Data processing method and device, terminal device, mobile device, and storage medium

Abstract

The application relates to a data processing method and device, a terminal device, a mobile device and a storage medium. The method comprises the following steps: in a display interface of a terminal, a predicted trajectory route of a mobile device associated with the terminal is displayed; in response to a modification event of the predicted trajectory route, modification data is sent according to the modification event; a target trajectory route is acquired and displayed, wherein the target trajectory route is determined according to a comparison result of a path deviation distance and a preset distance threshold, the path deviation distance is determined according to the modification data, and the target trajectory route is used for controlling the mobile device to adjust a travel route. By comparing the path deviation distance with the preset distance threshold, the application realizes safe verification and task shunting of a front-end interaction intention, supports intuitive intervention of a user on a travel route of the mobile device, avoids blind triggering of global path re-planning, greatly reduces unnecessary computing power consumption, and guarantees smooth and safe control execution.

Description

Technical Field

[0001] This application relates to the field of intelligent control and human-computer interaction technology, and in particular to a data processing method, apparatus, terminal device, mobile device and readable storage medium. Background Technology

[0002] With the development of artificial intelligence technology, various mobile devices such as household robot vacuums, commercial cleaning robots, and delivery robots are being widely used in daily life and industrial production.

[0003] During task execution on mobile devices, situations often arise where route intervention is required. Traditional route intervention methods, such as redistributing target points or triggering map reconstruction, often lead to a global recalculation of the entire task map on the mobile device, resulting in significant computational overhead. Furthermore, it is impossible to perform continuous, precise local fine-tuning while maintaining the original globally planned path largely unchanged. Summary of the Invention

[0004] Therefore, it is necessary to provide a data processing method, apparatus, terminal device, mobile device, and readable storage medium that can respond to touch interactions on mobile devices and reduce computing power overhead, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a data processing method applied to a terminal, comprising:

[0006] The terminal's display interface shows the predicted trajectory of the mobile device associated with the terminal.

[0007] In response to a modification event for the predicted trajectory route, modified data is sent according to the modification event;

[0008] The target trajectory route is obtained, wherein the target trajectory route is determined based on the comparison result of the path deviation distance and the preset distance threshold, the path deviation distance is determined based on the modified data, and the target trajectory route is used to control the mobile device to adjust its travel route;

[0009] The target trajectory route is displayed.

[0010] In one embodiment, while displaying the predicted trajectory of the mobile device associated with the terminal, the method further includes:

[0011] Display the historical motion trajectory of the mobile device;

[0012] When the mobile device executes a composite task containing at least two sub-tasks, the historical motion trajectory includes the sub-task trajectory corresponding to each of the sub-tasks, and multiple sub-task trajectories are displayed on the same screen as overlaid layers in the display interface.

[0013] In one embodiment, displaying the historical motion trajectory of the mobile device includes:

[0014] Obtain the scale of the spatial environment in which the mobile device is located;

[0015] If the size of the spatial environment is smaller than a preset size threshold, the historical motion trajectory will be fully rendered in the display interface.

[0016] If the size of the spatial environment is greater than or equal to the preset size threshold, then based on the current location data of the mobile device, the local historical motion trajectory within the preset range is extracted and rendered in the display interface.

[0017] In one embodiment, while displaying the predicted trajectory of the mobile device associated with the terminal, the method further includes:

[0018] Display a map containing a target area, wherein the predicted trajectory route traverses the target area, and the target area has specific material attribute information;

[0019] The response to the modification event for the predicted trajectory route includes:

[0020] Receive a modification event that causes the predicted trajectory to deviate from the target area;

[0021] The acquisition of the target trajectory route includes:

[0022] Get and display the confirmation prompt window;

[0023] Based on the confirmation instruction in the confirmation prompt window, the target trajectory route is obtained, which is used to instruct the mobile device to adjust its action strategy or globally regenerate the route.

[0024] In one embodiment, the target trajectory route is determined based on a comparison between the path deviation distance and a preset distance threshold, including:

[0025] If the deviation distance of the path is greater than or equal to the preset distance threshold, then the target trajectory route is a globally planned route;

[0026] If the deviation distance of the path is less than the preset distance threshold, then the target trajectory route is a locally planned route.

[0027] In one embodiment, the target trajectory route is formed by splicing the locally reconstructed path with the non-conflicting segments in the original global planning path;

[0028] The local reconstruction path is determined based on the modified data;

[0029] A smooth transition curve segment is sandwiched between the local reconstruction path and the non-conflicting section, and the smooth transition curve segment is determined according to the current motion parameters of the mobile device.

[0030] Secondly, this application also provides a data processing method applied to a mobile device, comprising:

[0031] Upload the current motion parameters of the mobile device to generate a predicted trajectory route that corresponds to the original global planning path and is displayed on the terminal;

[0032] The target trajectory route is received, which is determined by comparing the path deviation distance with a preset distance threshold when the terminal receives a modification event for the predicted trajectory route. The path deviation distance is determined based on the modification data corresponding to the modification event.

[0033] The mobile device is controlled to move according to the target trajectory.

[0034] In one embodiment, before receiving the target trajectory route, the method further includes:

[0035] Identify the characteristics of the environment ahead and determine the corresponding adjustment strategy;

[0036] Send the foreground environmental features and the adjustment action strategy to enable the terminal to display a map containing the target area, wherein the target area has material attribute information corresponding to the foreground environmental features;

[0037] The target trajectory is received when the terminal executes a confirmation response to the confirmation prompt window and the predicted trajectory leaves the target area.

[0038] In one embodiment, the target trajectory route is formed by splicing a locally reconstructed path with a non-conflicting segment from the original global planning path;

[0039] The local reconstruction path and the non-conflict section are separated by a smooth transition curve segment, which is determined according to the current motion parameters.

[0040] Thirdly, this application also provides a data processing apparatus for use in a terminal, comprising:

[0041] The trajectory display module is used to display the predicted trajectory route of the mobile device associated with the terminal in the display interface of the terminal.

[0042] An event response module is used to respond to a modification event for the predicted trajectory route and send modified data according to the modification event;

[0043] A route acquisition module is used to acquire a target trajectory route; wherein, the target trajectory route is determined based on a comparison between the path deviation distance and a preset distance threshold, the path deviation distance is determined based on the modified data, and the target trajectory route is used to control the mobile device to adjust its travel route;

[0044] The results display module is used to display the target trajectory route.

[0045] Fourthly, this application also provides a data processing apparatus for use in a mobile device, comprising:

[0046] The path sending module is used to upload the current motion parameters of the mobile device to generate a predicted trajectory route that corresponds to the original global planning path and is displayed on the terminal.

[0047] A route receiving module is used to receive a target trajectory route, wherein the target trajectory route is determined by comparing the path deviation distance with a preset distance threshold when the terminal receives a modification event for the predicted trajectory route, and the path deviation distance is determined based on the modification data corresponding to the modification event;

[0048] The movement control module is used to control the movement of the mobile device according to the target trajectory route.

[0049] Fifthly, this application also provides a terminal device, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the data processing method as described in any of the preceding claims.

[0050] Sixthly, this application also provides a mobile device, including a processor and a memory, the memory storing a computer program that, when executed by the processor, implements the data processing method as described in any of the preceding claims.

[0051] In a seventh aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the data processing method as described in any of the preceding claims.

[0052] The aforementioned data processing method, apparatus, terminal device, mobile device, and readable storage medium, by acquiring user modification events regarding the predicted trajectory route through the terminal display interface and comparing the determined path deviation distance with a preset distance threshold to determine the target trajectory route, achieve secure verification of front-end touch interaction intent and dynamic scheduling of the algorithm. This significantly reduces unnecessary global computing power overhead while supporting intuitive user intervention in the device's movement route, ensuring the smoothness of the mobile device's hardware and software collaborative operation and control security. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a diagram illustrating the application environment of a data processing method in one embodiment.

[0055] Figure 2 This is a flowchart illustrating a data processing method applied to a terminal in one embodiment;

[0056] Figure 3 This is a schematic diagram of a mobile device displayed on a terminal in one embodiment;

[0057] Figure 4 This is a schematic diagram of the terminal display in another embodiment;

[0058] Figure 5 This is a schematic diagram of the target trajectory of a mobile device in another embodiment;

[0059] Figure 6 This is a flowchart illustrating a data processing method applied to a mobile device in one embodiment;

[0060] Figure 7a This is a schematic diagram of the first state of a mobile device on a terminal in one embodiment;

[0061] Figure 7b This is a schematic diagram of the second state of a mobile device in a terminal in one embodiment;

[0062] Figure 7c This is a schematic diagram of the third state of a mobile device in a terminal in one embodiment;

[0063] Figure 8 This is a structural block diagram of a data processing device applied to a terminal in one embodiment;

[0064] Figure 9 This is a structural block diagram of a data processing device applied to a mobile device in one embodiment;

[0065] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0067] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0068] The data processing method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown includes terminals, servers, and mobile devices. Communication connections can be established between the terminals and servers, and between mobile devices and servers, via a communication network to enable bidirectional data exchange. This communication network can be a wireless LAN, a mobile communication network, or a Bluetooth communication network, etc.

[0069] Specifically, terminals are typically electronic devices with display and interactive touch capabilities. They are mainly used to intuitively show users the device's route and collect trajectory modification events entered by users on the screen. These can be smartphones, tablets, personal digital assistants, smart wearable devices, smart home control screens, or central control consoles for commercial multi-machine clusters.

[0070] As a computing hub, the server is used to process business data uploaded by terminals and mobile devices. It can be an independent physical server, a server cluster consisting of multiple physical servers, or a cloud server that provides basic platform services such as cloud services, cloud databases, and cloud computing.

[0071] Mobile devices are typically hardware devices capable of autonomous movement and operation. They are equipped with motion drive mechanisms and environmental sensing sensors to perform specific tasks such as movement and cleaning in physical space. These can include household robotic vacuum cleaners, commercial cleaning robots, floor scrubbers, delivery robots, legged robots, or smart body-worn devices.

[0072] In practical applications, mobile devices report the current motion parameters or environmental features they collect to the server via a communication network. The server generates a predicted trajectory based on these parameters and sends it to the terminal's display interface for rendering. When the user drags or modifies the predicted trajectory on the terminal's display interface, the terminal sends the collected modification data to the server. The server performs physical distance comparison and route reconstruction calculations based on this modification data, and then synchronously distributes the generated target trajectory: on the one hand, it distributes it to the terminal for interface updates, and on the other hand, it distributes it to the mobile device to control the mobile device's hardware driver structure to adjust and splice the route.

[0073] In one exemplary embodiment, such as Figure 2 As shown, a data processing method is provided, which can be applied to... Figure 1 Taking the terminal in the example, the explanation includes the following steps 210 to 240. Wherein:

[0074] Step 210: On the terminal's display interface, the predicted trajectory of the mobile device associated with the terminal is displayed.

[0075] The predicted trajectory can be a line indicating movement within a specific distance in front of the device, or a graphic strip with directional markings.

[0076] For example, users can view the predicted trajectory of their associated mobile devices in real time through the display interface of terminals such as smartphones, tablets, or smart central control screens. Specifically, by obtaining the current location coordinates of the mobile device and the global planned path, local planning data of the upcoming journey is extracted based on the current location coordinates, rendered into a visual graphic layer, and overlaid on an electronic map for display.

[0077] Step 220: In response to a modification event for the predicted trajectory route, send modified data according to the modification event.

[0078] The modification event can be a continuous drag operation on the route graphic on the screen, or a click and translation operation on the route graphic; the modification data can be the coordinate offset caused by the intervention of the route, or the deflection angle of the travel direction.

[0079] For example, when a user visually observes an obstacle on the predicted trajectory of the mobile device, or when the user subjectively desires to prevent the device from continuing along the original route, they can directly perform a touch modification action on the terminal's display interface regarding the predicted trajectory. Upon detecting this touch action, the terminal immediately responds to the modification event for the predicted trajectory and sends the corresponding modification data to the backend server connected via a communication link. Specifically, by continuously monitoring touch commands on the display interface, when the touch command's landing point is detected to be within the response range of the route graphic and causes displacement, the touch sliding trajectory on the physical screen is extracted, converted into corresponding spatial dimension modification data, and sent out via a wireless communication link.

[0080] Step 230: Obtain the target trajectory route. The target trajectory route is determined based on the comparison between the path deviation distance and the preset distance threshold. The path deviation distance is determined based on the modified data. The target trajectory route is used to control the mobile device to adjust its travel route.

[0081] Among them, the path deviation distance can be the physical straight-line span between the modified target coordinates and the corresponding coordinates on the original route, or it can be the distance difference on the traveling grid; the preset distance threshold can be a fixed reference value set based on the width of a single fuselage, or it can be a comparison value dynamically calculated in combination with the current cleaning area; the target trajectory route can be fine-tuned path data for local avoidance of the original route, or it can be global reconstruction path data that triggers a complete replanning.

[0082] For example, the system receives the final route planning result returned after processing the modified data. One process for determining this final route planning result includes: first, extracting the spatial offset corresponding to the modified data to calculate the path deviation distance; then comparing the path deviation distance with a preset distance threshold. If the path deviation distance is greater than or equal to the preset distance threshold, the reconstructed global planned route is used as the target trajectory route. If the path deviation distance is less than the preset distance threshold, a local planned route with smooth offset only within the current local coordinate range is generated as the target trajectory route. It should be understood that if no modification event for the predicted trajectory route is received, or if the path deviation distance is zero, normal operation continues, and subsequent data calls continue to use the original predicted trajectory route as the target trajectory route.

[0083] Step 240: Display the target trajectory route.

[0084] The display can be either a pixel replacement and refresh on the original map layer, or an overlay rendering of a newly generated trajectory layer.

[0085] For example, after acquiring the target trajectory, the terminal immediately refreshes and displays the result on the screen. This might involve clearing the predicted trajectory graphic from its previous position on the screen and re-rendering the updated target trajectory graphic on the screen according to drawing instructions. Since the route planning result is simultaneously acquired and sent to the mobile device, the mobile device's execution unit directly adjusts its own path based on this result. At this point, the terminal's display of the route planning result is perfectly synchronized with the mobile device's adjustment of the predicted trajectory in physical space.

[0086] In this embodiment, by acquiring modification data generated based on modification events and comparing the path deviation distance determined by the modification data with a preset distance threshold, the control algorithm achieves task diversion based on user interaction intentions. This avoids the system blindly triggering full-map path replanning upon receiving even minor trajectory modifications, significantly reducing unnecessary global computing power overhead and data communication waste, and effectively improving the response speed of mobile devices adjusting their travel routes.

[0087] In one exemplary embodiment, such as Figure 3 As shown, in step 210, while displaying the predicted trajectory of the mobile device associated with the terminal, the following is also included:

[0088] Displays the historical motion trajectory of the mobile device. When the mobile device performs a complex task containing at least two subtasks, the historical motion trajectory includes the subtask trajectory corresponding to each subtask, and multiple subtask trajectories are displayed as overlay layers on the same screen.

[0089] Among them, the historical movement trajectory can be the actual coordinate line of the physical operation completed by the mobile device, or it can be a data set recording the historical movement position of the device; taking the mobile device as a robot vacuum cleaner as an example, the composite task can be a sweeping and mopping task, or a sweeping and mopping task; the sub-task trajectory can be a sweeping trajectory line or a mopping trajectory line; the on-screen layer overlay display can be to blend and render trajectory layers of different widths on the same map coordinate system, or to give different sub-task trajectories different transparency parameters and then display them in layers.

[0090] For example, the location coordinates of the mobile device in physical space and the corresponding task status are extracted. When it is detected that the mobile device is currently performing a combined sweeping and mopping task, trajectory graphics corresponding to the two sub-tasks are generated respectively. The sweeping trajectory line is given a narrow, pure white strip line type, and the mopping trajectory line is given a wide, semi-transparent strip line type. The generated sweeping and mopping trajectory lines are synchronously overlaid and rendered on the electronic map of the display interface according to their respective physical coverage widths, and the differences in transparency and line type are used to intuitively distinguish the physical areas actually covered by different cleaning tasks. It should be understood that if the mobile device is performing a basic cleaning task containing only a single sub-task, such as a single sweeping task or a single mopping task, only the single-layer historical motion trajectory corresponding to that single sub-task is extracted and rendered in the display interface, maintaining the conventional display logic of a single layer, thereby saving the computing power of the terminal graphics rendering unit.

[0091] In this embodiment, by displaying the trajectories of each subtask under the composite task on the same screen in a layer overlay manner, users can intuitively identify the operation history of different hardware modules of the mobile device, providing a clear physical reference for subsequent accurate modification of the predicted trajectory route. At the same time, it eliminates the need for frequent view switching between multi-functional menus on the terminal, effectively reducing the energy consumption of layer rendering on the terminal.

[0092] In one exemplary embodiment, step 210 displays the historical motion trajectory of the mobile device, including:

[0093] Obtain the size of the spatial environment in which the mobile device is located. If the size of the spatial environment is smaller than a preset size threshold, the historical motion trajectory is fully rendered in the display interface. If the size of the spatial environment is greater than or equal to the preset size threshold, a local historical motion trajectory within a preset range is extracted based on the current location data of the mobile device and rendered in the display interface.

[0094] Among them, the spatial environment scale can be the total building area of ​​the physical room where the mobile device is currently located, or the number of global grids of the electronic map loaded in the terminal memory; the preset scale threshold can be the area reference boundary used to distinguish between regular apartment types and large complex apartment types, or the memory warning value that triggers the terminal graphics processor to start a load reduction strategy; the preset range can be a specific radius span around the current physical coordinates of the mobile device, or a fixed size range corresponding to the visible window of the terminal screen.

[0095] For example, the data volume of the work scene where the mobile device is located is continuously monitored. When the spatial environment of the current work scene is identified as small, with a value less than a preset scale threshold, it is determined that full-image graphics rendering will not cause hardware lag on the terminal device. At this time, all historical motion trajectory coordinates of the mobile device from the start of the task to the present are directly retrieved, converted into continuous trajectory lines, and fully rendered on the display interface, allowing users to have a global grasp of the completed work area.

[0096] When the current work scene is identified as a large shop or a complex multi-level apartment, and its spatial environment scale is greater than or equal to a preset scale threshold, forcibly rendering the entire historical trajectory could easily lead to the blocking of the terminal's graphics processing process and ghosting in the human-computer interaction screen. In this case, an adaptive rendering degradation mechanism is triggered. It reads the current location data reported in real time by the mobile device, uses this location data as a central reference point to calculate outwards, and only extracts and retains a segment of the historical motion trajectory within a preset range. Subsequently, the terminal only outputs the graphics rendering instructions for this segment of historical motion trajectory to the display interface; historical trajectory data outside this greater distance is not loaded and rendered.

[0097] In this embodiment, by acquiring the spatial environment scale of the mobile device and comparing it with a preset scale threshold, and then performing either full rendering or rendering only the historical motion trajectory within a local area, adaptive loading of terminal display interface data is achieved. This effectively reduces the memory consumption of terminal graphics rendering in large apartments or complex scenes, avoiding interface lag issues; at the same time, combined with the simultaneous display of multiple sub-task trajectories in overlapping layers, it improves the user's overall understanding of the device's complex cleaning status.

[0098] In one exemplary embodiment, such as Figure 4 As shown, while displaying the predicted trajectory of the mobile device associated with the terminal in step 210, the method also includes steps 212 to 216, wherein:

[0099] Step 212: Display a map containing the target area, where the predicted trajectory route traverses the target area, and the target area has specific material attribute information.

[0100] The target area can be the carpeted area in the living room or the area with concentrated heavy oil stains in the kitchen; the material property information can be the physical parameters of the long-pile carpet or the dry and wet parameters of the water-covered surface.

[0101] For example, information about the ground environment ahead is obtained by the mobile device through its underlying sensors. The identified carpet area or water stain area is used as the target area, highlighted with a heat map icon on the map layer of the terminal display interface, and the predicted trajectory route that will cross the target area is displayed on the map.

[0102] Step 214, in response to a modification event for the predicted trajectory route, includes receiving a modification event that causes the predicted trajectory route to deviate from the target area.

[0103] For example, the system continuously monitors the user's screen touch actions. When it receives a signal that the user has dragged the predicted trajectory away from and completely removed from the target area, a control interception mechanism is triggered.

[0104] Step 216: Obtain the target trajectory route, including obtaining and displaying a confirmation prompt window; and obtaining the target trajectory route according to the confirmation instruction for the confirmation prompt window. The target trajectory route is used to instruct the mobile device to adjust its action strategy or globally regenerate the route.

[0105] The confirmation prompt window can be a pop-up dialog box in the center of the screen or a floating operation panel at the bottom of the interface; the confirmation command can be a click command for the virtual button or a sliding command for the graphic slider; the adjustment of the action strategy can be turning off the water outlet module and turning on the pressurized suction mode, or switching to the deep dragging mode, or other regular actions of the mobile device.

[0106] For example, the terminal displays a confirmation prompt window on the screen, asking the user whether they need to switch the current operating mode or completely bypass the target area. Upon receiving the user's confirmation command in response to the prompt window, the terminal obtains the target trajectory route incorporating the underlying strategy instructions. This target trajectory route then instructs the mobile device to either stop water output and increase suction power to adjust its cleaning strategy, or to abandon the previously interfered route and globally regenerate a planned route that perfectly avoids the target area.

[0107] It should be understood that if no confirmation command is received for the confirmation prompt window, or if no valid response is detected within the preset time, the modification event is determined to be an invalid accidental touch operation. The terminal clears the trajectory deviation state of leaving the target area, controls the mobile device to maintain the original cleaning strategy and continue to perform normal traversal operation along the original predicted trajectory route, thereby eliminating the potential risk of the system falling into an infinite waiting state or a logical dead loop.

[0108] In this embodiment, when the mobile device moves towards a carpet or dirty area, the terminal highlights these areas. If the user tries to block the device from going to that area, the terminal immediately pops up a prompt window for confirmation. This prevents accidental touches that could cause the mobile device to go to the wrong place, and it also organically combines terminal interaction with the mobile device's cleaning strategy. It also increases the mobile device's mobility and intelligence.

[0109] In one exemplary embodiment, such as Figure 5As shown, in step 230, the target trajectory route is determined based on the comparison between the path deviation distance and a preset distance threshold, including:

[0110] If the path deviation distance is greater than or equal to the preset distance threshold, the target trajectory route is a globally planned route; if the path deviation distance is less than the preset distance threshold, the target trajectory route is a locally planned route.

[0111] The preset distance threshold can be a physical reference span set based on the single cleaning width of the mobile device, or a tolerance limit value dynamically calculated based on the current working area. The global planned route can be the overall detour path data regenerated after completely abandoning the original route, or it can be a global grid connection that triggers the device to change its general direction. The local planned route can be short-distance avoidance data that is finely adjusted within the current coordinate range, or it can be a local correction segment that is offset parallel to the original route.

[0112] For example, the spatial coordinate deviation derived from the front-end modification event is extracted to calculate the absolute path deviation distance. This path deviation distance is then compared to a preset distance threshold. When the path deviation distance is greater than or equal to the preset distance threshold, the user's true intervention intention is determined to be a complete change of the current work direction. In this case, all predetermined nodes ahead are abandoned, and the server is notified to execute a global pathfinding algorithm to generate a completely new globally planned route, which is then used as the target trajectory route. When the path deviation distance is less than the preset distance threshold, the user's intervention intention is determined to be merely to avoid temporary minor obstacles ahead. In this case, the system does not invoke the memory-intensive global reconstruction algorithm, but only generates a smooth locally planned route within the local coordinate range where the physical deviation occurred, which is then used as the target trajectory route.

[0113] It should be understood that if the calculated path deviation distance is zero, or if the extracted deviation value exceeds the physical boundary of the current electronic map, rendering the data invalid, the current distance comparison logic will be exited directly, and normal operation will continue. The system will no longer update or generate any new trajectory data, and will control the mobile device to continue traveling along the original predicted trajectory route, thereby eliminating the risk of the system getting stuck in an infinite loop or idling due to processing extreme or invalid interactive data.

[0114] In this embodiment, different confirmation interfaces or different planned paths are displayed on the terminal based on the distance the user drags the route: if the user only drags the predicted route slightly, it means they only want the mobile device to adjust the task strategy for the current local area, and the device's global path does not need to be changed. After clicking confirm, only the corresponding working mode is switched or a small-scale adjustment is made; if the user drags the predicted route a long distance, it means the user wants to completely bypass this area. Clicking confirm will directly cause the device to reconstruct a completely new detour planning path. This fine-grained division of control strategies by different deviation distances greatly reduces the unnecessary replanning calculation overhead of the mobile device and makes dynamic intervention during task execution more reasonable and flexible.

[0115] In an exemplary embodiment, the target trajectory route in step 230 is formed by splicing a locally reconstructed path with non-conflicting segments from the original globally planned path. The locally reconstructed path is determined based on the modified data; a smooth transition curve segment is interspersed between the locally reconstructed path and the non-conflicting segments, and the smooth transition curve segment is determined based on the current motion parameters of the mobile device.

[0116] Among them, the local reconstruction path can be a temporary avoidance line segment newly generated in the current spatial coordinate system based on touch modification, or it can be a correction line segment that is offset parallel to the original direction of travel; the non-conflict section can be a safe travel segment in the original global planning path that is not affected by touch modification, or it can be a predetermined task line segment that is retained after crossing the intervention area; the transition smooth curve segment can be a Bézier geometric curve used to smoothly connect the heterogeneous paths at both ends, or it can be a spline curve; the current motion parameter can be the current real-time physical linear velocity of the mobile device, or it can be its real-time angular velocity.

[0117] For example, when processing route data, the server first extracts the spatial coordinate changes in the modified data and generates a dedicated local reconstruction path within the area where the intervention occurred. Simultaneously, it scans forward along the original globally planned path, capturing non-conflicting sections unaffected by the touch intervention event. To prevent sudden stops, sharp bends, or severe wheel slippage at the physical intersection of two different paths, the system obtains the mobile device's real-time reported motion parameters. Combining the current real-time linear velocity and steering limits, a smooth transition curve segment is calculated using a curve generation algorithm. Finally, the local reconstruction path, the smooth transition curve segment, and the non-conflicting section are sequentially interlocked to generate a target trajectory route that meets the requirements of physical dynamic continuity, thereby ensuring absolute smoothness and stability when the mobile device hardware performs steering.

[0118] In some embodiments, if the calculation finds that the end position of the local reconstruction path perfectly coincides with the start position of the non-conflicting segment and the tangent direction is consistent, or if the current motion parameters of the mobile device are found to be at a stationary value, the system skips the smoothing curve generation step. In this case, the local reconstruction path and the non-conflicting segment are directly connected by endpoint closure, maintaining the conventional straight-line splicing calculation logic, thereby eliminating the computational overhead problem of excessively calling the curve algorithm in unnecessary scenarios.

[0119] In this embodiment, the movement angle, dragging distance, or device orientation changes generated when the user drags the predicted route on the terminal are directly mapped to precise path control parameters in the background. Simultaneously, between the reconstructed local new path and the original, non-conflicting path, the system automatically inserts a smooth transition curve segment calculated based on the device's current speed and turning capability. This prevents sudden stops, sharp bends, or severe slippage of the chassis when the mobile device is actually traveling along the route, making the transition from the old path to the new path smoother and effectively protecting the mechanical transmission components of the mobile device from damage.

[0120] In one exemplary embodiment, such as Figure 6 As shown, a data processing method is provided, which can be applied to... Figure 1 Taking a mobile device as an example, the explanation includes steps 310 to 330. Wherein:

[0121] Step 310: Upload the current motion parameters of the mobile device to generate a predicted trajectory route that corresponds to the original global planning path and is displayed on the terminal.

[0122] The current motion parameters can be the real-time linear velocity of the mobile device chassis or the real-time angular velocity; the original global planning path can be the initial navigation line generated based on the global map or the global grid operation path issued before the task starts; the predicted trajectory route can be a virtual travel indicator line within a specific distance in front of the device or a graphic strip with directional markings.

[0123] For example, when a mobile device moves in physical space, it continuously collects real-time linear velocity and current physical coordinates from its own motor using its internal main control board, and uploads these parameters to a backend server or terminal via a wireless communication network. Based on the received current motion parameters and the original globally planned path that the device was originally supposed to execute, the terminal renders and generates the corresponding predicted trajectory on the display interface.

[0124] like Figure 7aThe diagram illustrates the first state of a mobile device on a terminal. The mobile device is represented by a circle, and the predicted trajectory is displayed as a rectangular dashed frame in front of the mobile device on the terminal's screen. Inside the rectangular dashed frame is a scrolling, forward-moving double-zigzag arrow, visually indicating the future physical movement intention. Optionally, the mobile device retains a historical movement trajectory along its physical path. This historical trajectory is displayed on the terminal's screen as a composite line behind the mobile device, consisting of a central dashed line and two solid lines on either side.

[0125] Furthermore, to the right of the predicted trajectory, a closed dashed line in the attached diagram indicates a target area that objectively exists in physical space but is not currently detected by the mobile device's active sensors. This target area can be a physical area that the user expects the mobile device to actively avoid, such as areas with heavy stains, severely dented or waterlogged areas, areas with high-voltage electromagnetic interference, or areas displaying precision equipment. Because this target area is not detected by the mobile device's own sensors, the mobile device does not trigger an automatic obstacle avoidance algorithm in the cloud or locally. Therefore, the predicted trajectory originally rendered by the mobile device is spatially tangent to this target area or has a risk of directly crossing it. End users can visually determine the physical existence of this target area and the potential collision and contamination risks through the real-time video stream or environmental map integrated into the display interface, thus providing a clear reference for subsequent human-computer interaction intervention when receiving touch-based modifications to the predicted trajectory.

[0126] Step 320: Receive the target trajectory route. The target trajectory route is determined by comparing the path deviation distance with a preset distance threshold when the terminal receives a modification event for the predicted trajectory route. The path deviation distance is determined based on the modification data corresponding to the modification event.

[0127] The target trajectory route can be fine-tuned path data for local avoidance of the original route, or it can be globally reconstructed path data that triggers a complete replanning; the modification event can be a continuous drag operation on the route graphic on the terminal screen or a mobile device, or a click and pan operation; the modified data can be the physical coordinate offset generated by the touch operation, or the deflection angle; the preset distance threshold can be a fixed reference value set based on the width of the device body, or it can be a comparison value dynamically calculated in combination with the area of ​​the current space.

[0128] For example, such as Figure 7bThe diagram illustrates the second state of the mobile device on the terminal. When a user visually determines that the predicted trajectory is about to enter the target area through the video feed or environmental map integrated into the display interface, they can directly perform touch-based dragging or directional adjustments on the terminal's display interface. When the predicted trajectory or the mobile device's position on the terminal interface is manually modified by the user, the interface responds to the modification event by generating an arc-shaped dashed line with control arrows that deviates from the original trajectory. This arc-shaped dashed line represents the modification data corresponding to the modification event. Locally or on the server side, the corresponding path deviation distance and / or deflection angle are calculated based on the modification data, and differentiated control results are dynamically generated. If the path deviation distance is greater than or equal to a preset distance threshold, the target trajectory is a globally planned route that completely bypasses the intervention area; if the path deviation distance is less than the preset distance threshold, the target trajectory is a locally planned route that only smoothly deviates within the current local coordinate range, and the target trajectory is sent to the mobile device's communication module and terminal.

[0129] It should be understood that if the terminal does not receive any modification events for the predicted trajectory route, or if the path deviation distance calculated based on the modified data is zero, the mobile device will not receive any new target trajectory route data, and will maintain the original global planning path for subsequent normal operation, thereby eliminating the vulnerability of the execution module getting stuck in an infinite loop of waiting for data.

[0130] Step 330: Control the mobile device to move according to the target trajectory route.

[0131] Controlling the movement according to the target trajectory can be achieved by controlling the chassis drive motor to adjust the actual speed, or by controlling the steering servo to change the wheel deflection angle.

[0132] For example, after parsing the received target trajectory data, the mobile device's main control chip extracts the physical space coordinate nodes and the corresponding velocity vector commands. Subsequently, these vector commands are converted into control electrical signals and output to hardware actuators such as the left-wheel drive motor and right-wheel drive motor of the chassis, driving the mobile device to perform orbiting in physical space.

[0133] like Figure 7cAs shown in the figure, it is a schematic diagram of the third state of the mobile device at the terminal. After acquiring the above target route, the terminal immediately replaces the original predicted route on the display interface and highlights the updated target route. However, due to the implementation of detour control, the position of the mobile device in physical space is shifted. At this time, the historical motion track behind the mobile device presents an S-shaped smooth transition curve segment deviating from the original central axis, which indicates that the mobile device has successfully executed the detour and trajectory change action, and achieves traveling along the trajectory set by the re-determined target route without touching the target area. Through the real-time linkage control of each layer in the terminal display interface, users do not need to be physically present at the site to intuitively and clearly acquire and correct the trajectory of the mobile device, while ensuring the accuracy of human-computer interaction and the safety of control.

[0134] In this embodiment, the mobile device only needs to upload the current motion parameters to the server, so that the terminal can receive and draw the future prediction line. The mobile device is only responsible for receiving the target route determined by the terminal's modification intervention and controlling its own traveling, and does not need to consume a lot of local resources and power for high-intensity map path reconstruction calculation, which greatly reduces the operating overhead on the mobile device side and effectively controls the hardware cost.

[0135] In an exemplary embodiment, before receiving the target route in step 320, the method further includes:

[0136] identifying forward environmental characteristics and determining a corresponding adjustment action strategy; sending the forward environmental characteristics and the target cleaning strategy, so that the terminal displays a map including a target area, wherein the target area has material attribute information corresponding to the forward environmental characteristics; the target route is received when the terminal executes a confirmation response to the confirmation prompt window and the predicted route deviates from the target area.

[0137] Wherein, the forward environmental characteristics may be the ground physical state identified by sensor signals, or may be the distribution contour of spatial obstacles; the adjustment action strategy may be a hardware operation mode preset for different ground materials, or may be a power output configuration for a specific area; the map including the target area may be a virtual spatial geometric layer displayed on a screen interface, or may be a vector plan with coordinate mapping relationship; the material attribute information may be technical parameters for marking ground media, or may be the wet and dry indicators of the ground surface; the confirmation prompt window may be a visual interaction interface prompting to change the working mode, or may be a strategy inquiry dialog box popped up in the center of the screen; the confirmation response may be a click instruction for a virtual key, or may be a sliding instruction for a graphic slider.

[0138] For example, during operation, the system uses onboard radar or cameras to acquire physical information about the ground ahead, identifying specific material areas such as carpeted areas or heavily soiled / waterlogged areas. It then automatically matches and determines corresponding adjustment strategies, such as changing the target cleaning strategy to a pressurized suction mode or a re-mopping cleaning mode. The identified environmental features and target cleaning strategy are transmitted via a communication network, allowing the terminal to highlight a map containing the target area on its display. This target area has material attribute information corresponding to the environmental features, displayed on the screen as a highlighted heat map icon or a semi-transparent filled color block, thus intuitively informing the user of the physical reason for the machine's intended behavior change. When the user modifies the predicted trajectory on the terminal interface, causing the predicted trajectory to move away from the target area, a confirmation window pops up. Only after a confirmation response (click or swipe to confirm) is executed, and the predicted trajectory has completely deviated from the target area, will the receiving module receive the transmitted target trajectory and control the hardware to perform the corresponding avoidance or strategy switching actions.

[0139] It should be understood that if no confirmation response is executed for the confirmation prompt window, or if the predicted trajectory route has not deviated from the target area, the intervention is deemed not to have been triggered, no new target trajectory route data will be received, and the original target cleaning strategy and the original global planning path will continue to operate normally.

[0140] In this embodiment, the mobile device can identify the target area ahead using its own sensors while moving, and notify the terminal in advance to highlight the area on the map. Only when the user actually clicks the confirmation response in the window displayed on the terminal, and the modified predicted route does indeed move away from the area, will the mobile device receive and execute the new route. This avoids the risk of the mobile device blindly taking the wrong route due to sudden network delays or data packet loss.

[0141] In an exemplary embodiment, the target trajectory route in step 320 is formed by splicing the locally reconstructed path with the non-conflicting segments in the original global planning path; a smooth transition curve segment is sandwiched between the locally reconstructed path and the non-conflicting segments, and the smooth transition curve segment is determined according to the current motion parameters.

[0142] Among them, the local reconstruction path can be a corrected travel segment generated based on the touch modification intention, or a temporary avoidance line that bypasses special material areas; the original global planning path can be the global navigation base map route issued before the task starts, or a global grid operation line; the non-conflict section can be a safe travel segment in the original global planning path that is not affected by touch modification, or a predetermined task line segment retained after crossing the intervention area; the transition smooth curve segment can be a geometric line used to smoothly connect the heterogeneous paths at both ends, or a Bezier parameter curve; the current motion parameter can be the real-time physical linear velocity of the mobile device chassis, or its real-time turning angular velocity.

[0143] For example, when a mobile device receives a route instruction, it directly reads the data packet containing the target trajectory. This data packet already combines the partially reconstructed path with non-conflicting sections unaffected by touch intervention. To prevent the chassis drive mechanism from abruptly stopping, mechanically bending, or severely slipping at the junction of two route segments, a smooth transition curve segment generated based on the mobile device's real-time physical linear velocity and other current motion parameters is pre-installed in the target trajectory. The mobile device's execution control chip directly parses this target trajectory with the smooth transition curve segment, converts it into continuous voltage and current signals, and outputs them to the chassis motor. This drives the actuator to achieve smooth track changes and steering, ensuring that the mobile device does not need to expend significant main control computing power locally to recalculate complex junction arcs; it can complete smooth motion control simply by reading the received attribute data.

[0144] It should be understood that if the current motion parameters are obtained in a stationary state with a value of 0, or if the tangent direction at the end of the locally reconstructed path completely coincides with the tangent direction at the beginning of the non-conflicting segment, then the received target trajectory route will not include any transitional smooth curve segments. The mobile device directly reads and executes the movement instructions sequentially according to the straight line splicing logic with closed endpoints, thereby eliminating the logical redundancy and communication resource waste caused by the system processing unnecessary curve parameters in non-essential scenarios.

[0145] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0146] Based on the same inventive concept, this application also provides a data processing apparatus for implementing the data processing method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more data processing apparatus embodiments provided below can be found in the limitations of the data processing method described above, and will not be repeated here.

[0147] In one exemplary embodiment, such as Figure 8 As shown, a data processing device is provided for use in a terminal, including a trajectory display module 401, an event response module 403, a route acquisition module 405, and a result display module 407, wherein:

[0148] The trajectory display module 401 is used to display the predicted trajectory route of the mobile device associated with the terminal on the terminal's display interface.

[0149] The event response module 403 is used to respond to modification events for the predicted trajectory route and send modified data according to the modification events.

[0150] The route acquisition module 405 is used to acquire the target trajectory route; wherein, the target trajectory route is determined based on the comparison result of the path deviation distance and the preset distance threshold, the path deviation distance is determined based on the modified data, and the target trajectory route is used to control the mobile device to adjust the travel route.

[0151] The results display module 407 is used to display the target trajectory route.

[0152] In this embodiment, by encapsulating the graphical display of the predicted route, the response to touch modification events, and the acquisition of target route data into independently running modules, the memory consumption of performing complex path reconstruction calculations locally on the terminal is effectively avoided while ensuring that the terminal interface responds to user interaction actions at lightning speed. This achieves an efficient and stable closed loop between intuitive interaction and mobile device hardware control.

[0153] In one embodiment, while the trajectory display module 401 displays the predicted trajectory route of the mobile device associated with the terminal, it also includes:

[0154] Display the historical movement trajectory of the mobile device;

[0155] When a mobile device executes a composite task containing at least two subtasks, the historical motion trajectory includes the subtask trajectory corresponding to each subtask, and multiple subtask trajectories are displayed on the same screen as overlaid layers.

[0156] In one embodiment, the trajectory display module 401 displays the historical motion trajectory of the mobile device, including:

[0157] Obtain the scale of the spatial environment in which the mobile device is located;

[0158] If the size of the spatial environment is smaller than the preset size threshold, the historical motion trajectory will be fully rendered in the display interface.

[0159] If the size of the spatial environment is greater than or equal to the preset size threshold, the local historical motion trajectory within the preset range is extracted based on the current location data of the mobile device and rendered in the display interface.

[0160] In one embodiment, while the trajectory display module 401 displays the predicted trajectory route of the mobile device associated with the terminal, it also includes:

[0161] Display a map containing the target area, where the predicted trajectory route passes through the target area, which has specific material attribute information;

[0162] In response to events that modify the predicted trajectory, including:

[0163] Receive modification events that cause the predicted trajectory to deviate from the target area;

[0164] Obtain the target trajectory route, including:

[0165] Get and display the confirmation prompt window;

[0166] Based on the confirmation command in the confirmation prompt window, the target trajectory route is obtained. The target trajectory route is used to instruct the mobile device to adjust its action strategy or regenerate the route globally.

[0167] In one embodiment, the target trajectory route in the trajectory display module 401 is determined based on a comparison between the path deviation distance and a preset distance threshold, including:

[0168] If the path deviation distance is greater than or equal to the preset distance threshold, the target trajectory route is the globally planned route;

[0169] If the path deviation distance is less than the preset distance threshold, the target trajectory route is a locally planned route.

[0170] In one embodiment, the target trajectory route in the route acquisition module 405 is formed by splicing the locally reconstructed path with the non-conflicting segments in the original global planning path;

[0171] The local reconstruction path is determined based on the modified data;

[0172] A smooth transition curve segment is sandwiched between the local reconstruction path and the non-conflict section. The smooth transition curve segment is determined based on the current motion parameters of the mobile device.

[0173] In one exemplary embodiment, such as Figure 9 As shown, a data processing device is also provided, applied to a mobile device, including a path sending module 501, a route receiving module 503, and a travel control module 505, wherein:

[0174] The path sending module 501 is used to upload the current motion parameters of the mobile device to generate a predicted trajectory route that corresponds to the original globally planned path and is displayed on the terminal.

[0175] The route receiving module 503 is used to receive the target trajectory route. The target trajectory route is determined by comparing the path deviation distance with a preset distance threshold when the terminal receives a modification event for the predicted trajectory route. The path deviation distance is determined based on the modification data corresponding to the modification event.

[0176] The movement control module 505 is used to control the movement of the mobile device according to the target trajectory route.

[0177] In one embodiment, before the route receiving module 503 receives the target trajectory route, the method further includes:

[0178] Identify the characteristics of the environment ahead and determine the corresponding target cleaning strategy.

[0179] Send the characteristics of the foreground environment and the target cleaning strategy so that the terminal can display a map containing the target area, and the target area has material attribute information corresponding to the characteristics of the foreground environment.

[0180] Specifically, the target trajectory is received when the terminal executes a confirmation response to the confirmation prompt window and the predicted trajectory deviates from the target area.

[0181] In one embodiment, the target trajectory route in the route receiving module 503 is formed by splicing the locally reconstructed path with the non-conflicting segments in the original global planning path.

[0182] Among them, a smooth transition curve segment is sandwiched between the local reconstruction path and the non-conflict section, and the smooth transition curve segment is determined according to the current motion parameters.

[0183] In this embodiment, by modularly encapsulating parameter uploading, route reception, and machine movement control actions, the mobile device is completely free from the complex path reconstruction and threshold comparison calculations performed locally. This effectively eliminates the hardware computing overhead, thereby significantly reducing the hardware manufacturing cost of the mobile device while ensuring the agility and safety of the device's movement adjustments.

[0184] Each module in the aforementioned data processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0185] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a data processing method.

[0186] Those skilled in the art will understand that Figure 10The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0187] In one embodiment, a mobile device is also provided, including a main body, a memory, and a processor. The memory stores a computer program, which, when executed by the processor, implements any of the data processing methods applied to the mobile device according to the embodiments of this disclosure.

[0188] In some embodiments, the mobile device can be a cleaning device, which, in addition to the components described above, may also include cleaning components, position sensors, obstacle detectors, etc. The main body of the device typically includes a drive unit (such as a power supply), a travel mechanism (such as travel rollers or tracks), and a steering mechanism (such as a rack and pinion steering gear, a worm gear crank pin steering gear, etc.). A collision sensor and an obstacle detector may be located at the front of the main body. The obstacle detector may include infrared sensors, ultrasonic sensors, lidar sensors, and vision sensors. When the ultrasonic sensor is working, it emits ultrasonic signals onto the travel path of the cleaning device and receives ultrasonic signals reflected from obstacles, thereby determining the presence and distance of obstacles. The infrared sensor includes an infrared transmitter and a receiver; the infrared receiver receives infrared light reflected from obstacles to determine the presence and distance of obstacles. The cleaning device detects surrounding obstacles, such as walls and sofas, using obstacle detection. In some examples, the cleaning device may also be equipped with a distance detector, for example, by connecting an encoder to the travel wheels and measuring the travel distance of the cleaning device by calculating the number of wheel rotations. In addition, the cleaning equipment is equipped with direction sensors, such as encoders, accelerometers, or gyroscopes, to determine and control its direction of travel. Cleaning components include a mop and a water tank. When the mop becomes dirty, it can automatically travel to the base station to be replaced. The water tank can also convert a dry mop into a wet one.

[0189] In some implementations, the cleaning device further includes a data acquisition module and a communication module, both electrically connected to the processor. The data acquisition module, such as a high-definition camera, is used to acquire status data of the cleaning device and / or environmental perception data. It can be positioned on the top and / or front of the main body of the cleaning device to obtain an unobstructed wide-angle field of view.

[0190] In some possible implementations, the cleaning device further includes a position sensor for acquiring the position information of the cleaning device. The position sensor includes the aforementioned infrared sensor, ultrasonic sensor, lidar sensor, and vision sensor, which will not be described in detail herein.

[0191] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0192] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0193] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0194] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0195] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0196] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A data processing method, characterized in that, Applied to a terminal, the method includes: The terminal's display interface shows the predicted trajectory of the mobile device associated with the terminal. In response to a modification event for the predicted trajectory route, modified data is sent according to the modification event; The target trajectory route is obtained, wherein the target trajectory route is determined based on the comparison result of the path deviation distance and the preset distance threshold, the path deviation distance is determined based on the modified data, and the target trajectory route is used to control the mobile device to adjust its travel route; The target trajectory route is displayed.

2. The method according to claim 1, characterized in that, In addition to displaying the predicted trajectory of the mobile device associated with the terminal, the method also includes: Display the historical motion trajectory of the mobile device; When the mobile device executes a composite task containing at least two sub-tasks, the historical motion trajectory includes the sub-task trajectory corresponding to each of the sub-tasks, and multiple sub-task trajectories are displayed on the same screen as overlaid layers in the display interface.

3. The method according to claim 2, characterized in that, The display of the historical motion trajectory of the mobile device includes: Obtain the scale of the spatial environment in which the mobile device is located; If the size of the spatial environment is smaller than a preset size threshold, the historical motion trajectory will be fully rendered in the display interface. If the size of the spatial environment is greater than or equal to the preset size threshold, then based on the current location data of the mobile device, the local historical motion trajectory within the preset range is extracted and rendered in the display interface.

4. The method according to claim 1, characterized in that, In addition to displaying the predicted trajectory of the mobile device associated with the terminal, the method also includes: Display a map containing a target area, wherein the predicted trajectory route traverses the target area, and the target area has specific material attribute information; The response to the modification event for the predicted trajectory route includes: Receive a modification event that causes the predicted trajectory to deviate from the target area; The acquisition of the target trajectory route includes: Get and display the confirmation prompt window; Based on the confirmation instruction in the confirmation prompt window, the target trajectory route is obtained, which is used to instruct the mobile device to adjust its action strategy or globally regenerate the route.

5. The method according to claim 1, characterized in that, The target trajectory route is determined based on a comparison between the path deviation distance and a preset distance threshold, including: If the deviation distance of the path is greater than or equal to the preset distance threshold, then the target trajectory route is a globally planned route; If the deviation distance of the path is less than the preset distance threshold, then the target trajectory route is a locally planned route.

6. The method according to claim 5, characterized in that, The target trajectory route is formed by splicing together the locally reconstructed path and the non-conflicting segments in the original global planning path; The local reconstruction path is determined based on the modified data; A smooth transition curve segment is sandwiched between the local reconstruction path and the non-conflicting section, and the smooth transition curve segment is determined according to the current motion parameters of the mobile device.

7. A data processing method, characterized in that, Applied to mobile devices, the method includes: Upload the current motion parameters of the mobile device to generate a predicted trajectory route that corresponds to the original global planning path and is displayed on the terminal; The target trajectory route is received, which is determined by comparing the path deviation distance with a preset distance threshold when the terminal receives a modification event for the predicted trajectory route. The path deviation distance is determined based on the modification data corresponding to the modification event. The mobile device is controlled to move according to the target trajectory.

8. The method according to claim 7, characterized in that, Before receiving the target trajectory route, it also includes: Identify the characteristics of the environment ahead and determine the corresponding adjustment strategy; Send the foreground environmental features and the adjustment action strategy to enable the terminal to display a map containing the target area, wherein the target area has material attribute information corresponding to the foreground environmental features; The target trajectory is received when the terminal executes a confirmation response to the confirmation prompt window and the predicted trajectory leaves the target area.

9. The method according to claim 7 or 8, characterized in that, The target trajectory route is formed by splicing the locally reconstructed path with the non-conflicting segments in the original global planning path; The local reconstruction path and the non-conflict section are separated by a smooth transition curve segment, which is determined according to the current motion parameters.

10. A data processing apparatus, characterized in that, Applied to terminals, including: The trajectory display module is used to display the predicted trajectory route of the mobile device associated with the terminal in the display interface of the terminal. An event response module is used to respond to a modification event for the predicted trajectory route and send modified data according to the modification event; A route acquisition module is used to acquire a target trajectory route; wherein, the target trajectory route is determined based on a comparison between the path deviation distance and a preset distance threshold, the path deviation distance is determined based on the modified data, and the target trajectory route is used to control the mobile device to adjust its travel route; The results display module is used to display the target trajectory route.

11. A data processing apparatus, characterized in that, Applied to mobile devices, including: The path sending module is used to upload the current motion parameters of the mobile device to generate a predicted trajectory route that corresponds to the original global planning path and is displayed on the terminal. A route receiving module is used to receive a target trajectory route, wherein the target trajectory route is determined by comparing the path deviation distance with a preset distance threshold when the terminal receives a modification event for the predicted trajectory route, and the path deviation distance is determined based on the modification data corresponding to the modification event; The movement control module is used to control the movement of the mobile device according to the target trajectory route.

12. A terminal device, characterized in that, It includes a processor and a memory, the memory storing a computer program that, when executed by the processor, implements the data processing method as described in any one of claims 1 to 6.

13. A mobile device, characterized in that, It includes a processor and a memory, the memory storing a computer program that, when executed by the processor, implements the data processing method as described in any one of claims 7 to 9.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the data processing method as described in any one of claims 1 to 9.

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