region between target boundary point 4 and 1 is the second track region, denoted as Curve 2. For track point 1, since it lies between target boundary points 3 and 4, it can be determined that it is within the set range corresponding to Straight Road 2, meaning that the target track region to which track point 1 belongs is the first track region. Similarly, for track point 2, since it lies between target boundary points 2 and 3, it can be determined that it is within the set range corresponding to Curve 1, meaning that the target track region to which track point 2 belongs is the second track region.

[0162] The set range is the range where the distance from the target orbital region is less than the target distance, and the target distance can be any distance value, which is not limited in this application.

[0163] Step 1022: Based on the distance of the trajectory point relative to the target track area, perform anomaly detection on the trajectory point.

[0164] In one possible implementation, if the distance between the trajectory point and the target track area is greater than a set distance threshold, the trajectory point is identified as an abnormal trajectory point.

[0165] In another possible implementation, if the distance of the trajectory point relative to the target orbital region is less than or equal to the set distance threshold, then the trajectory point is determined to be a non-abnormal point.

[0166] The distance threshold can be any distance value, and this application does not limit it.

[0167] Since the target area is divided into a first track area and a second track area, and the track forms of the first track area and the second track area are different, different methods are used to detect anomalies in the trajectory points within the corresponding set range of the first track area and the trajectory points within the corresponding set range of the second track area.

[0168] When detecting trajectory points within a set range corresponding to the first track region, that is, when the target track region is the first track region, if the distance from the trajectory point to the first track region is greater than a first distance threshold, the trajectory point is determined to be an abnormal trajectory point; if the distance from the trajectory point to the first track region is less than or equal to the first distance threshold, the trajectory point is determined to be a non-abnormal point.

[0169] The first distance threshold can be any distance value, and this application does not limit it.

[0170] When detecting trajectory points within a set range corresponding to the second track region, that is, when the target track region is the second track region, if the distance from the trajectory point to the center of the corresponding circle of the second track region is greater than the second distance threshold, then the trajectory point is determined to be an abnormal trajectory point; if the distance from the trajectory point to the center of the corresponding circle of the second track region is less than or equal to the second distance threshold, then the trajectory point is determined to be a non-abnormal point.

[0171] The second distance threshold can be any distance value, and this application does not limit it. In addition, the second distance threshold is generally greater than the first distance threshold. For example, the second distance threshold is the sum of the first distance threshold and the orbital radius of the second orbital region.

[0172] The center of the circle corresponding to this second track area is the center of the curve. (Continuing with the example...) Figure 4 Taking the target area shown as an example, such as Figure 4 The center of the curve 1 and the center of the curve 2 shown are the centers of the second track area.

[0173] If the trajectory point is determined to be a non-anomaly, in response to the non-anomaly status of the trajectory point, based on the region parameters and the first motion trajectory, the target trajectory point corresponding to the trajectory point in the target region is determined, including the following steps:

[0174] Step 1031: In response to the fact that the trajectory point is a non-abnormal point, based on the region parameters and the position coordinates of the trajectory point, determine the position coordinates of the projection point of the trajectory point on the target track region.

[0175] In one possible implementation, if the trajectory point is located within a set range corresponding to the first track region, the position coordinates of the projection point of the trajectory point on the first track region are determined based on the position coordinates of the trajectory point and the position of the first track region.

[0176] For example, if the trajectory point is located within a set range corresponding to the first track area, the perpendicular line from the trajectory point to the first track area is determined, and the perpendicular point corresponding to the determined perpendicular line is taken as the projection point of the trajectory point on the first track area, thereby obtaining the position coordinates of the projection point.

[0177] In another possible implementation, if the trajectory point is located within a set range corresponding to the second track region, the position coordinates of the projection point of the trajectory point on the second track region are determined based on the position coordinates of the trajectory point and the position of the center of the circle corresponding to the second track region.

[0178] For example, if the trajectory point is located within the set range corresponding to the second track area, the line connecting the trajectory point to the center of the circle corresponding to the second track area is determined, and the intersection of the line and the second track area is taken as the projection point of the trajectory point on the second track area, thereby obtaining the position coordinates of the projection point.

[0179] Step 1032: Based on the position coordinates of the trajectory point and the position coordinates of the projection point, determine the position coordinates of the target trajectory point corresponding to the trajectory point.

[0180] In one possible implementation, the position coordinates of the trajectory point and the position coordinates of the projection point are weighted and summed to obtain the position coordinates of the target trajectory point corresponding to the trajectory point.

[0181] When performing a weighted summation of the position coordinates of the trajectory point and the position coordinates of the projection point, the weights corresponding to the position coordinates of the trajectory point and the position coordinates of the projection point can be any weight values. It is only necessary to ensure that the sum of the weights corresponding to the position coordinates of the trajectory point and the position coordinates of the projection point is 1.

[0182] Accordingly, the process of weighted summation of the position coordinates of the trajectory point and the position coordinates of the projection point includes: multiplying the position coordinates of the trajectory point and the position coordinates of the projection point by their respective weights, and determining the sum of the result obtained by multiplying the position coordinates of the trajectory point by their respective weights and the result obtained by multiplying the position coordinates of the projection point by their respective weights, thereby using the determined sum as the position coordinates of the target trajectory point.

[0183] The process of detecting outliers on trajectory points and determining the target trajectory points corresponding to non-outliers described above can be found in [reference needed]. Figure 5 , Figure 5 This is a flowchart illustrating an anomaly detection and target trajectory point determination process according to an exemplary embodiment of this specification. Figure 5 The flowchart shown uses an example where the first track area is a straight section and the second track area is a curved section. Figure 5 In the flowchart shown, for any trajectory point in the first motion trajectory, if the trajectory point is within the set range corresponding to the straight section (i.e., if the trajectory point is near the straight section), the distance from the trajectory point to the straight section is calculated, and anomaly detection is performed based on this distance. If the distance from the trajectory point to the straight section is less than or equal to a first distance threshold, the trajectory point is determined to be a non-anomaly. Then, the projection point of the trajectory point on the straight section is calculated, and the position coordinates of the projection point and the position coordinates of the trajectory point are weighted and fused to obtain the position coordinates of the target trajectory point corresponding to the trajectory point. If the distance from the trajectory point to the straight section is greater than the first distance threshold, the trajectory point is determined to be an anomaly. In this case, no processing is required for the trajectory point; that is, no target trajectory point needs to be determined. If the trajectory point is within the set range corresponding to the curve (i.e., if the trajectory point is near the curve), the distance from the trajectory point to the center of the curve is calculated, and anomaly detection is performed based on this distance. If the distance from the trajectory point to the center of the curve is less than or equal to the second distance threshold, the trajectory point is determined to be a non-abnormal point. Then, the projection point of the trajectory point on the curve is calculated, and the position coordinates of the projection point and the position coordinates of the trajectory point are weighted and fused to obtain the position coordinates of the target trajectory point corresponding to the trajectory point. If the distance from the trajectory point to the center of the curve is greater than the second distance threshold, the trajectory point is determined to be an abnormal point. In this case, no processing is required for the trajectory point, that is, there is no need to determine the target trajectory point corresponding to the trajectory point.

[0184] In some embodiments, before performing anomaly detection on each trajectory point in the first motion trajectory based on the region parameters of the target region, the region parameters of the target region can be obtained first. There are two ways to obtain the region parameters of the target region:

[0185] In one possible implementation, if the region parameters of the target region are already stored, the stored region parameters are retrieved.

[0186] In another possible implementation, if the region parameters of the target region are not stored, the region parameters are determined based on the first motion trajectory.

[0187] The two methods will be introduced below. First, the process of obtaining the region parameters when the region parameters of the target region are already stored will be introduced.

[0188] When storing region parameters, there are two methods: local storage and cloud storage. Correspondingly, when retrieving stored region parameters, they can be retrieved from local storage or cloud storage.

[0189] For example, the stored region parameter can be retrieved from local storage first. If the region parameter is not stored in local storage, it can then be retrieved from cloud storage. In other words, if the region parameter is stored in local storage, it is retrieved from local storage; if the region parameter is not stored in local storage but is stored in cloud storage, it is retrieved from cloud storage.

[0190] The following describes how to obtain the region parameters when the region parameters for the target region are not stored.

[0191] In one possible implementation, if the region parameters of the target region are not stored, the central axis of the target region is determined based on the position coordinates of each trajectory point included in the first motion trajectory; and the region parameters are determined based on the central axis of the target region.

[0192] Among them, the target region parameters are not stored, that is, the target region parameters are not stored in the local storage and the cloud storage.

[0193] When determining the central axis of the target area, the position coordinates of each trajectory point are input into the central axis determination model. Using this model, the straight line with the minimum sum of distances to each trajectory point is determined and used as the central axis. The distances to each trajectory point can be Euclidean distances, or alternatively, other types of distances such as Manhattan distances, etc., which are not limited in this application.

[0194] See Figure 6 , Figure 6 This is a schematic diagram of the centerline of a target area according to an exemplary embodiment. Figure 6The diagram shows the central axis of the target area determined by the above method. This central axis is a straight line passing through the center point of the target area and having the same direction as the orientation information of the target area.

[0195] The model for determining the central axis can be a machine learning model, or it can be a deep learning model, etc., and this application does not limit it in this regard. The model can perform linear fitting on multiple position coordinates in the input to obtain the straight line with the minimum sum of distances between each position coordinate. The model can be obtained through pre-training, and the training process includes:

[0196] The process involves obtaining the coordinates of sample points within multiple sample motion trajectories, as well as the corresponding centerlines of each trajectory. The coordinates of multiple samples belonging to the first sample motion trajectory are input into the centerline determination model to be trained. This model determines the centerline corresponding to the first sample motion trajectory. Based on the loss function of the model, the determined centerline of the first sample motion trajectory, and the corresponding centerline, the loss function value is determined. Based on this loss function value, the model parameters are adjusted using gradient descent, resulting in a centerline determination model after the first parameter adjustment. The coordinates of multiple samples belonging to the second sample motion trajectory are then input into the centerline determination model after the first parameter adjustment. The central axis corresponding to the second sample's trajectory is determined. Based on the central axis determined after the first parameter adjustment, the loss function of the model is determined. The loss function value of the central axis determination model after the first parameter adjustment is determined by the central axis corresponding to the second sample's trajectory and the sample central axis corresponding to the second sample's trajectory. Based on the determined loss function value, the model parameters of the central axis determination model after the first parameter adjustment are further adjusted using the gradient descent method to obtain the central axis determination model after the second parameter adjustment. Then, based on the coordinates of multiple sample positions included in the third sample's trajectory and the sample central axis corresponding to the third sample's trajectory, the model parameters of the central axis determination model after the second parameter adjustment are further adjusted. This process is repeated until the loss function value is less than the preset loss function value or the number of iterations reaches the set number. The central axis determination model trained at this point is taken as the trained central axis determination model.

[0197] The above process uses supervised learning to train a model for determining the central axis as an example. In other possible implementations, unsupervised learning can also be used to train the model for determining the central axis, and this application does not limit this to that.

[0198] Once the central axis of the target area is determined, the area parameters can be determined based on this central axis. These parameters include the orientation information of the target area and the location of its center point.

[0199] In one possible implementation, the orientation information of the central axis and the midpoint of the central axis are respectively determined as the orientation information of the target area and the center point position of the target area.

[0200] Optionally, based on the central axis of the target area, the track length of the first track region and the track radius of the second track region can also be determined as regional parameters.

[0201] In one possible implementation, determining the track length of the first track region and the track radius of the second track region based on the central axis of the target region may include the following steps:

[0202] Step 1: Based on the distance of each trajectory point to the central axis, divide the multiple trajectory points included in the first motion trajectory into a first trajectory point and a second trajectory point. The first trajectory point is the trajectory point corresponding to the first track area, and the second trajectory point is the trajectory point corresponding to the second track area.

[0203] In one possible implementation, multiple trajectory points that are equidistant from the central axis are identified as multiple first trajectory points, and multiple trajectory points other than the identified first trajectory points are identified as multiple second trajectory points, thereby achieving the division of the first and second trajectory points.

[0204] Step 2: Determine the distance from the first trajectory point to the central axis as the orbital radius of the second orbital region.

[0205] Since all trajectory points are at the same distance from the central axis, the distance from the first trajectory point to the central axis can be the distance from any one of the multiple first trajectory points to the central axis.

[0206] Step 3: Based on the length of the central axis and the track radius of the second track region, determine the track length of the first track region.

[0207] In one possible implementation, the length of the central axis is subtracted from twice the orbital radius of the second orbital region, and the determined difference is used as the orbital length of the first orbital region.

[0208] The length of the central axis is also the distance between the intersection of the central axis and the two second track regions.

[0209] Optionally, after determining the regional parameters of the target area based on the central axis, the determined regional parameters can be stored.

[0210] In one possible implementation, the region parameter is stored in local storage to achieve local storage of the region parameter.

[0211] By determining the region parameters and storing them locally, the computing device can directly retrieve the stored region parameters when the target object moves in the target region again. Then, the motion trajectory can be generated based on the retrieved region parameters without having to redetermine the region parameters, thus reducing the computational load on the computing device and improving the trajectory generation speed.

[0212] In another possible implementation, the region parameters are uploaded to the cloud to achieve cloud storage of the region parameters.

[0213] After determining the region parameters, these parameters are stored in the cloud so that other objects can retrieve them from the cloud. This allows other objects' computing devices to directly obtain the uploaded region parameters from the cloud storage when moving within the target region, and then generate motion trajectories based on these parameters. This eliminates the need for other objects to determine the region parameters themselves, reducing the computational load on other computing devices and thus improving their trajectory generation speed.

[0214] Furthermore, the above process only stores the regional parameters, without storing the position coordinates of each point in the target area. Since the data volume of the regional parameters is small, the storage space occupied when storing the regional parameters is small, thus reducing the storage pressure on related devices.

[0215] It should be noted that the above process is illustrated by directly retrieving the stored region parameters when they are already stored, and then determining the region parameters manually when they are not stored. In many other possible implementations, the region parameters of the target region can also be determined manually when they are already stored. The process of determining the region parameters of the target region when they are already stored is the same as the process of determining the region parameters when they are not stored, and will not be elaborated here.

[0216] Optionally, after regional parameters have been stored but new regional parameters have been determined, the newly determined regional parameters can also be stored. For example, the newly determined regional parameters can be stored in local storage, or uploaded to the cloud to achieve cloud storage of the newly determined regional parameters.

[0217] Whether it is local storage or cloud storage, when storing the redefined regional parameters, the redefined regional parameters can be stored together with the existing regional parameters. This allows multiple regional parameters of the same target region to be stored at the same time. When retrieving the regional parameters of the target region, a regional parameter can be randomly selected from the multiple stored regional parameters.

[0218] In addition, each stored region parameter can be labeled with the signal strength and number of motion cycles when the region parameter is determined, so that the region parameter can be selected from multiple region parameters based on the labeled signal strength and number of motion cycles.

[0219] In one possible implementation, the score of each region parameter can be calculated based on the signal strength and number of motion cycles indicated by each region parameter. Then, based on the calculated score, the region parameter with the highest score can be obtained as the region parameter to be used.

[0220] For example, signal strength and the number of laps can be assigned corresponding weights, and the score can be calculated based on these weights. Optionally, the weights for signal strength and the number of laps can be any values, as long as the sum of their weights is 1. Generally, the weight for signal strength is greater than the weight for the number of laps. In many possible implementations, the weight for signal strength can also be less than or equal to the weight for the number of laps; this application does not impose any limitations on this.

[0221] By calculating the scores of parameters in each region, the region parameters are selected based on the calculated scores, thereby increasing the accuracy of the selected region parameters and improving the accuracy of the motion trajectory generated subsequently based on the region parameters.

[0222] Alternatively, when storing region parameters, the region parameter to be stored can be determined directly based on the signal strength and number of motion cycles corresponding to the existing region parameter and the region parameter to be stored, respectively.

[0223] In one possible implementation, after redetermining the region parameters, a score for the redetermined region parameters is determined based on the signal strength and number of motion cycles indicated by the redetermined region parameters. Similarly, a score for existing region parameters is determined based on the signal strength and number of motion cycles indicated by existing region parameters. Regions with higher scores are then stored. In this implementation, the signal strength and number of motion cycles can also be assigned corresponding weights, and the score is calculated based on these weights. The specific process is the same as described above and will not be repeated here.

[0224] By calculating the score of each region parameter during storage, only the region parameters with higher scores need to be stored, improving the accuracy of the stored region parameters and reducing the storage pressure on the corresponding devices. Furthermore, since the stored region parameters are all highly accurate, the accuracy of the motion trajectory determined subsequently based on these stored region parameters is also high.

[0225] It should be noted that when storing region parameters, the region parameters and region identifiers can be stored in correspondence so that the region parameters can be retrieved later based on the region identifiers.

[0226] The process for obtaining and storing the above-mentioned regional parameters can be found in [reference needed]. Figure 7 , Figure 7 This is a flowchart illustrating the acquisition and storage of region parameters according to an exemplary embodiment, as shown in this specification. Figure 7 As shown, after the target object starts moving in the target area, it is determined whether the corresponding area parameters are stored in the local storage. If the area parameters are not stored in the local storage, it is determined whether the corresponding area parameters are stored in the cloud storage. If the area parameters are not stored in the cloud storage either, the area parameters are determined automatically, and the determined area parameters are stored locally and in the cloud.

[0227] It should be noted that the above is only a procedural description of the process of obtaining and storing regional parameters. For the specific process, please refer to the above content, which will not be repeated here.

[0228] Optionally, the computing device is equipped with a target motion mode, and the target object can activate the target motion mode so that during the movement of the target object, the computing device can automatically generate the motion trajectory using the method provided in this application when the target motion mode is activated.

[0229] In other words, when the target motion mode has been activated, anomaly detection is performed on each trajectory point in the first motion trajectory based on the regional parameters of the target area.

[0230] The target exercise mode includes a first exercise mode and a second exercise mode. For example, the target exercise mode can be a running mode, and correspondingly, the first exercise mode is a running lap mode, and the second exercise mode is an automatic running lap monitoring mode. Optionally, the target exercise mode can also be other modes, and correspondingly, the first exercise mode and the second exercise mode are modes corresponding to the target exercise mode. This application does not limit the specific types of the target exercise mode, the first exercise mode, and the second exercise mode.

[0231] It should be noted that the target object can manually activate the first exercise mode before exercising, so that its movement trajectory can be recorded during the exercise using the method provided in this application. Alternatively, the target object can activate the second exercise mode at any time. After the second exercise mode is activated, the computing device can automatically monitor whether the target object is performing the target exercise (such as repeatedly running laps), and then record the target object's movement trajectory using the method provided in this application when the target object is detected to be performing the target exercise.

[0232] That is, when the target motion mode is enabled, based on the regional parameters of the target area, anomaly detection is performed on each trajectory point in the first motion trajectory, including:

[0233] In response to the opening operation of the target object, the first motion mode is activated. With the first motion mode activated, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters.

[0234] Alternatively, if the second motion mode has been activated, the motion state of the target object is determined based on its motion acceleration, motion angular velocity, and position coordinates at various times. If the motion state indicates that the target object is performing target motion, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters.

[0235] The motion acceleration can be obtained through an accelerometer, and the motion angular velocity can be obtained through a gyroscope. The accelerometer and gyroscope can be built into or externally connected to the computing device; this application does not limit this. The position coordinates can be obtained through the GPS chip of the computing device. In other possible implementations, motion acceleration, motion angular velocity, and position coordinates can also be obtained through other methods; this application does not limit this either.

[0236] When determining the motion state of a target object based on its acceleration, angular velocity, and position coordinates at various times, it is possible to determine whether the target object has repeatedly passed through the same position. If it is determined that the target object has repeatedly passed through the same position, and the angular velocity of the target object indicates that the target object is performing lap motion, then it can be determined that the target object is performing target motion.

[0237] Specifically, when determining whether a target object has repeatedly passed through the same location based on its motion acceleration and position coordinates at various times, if the target object passed through the first location at the first time and the second location at the second time, and the second location occurred after the first time, and the distance between the first and second locations is less than a third distance threshold, then based on the coordinates of the second location and the target object's motion acceleration, it is determined whether the target object will pass through the first location again after the first time. Optionally, the third distance threshold can be any distance value, and this application does not limit it.

[0238] By setting a second motion mode, the computing device can automatically detect whether the target object is performing a target motion without the target object needing to be manually operated. This allows for the generation of motion trajectories without the user's awareness, and the generated motion trajectories are highly accurate, thereby improving the user experience.

[0239] In more possible implementations, the target area includes multiple movement tracks, allowing the target object to move along these tracks and switch tracks during movement. For example, if the target area is a playground, it includes multiple running tracks, allowing the target object to run on any track and switch tracks while running.

[0240] In some embodiments, when the target object changes its motion trajectory, the region parameters of the target region are reacquired, and a second motion trajectory is regenerated based on the reacquired region parameters.

[0241] In one possible implementation, when the target object switches its motion trajectory, the first motion trajectory of the target object in the switched motion trajectory is reacquired; based on the region parameters corresponding to the reacquired first motion trajectory, anomaly detection is performed on each trajectory point in the reacquired first motion trajectory; for any trajectory point in the reacquired first motion trajectory, in response to the trajectory point being a non-anomaly point, based on the region parameters corresponding to the reacquired first motion trajectory and the reacquired first motion trajectory, the target trajectory point corresponding to that trajectory point in the switched motion trajectory is determined; based on the newly determined target trajectory point, a second motion trajectory is regenerated. The specific implementation process can be found above and will not be repeated here.

[0242] The switching of motion trajectory can be manually triggered by the target object on the computing device, or it can be detected and determined by the computing device itself.

[0243] In other words, if the target object wants to change its motion track during the movement of the target object, the target object can manually select the motion track it wants to switch to on the computing device. The computing device responds to the target object's selection operation, determines the target object to switch motion track, and determines the motion track selected by the target object as the current motion track of the target object.

[0244] Alternatively, the target object can switch tracks during its movement. When the computing device detects that the target object's direction of movement meets preset conditions, it can determine that the target object has switched tracks. The preset conditions can be that the target object's direction of movement changes from a first direction to a second direction, but within a preset time period, the target object's direction of movement changes back to the first direction. The preset time period can be any duration, and this application does not limit it.

[0245] Based on the above-described non-limiting embodiments, the flow of the motion trajectory generation method provided in this application can be found in [reference needed]. Figure 8 , Figure 8This is a flowchart illustrating a motion trajectory generation method according to an exemplary embodiment of this specification. When the target object manually activates a first motion mode, or when the computing device has activated a second motion mode and the target object is detected to be moving, it determines whether the target area's regional parameters (including the target area's orientation information, the target area's center point position, the first track area's track length, and the second track area's track radius) are stored. If the target area's orientation information, the target area's center point position, the first track area's track length, and the second track area's track radius are already stored, then anomaly detection and trajectory fusion (including the determination of target trajectory points and the second motion) are directly performed. (Generation of the motion trajectory); If the orientation information and center point position of the target area are already stored, then after determining the track length of the first track area and the track radius of the second track area, anomaly detection and trajectory fusion are performed; if the track length and track radius of the first track area are already stored, then anomaly detection and trajectory fusion are performed; if the orientation information, center point position, track length, and track radius of the first track area are not stored, then the orientation information and center point position of the target area are determined first, then the track length and track radius of the first track area are determined, and then anomaly detection and trajectory fusion are performed. If the target object has not manually activated the first motion mode and the computing device has not activated the second motion mode, or if the target object has not manually activated the first motion mode and the computing device has activated the second motion mode but no target object is detected to be moving, then no processing is required.

[0246] The above is merely a procedural description of the motion trajectory generation method provided in this application. For specific implementation details, please refer to the above embodiments, which will not be repeated here.

[0247] It should be noted that the motion trajectory generation method provided in this application can achieve anomaly detection and trajectory fusion in cases where all required region parameters are stored, when the required region parameters are not stored, and when only some required region parameters are stored. This expands the application scenarios of the motion trajectory generation method, enabling the acquisition of a relatively accurate second motion trajectory in various situations, thereby improving the user experience. Furthermore, the motion trajectory generation method provided in this application, by combining region parameters to generate the motion trajectory, can reduce the computational complexity of the motion trajectory generation process, reduce the processing pressure on computing devices, thereby reducing memory consumption and increasing the speed of motion trajectory generation.

[0248] Corresponding to the embodiments of the methods described above, this specification also provides embodiments of the apparatus and the computing devices on which it is applied.

[0249] like Figure 9 As shown, Figure 9 This is a block diagram illustrating a motion trajectory generation apparatus according to an exemplary embodiment of this specification. The apparatus includes:

[0250] The acquisition module 901 is used to acquire the first motion trajectory of the target object in the target area, which is an area whose shape meets the set conditions.

[0251] The detection module 902 is used to detect anomalies in each trajectory point of the first motion trajectory based on the region parameters of the target region. The region parameters include at least one of the following: orientation information of the target region, center point position of the target region, track length of the first track region included in the target region, or track radius of the second track region included in the target region.

[0252] The determination module 903 is used to determine, for any trajectory point in the first motion trajectory, in response to the trajectory point being a non-abnormal point, the target trajectory point corresponding to the trajectory point in the target area based on the area parameters and the first motion trajectory;

[0253] The generation module 904 is used to generate a second motion trajectory based on the target trajectory point.

[0254] In some embodiments of this specification, the first track region and the second track region are adjacent to the target boundary line;

[0255] The detection module 902, when used to detect anomalies in each trajectory point of the first motion trajectory based on the region parameters of the target region, includes a determination submodule and a detection submodule;

[0256] The determining submodule is used to determine the target track region to which any trajectory point in the first motion trajectory belongs, based on the position of the target boundary line and the position of the trajectory point, wherein the trajectory point is located within a set range corresponding to the target track region;

[0257] This detection submodule is used to detect anomalies in the trajectory point based on the distance between the trajectory point and the target track area.

[0258] In some embodiments of this specification, the detection submodule, when used to detect anomalies in a trajectory point based on its distance relative to the target trajectory region, is configured to:

[0259] If the distance between the trajectory point and the target track area is greater than the set distance threshold, the trajectory point is identified as an abnormal trajectory point; otherwise, the trajectory point is identified as a non-abnormal point.

[0260] In some embodiments of this specification, the target track region includes a first track region and a second track region, the set distance threshold corresponding to the first track region is a first distance threshold, and the set distance threshold corresponding to the second track region is a second distance threshold;

[0261] The detection module, when determining a trajectory point as an abnormal trajectory point if its distance relative to the target track area is greater than a set distance threshold, and otherwise as a non-abnormal trajectory point, is configured to:

[0262] If the target trajectory region is the first trajectory region, and the distance from the trajectory point to the first trajectory region is greater than the first distance threshold, then the trajectory point is determined to be an abnormal trajectory point;

[0263] If the target trajectory region is the second trajectory region, and the distance from the trajectory point to the center of the corresponding circle in the second trajectory region is greater than the second distance threshold, then the trajectory point is determined to be an abnormal trajectory point.

[0264] If the target trajectory region is the first trajectory region, and the distance from the trajectory point to the first trajectory region is less than or equal to a first distance threshold, then the trajectory point is determined as a non-anomaly point; or,

[0265] If the target trajectory region is the second trajectory region, and the distance from the trajectory point to the center of the corresponding circle in the second trajectory region is less than or equal to the second distance threshold, then the trajectory point is determined as a non-abnormal point.

[0266] In some embodiments of this specification, the determining module 903, when determining the target trajectory point corresponding to the trajectory point in the target area based on the area parameters and the first motion trajectory in response to the trajectory point being a non-abnormal point, includes a first coordinate determining submodule and a second coordinate determining submodule.

[0267] The first coordinate determination submodule is used to determine the position coordinates of the projection point of the trajectory point on the target track area based on the area parameters and the position coordinates of the trajectory point in response to the trajectory point being a non-anomaly point.

[0268] The second coordinate determination submodule is used to determine the position coordinates of the target trajectory point corresponding to the trajectory point based on the position coordinates of the trajectory point and the position coordinates of the projection point.

[0269] In some embodiments of this specification, the first coordinate determination submodule, when determining the position coordinates of the projection point of the trajectory point on the target track region based on the region parameters and the position coordinates of the trajectory point, is used for:

[0270] If the trajectory point is located within a defined range corresponding to the first track region, then based on the position coordinates of the trajectory point and the position of the first track region, the position coordinates of the projection point of the trajectory point on the first track region are determined; or,

[0271] If the trajectory point is located within the set range corresponding to the second track area, then based on the position coordinates of the trajectory point and the position of the center of the corresponding circle in the second track area, the position coordinates of the projection point of the trajectory point on the second track area are determined.

[0272] In some embodiments of this specification, the second coordinate determination submodule, when determining the position coordinates of the target trajectory point corresponding to the trajectory point based on the position coordinates of the trajectory point and the position coordinates of the projection point, is used for:

[0273] The position coordinates of the trajectory point and the position coordinates of the projection point are weighted and summed to obtain the position coordinates of the target trajectory point corresponding to the trajectory point.

[0274] In some embodiments of this specification, the acquisition module 901 is further configured to acquire the stored region parameters if the region parameters of the target region are already stored.

[0275] The determining module 903 is also used to determine the region parameters based on the first motion trajectory when the region parameters of the target region are not stored.

[0276] In some embodiments of this specification, the acquisition module 901, when acquiring stored region parameters when the region parameters of the target region are already stored, is used to:

[0277] If the region parameter is stored in local storage, retrieve the region parameter from local storage; or,

[0278] If the region parameter is not stored in the local storage but is stored in the cloud storage, retrieve the region parameter from the cloud storage.

[0279] In some embodiments of this specification, the determining module 903, when used to determine the region parameters based on the first motion trajectory, includes a central axis determining submodule and a parameter determining submodule;

[0280] The central axis determination submodule is used to determine the central axis of the target area based on the position coordinates of each trajectory point included in the first motion trajectory;

[0281] This parameter determines the submodule used based on the central axis of the target area.

[0282] In some embodiments of this specification, the centerline determination submodule, when used to determine the centerline of the target region based on the position coordinates of the various trajectory points included in the first motion trajectory, is used for:

[0283] Input the position coordinates of each trajectory point into the central axis determination model. Using the central axis determination model, determine the straight line that minimizes the sum of distances to each trajectory point, and use it as the central axis.

[0284] In some embodiments of this specification, the parameter determining submodule, when used to determine the region parameter based on the central axis of the target region, is used for:

[0285] The orientation information of the central axis and the midpoint of the central axis are respectively determined as the orientation information of the target area and the center point position of the target area.

[0286] In some embodiments of this specification, the parameter determining submodule, when used to determine the region parameter based on the central axis of the target region, is further used for:

[0287] Based on the distance of each trajectory point to the central axis, the multiple trajectory points included in the first motion trajectory are divided into a first trajectory point and a second trajectory point. The first trajectory point is the trajectory point corresponding to the first track region, and the second trajectory point is the trajectory point corresponding to the second track region.

[0288] The distance from the first trajectory point to the central axis is determined as the orbital radius of the second orbital region;

[0289] The track length of the first track region is determined based on the length of the central axis and the track radius of the second track region.

[0290] In some embodiments of this specification, the device further includes:

[0291] The storage module is used to store the parameters of this region to local storage;

[0292] The upload module is used to upload the parameters of the region to the cloud for cloud storage.

[0293] In some embodiments of this specification, the detection module 902 is further configured to detect anomalies in each trajectory point of the first motion trajectory based on the regional parameters of the target area when the target motion mode is enabled.

[0294] In some embodiments of this specification, the target motion pattern includes a first motion pattern and a second motion pattern;

[0295] The detection module 902, when used to detect anomalies in each trajectory point of the first motion trajectory based on the region parameters of the target area when the target motion mode is enabled, is used for:

[0296] In response to the target object's activation operation, the first motion mode is activated. With the first motion mode activated, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters; or...

[0297] With the second motion mode activated, the motion state of the target object is determined based on its motion acceleration, motion angular velocity, and position coordinates at various times. If the motion state indicates that the target object is performing target motion, anomaly detection is performed on each trajectory point in the first motion trajectory based on the region parameters.

[0298] In some embodiments of this specification, the target area includes multiple motion tracks;

[0299] The acquisition module 901 is also used to reacquire the region parameters of the target area when the target object changes its motion trajectory;

[0300] The generation module 904 is also used to regenerate the second motion trajectory based on the reacquired region parameters.

[0301] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0302] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0303] This application also provides a computing device, see [link to relevant documentation] Figure 10 , Figure 10 This is a schematic diagram illustrating the structure of a computing device according to an exemplary embodiment. Figure 10As shown, the computing device includes a processor 1010, a memory 1020, and a network interface 1030. The memory 1020 stores computer instructions that can run on the processor 1010. The processor 1010 is used to implement the motion trajectory generation method provided in any embodiment of this application when executing the computer instructions. The network interface 1030 is used to implement input / output functions. In more possible implementations, the computing device may also include other hardware, which is not limited in this application.

[0304] This application also provides a computer-readable storage medium, which can take many forms, such as RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (e.g., hard disk drives), solid-state drives, any type of storage disk (e.g., optical discs, DVDs), or similar storage media, or combinations thereof. Specifically, the computer-readable medium can also be paper or other suitable media capable of printing programs. A computer program is stored on the computer-readable storage medium, and when executed by a processor, the computer program implements the motion trajectory generation method provided in any embodiment of this application.

[0305] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the motion trajectory generation method provided in any embodiment of this application.

[0306] Those skilled in the art will understand that one or more embodiments of this specification can be provided as a method, apparatus, computing device, computer-readable storage medium, or computer program product. Therefore, one or more embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, one or more embodiments of this specification can take the form of a computer program product implemented on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0307] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments corresponding to computing devices are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0308] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of this application. In some cases, the actions or steps described in this application may be performed in a different order than those shown in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0309] The embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing device or for controlling the operation of a data processing device. Alternatively or additionally, the program instructions can be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by a motion trajectory generation device. The computer storage medium can be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0310] The processing and logic flow described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flow can also be executed by dedicated logic circuitry—such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the device can also be implemented as dedicated logic circuitry.

[0311] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0312] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0313] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0314] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0315] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of this application. In some cases, the actions described in this application may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0316] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. That is, this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

[0317] The above description is merely an optional embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification shall be included within the scope of protection of this specification.

Claims

1. A method for generating a motion trajectory, characterized in that, The method includes: Obtain the first motion trajectory of the target object in the target area, wherein the target area includes at least one of a straight area and a curved area; Based on the region parameters of the target region, anomaly detection is performed on each trajectory point in the first motion trajectory. The region parameters include at least one of the following: orientation information of the target region, center point position of the target region, track length of the straight section, and track radius of the curved section. For any trajectory point in the first motion trajectory, in response to the trajectory point being a non-abnormal point, based on the region parameters and the first motion trajectory, the target trajectory point corresponding to the trajectory point in the target region is determined; Based on the target trajectory points, a second motion trajectory is generated; The step of determining the target trajectory point corresponding to the trajectory point in the target region based on the region parameters and the first motion trajectory includes: Based on the region parameters and the position of the trajectory point in the first motion trajectory, determine the position of the projection point corresponding to the trajectory point in the target region; Based on the position of the trajectory point and the position of the corresponding projection point, the position of the target trajectory point corresponding to the trajectory point in the target area is determined.

2. The method according to claim 1, characterized in that, The target area includes a straight section and a curved section, which are connected at the target boundary line. The step of detecting outliers for each trajectory point in the first motion trajectory based on the region parameters of the target region includes: For any trajectory point in the first motion trajectory, based on the position of the target boundary line and the position of the trajectory point, the target track region to which the trajectory point belongs is determined, wherein the trajectory point is located within a set range corresponding to the target track region; Anomaly detection is performed on the trajectory points based on their distance from the target track region.

3. The method according to claim 2, characterized in that, The step of detecting anomalies in the trajectory points based on their distances relative to the target trajectory region includes: When the distance between the trajectory point and the target track area is greater than a set distance threshold, the trajectory point is identified as an abnormal trajectory point; or When the distance between the trajectory point and the target track area is less than or equal to the set distance threshold, the trajectory point is determined as a non-abnormal point.

4. The method according to claim 2 or 3, characterized in that, in, When the target track area is a straight track area, the distance of the trajectory point relative to the target track area is the distance from the trajectory point to the track corresponding to the straight track area; When the target track area is a curved area, the distance of the trajectory point relative to the target track area is the distance from the trajectory point to the center of the corresponding circle in the curved area.

5. The method according to claim 1, characterized in that, Determining the position of the projection point corresponding to the trajectory point in the target region based on the region parameters and the position of the trajectory point in the first motion trajectory includes: In response to the trajectory point belonging to a straight section, based on the section parameters, the track position corresponding to the straight section to which the trajectory point belongs is determined, and based on the track position corresponding to the straight section and the position of the trajectory point, the position of the projection point of the trajectory point in the target area is determined; or In response to the fact that the trajectory point belongs to a curved area, the center and track position of the curved area to which the trajectory point belongs are determined based on the area parameters, and the position of the projection point of the trajectory point in the target area is determined based on the position of the trajectory point and the center and track position of the curved area.

6. The method according to claim 1, characterized in that, Before performing anomaly detection on each trajectory point in the first motion trajectory based on the region parameters of the target region, the method further includes: If the region parameters of the target region are already stored, retrieve the stored region parameters; or, In the absence of stored region parameters for the target region, the region parameters are determined based on the first motion trajectory.

7. The method according to claim 6, characterized in that, Determining the region parameters based on the first motion trajectory includes: Based on the position coordinates of each trajectory point included in the first motion trajectory, the central axis of the target area is determined; The region parameters are determined based on the central axis of the target region.

8. The method according to claim 7, characterized in that, Determining the region parameters based on the central axis of the target region includes: The orientation information of the central axis and the midpoint of the central axis are respectively determined as the orientation information of the target area and the center point position of the target area.

9. The method according to claim 7, characterized in that, The method of determining the region parameters based on the central axis of the target region further includes: Based on the distance of each trajectory point to the central axis, the multiple trajectory points included in the first motion trajectory are divided into a first trajectory point and a second trajectory point. The first trajectory point belongs to the straight section area, and the second trajectory point belongs to the curved section area. The distance from the first trajectory point to the central axis is determined as the track radius of the curved area; The track length of the straight section is determined based on the length of the central axis and the track radius of the curved section.

10. A device for generating motion trajectories, characterized in that, The device includes: The acquisition module is used to acquire the first motion trajectory of the target object in the target area, wherein the target area includes at least one of a straight area and a curved area; The detection module is used to detect anomalies in each trajectory point of the first motion trajectory based on the regional parameters of the target area. The regional parameters include at least one of the following: orientation information of the target area, center point position of the target area, track length of the straight section, and track radius of the curved section. The determination module is used to determine, for any trajectory point in the first motion trajectory, in response to the trajectory point being a non-abnormal point, a target trajectory point corresponding to the trajectory point in the target region based on the region parameters and the first motion trajectory; A generation module is used to generate a second motion trajectory based on the target trajectory points; The determining module is used for: Based on the region parameters and the position coordinates of the trajectory point in the first motion trajectory, the position of the projection point corresponding to the trajectory point in the target region is determined; Based on the position coordinates of the trajectory point and the position coordinates of the corresponding projection point, the position of the target trajectory point corresponding to the trajectory point in the target area is determined.

11. The apparatus according to claim 10, characterized in that, The target area includes a straight section and a curved section, which are connected at the target boundary line. The detection module includes: a determination submodule and a detection submodule; The determining submodule is used to determine the target track region to which any trajectory point in the first motion trajectory belongs, based on the position of the target boundary line and the position of the trajectory point, wherein the trajectory point is located within a set range corresponding to the target track region. The detection submodule is used to detect anomalies in the trajectory points based on the distance between the trajectory points and the target track area.

12. The apparatus according to claim 11, characterized in that, The detection submodule is used for: If the distance between the trajectory point and the target track area is greater than a set distance threshold, then the trajectory point is determined to be an abnormal trajectory point; When the distance between the trajectory point and the target track area is less than or equal to the set distance threshold, the trajectory point is determined as a non-abnormal point.

13. The apparatus according to claim 11 or 12, characterized in that, in, When the target track area is a straight section, the distance of the trajectory point relative to the target track area is the distance from the trajectory point to the corresponding track in the straight section; or, When the target track area is a curved area, the distance of the trajectory point relative to the target track area is the distance from the trajectory point to the center of the corresponding circle in the curved area.

14. The apparatus according to claim 10, characterized in that, The determining module is used for: In response to the fact that the trajectory point belongs to a straight road area, the track position corresponding to the straight road area to which the trajectory point belongs is determined based on the area parameters, and the position of the projection point of the trajectory point in the target area is determined based on the track position corresponding to the straight road area and the position of the trajectory point. or In response to the fact that the trajectory point belongs to a curved area, the center and track position of the curved area to which the trajectory point belongs are determined based on the area parameters, and the position of the projection point of the trajectory point in the target area is determined based on the position of the trajectory point and the center and track position of the curved area.

15. The apparatus according to claim 10, characterized in that, The acquisition module is further configured to acquire the stored region parameters if the region parameters of the target region are already stored. The determining module is further configured to determine the region parameters based on the first motion trajectory when the region parameters of the target region are not stored.

16. The apparatus according to claim 15, characterized in that, The determining module, when used to determine the region parameters based on the first motion trajectory, includes a central axis determining submodule and a parameter determining submodule; The central axis determination submodule is used to determine the central axis of the target area based on the position coordinates of each trajectory point included in the first motion trajectory. The parameter determination submodule is used to determine the region parameters based on the central axis of the target region.

17. A computing device, characterized in that, The computing device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the operations performed by the motion trajectory generation method as described in any one of claims 1 to 9.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that is executed by a processor as described in any one of claims 1 to 9, using the method for generating motion trajectories.

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