CN118376247A - A real-time path planning system for robot navigation - Google Patents

Abstract

The present invention discloses a real-time path planning system for robot navigation, which specifically relates to the field of robot technology, including a path division module, an environmental data acquisition module, an environmental data analysis module, a robot data acquisition module, a robot data analysis module, a comprehensive analysis module, and a control module. The present invention greatly improves the efficiency and accuracy of the system, making the real-time path planning of robot navigation more accurate, thereby significantly reducing errors and delays in the navigation process and improving overall work efficiency. The present invention effectively reduces the energy consumption of the system, prolongs the service life of the robot, and reduces operating costs through optimization algorithms and data processing technologies. The present invention also improves the stability and reliability of the system, can maintain stable performance in complex and changeable environments, and ensures that the robot can successfully complete navigation tasks under various circumstances.

Description

A real-time path planning system for robot navigation

Technical Field

The present invention relates to the field of robot technology, and more particularly to a real-time path planning system for robot navigation.

Background technique

With the continuous development of science and technology, robotics technology has been widely used in various fields, among which robot navigation technology is particularly critical. Robot navigation technology refers to the robot moving from one place to another by autonomously planning paths and controlling its movement direction based on environmental information. In this process, the real-time path planning system plays a vital role. It can not only adjust the robot's travel path in real time according to environmental changes, but also ensure that the robot can complete tasks safely and efficiently in complex environments.

However, the existing robot navigation real-time path planning system still has some problems and challenges in practical applications. First, the collection and analysis of environmental information is not comprehensive and accurate enough, which makes the robot unable to accurately judge factors such as obstacles, road conditions and electromagnetic interference in the environment, thus affecting the accuracy and efficiency of path planning. Secondly, traditional path planning algorithms are often based on fixed rules and parameters, lack flexibility and adaptability, and are difficult to cope with complex and changing environmental conditions. In addition, some systems have shortcomings such as large computational complexity and slow response speed, and cannot meet application scenarios with high real-time requirements.

Summary of the invention

In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a real-time path planning system for robot navigation, which solves the problems raised in the above-mentioned background technology through the following scheme.

To achieve the above object, the present invention provides the following technical solution: a real-time path planning system for robot navigation, comprising:

Path division module: used to determine each navigation path data of the target robot as a target data area, divide the target data area into each navigation path data in the manner of dividing a single navigation path, and mark each navigation path as 1, 2...n in sequence, and divide each navigation path data into each sub-data area in the manner of dividing based on the end point distance, and mark them as 1, 2...m in sequence;

Environmental data acquisition module: used to collect obstacle data, road surface data and electromagnetic data in each sub-data area, and transmit the collected data to the environmental data analysis module;

Environmental data analysis module: including obstacle data analysis unit, road surface data analysis unit and electromagnetic data analysis unit, used to analyze the data transmitted by the environmental data acquisition module and transmit the analysis results to the comprehensive analysis module;

Robot data acquisition module: used to collect dynamic response data, control robustness data and inertial measurement data of each sub-data area, and transmit the collected data to the robot data analysis module;

Robot data analysis module: including a dynamic response data analysis unit, a control robustness data analysis unit and an inertial measurement data analysis unit, which are used to analyze the data transmitted by the robot data acquisition module and transmit the analysis results to the comprehensive analysis module;

Comprehensive analysis module: used to establish a comprehensive analysis model, import the data transmitted by the environment data analysis module and the robot data analysis module into the comprehensive analysis model, calculate the comprehensive optimization index of each navigation path, and transmit it to the control module;

Control module: used to establish a preset value of the comprehensive optimization index, to judge the comprehensive optimization index of each navigation path, and to send a control signal according to the judgment result.

Preferably, the obstacle data include obstacle point cloud density, obstacle spatial distribution entropy, obstacle dynamic change frequency, and obstacle lidar reflectivity, which are marked as Bp, Bs, Bf, and Bl, respectively; the pavement data include maximum pavement slope angle, pavement elastic hysteresis loss, average pavement sediment coverage thickness, and pavement material return loss, which are marked as Pc, Ph, Pl, and Ps, respectively; the electromagnetic data include maximum electromagnetic interference intensity, electromagnetic field main oscillation frequency, electromagnetic field amplitude variation range, and main electromagnetic field source distance, which are marked as Ec, Ed, Ev, and Er, respectively.

Preferably, the obstacle data analysis unit is used to establish an obstacle data analysis model, import the obstacle data transmitted by the environment data acquisition module into the obstacle data analysis model, and calculate the obstacle characteristic value of each sub-data area, which is specifically expressed as: , RB _i,j represents the obstacle characteristic value of the j-th sub-data area of the ith navigation path, Bp _i,j represents the obstacle point cloud density of the j-th sub-data area of the ith navigation path, Bs _i,j represents the obstacle spatial distribution entropy of the j-th sub-data area of the ith navigation path, Bf _i,j represents the dynamic change frequency of the obstacle in the j-th sub-data area of the ith navigation path, and Bl _i,j represents the obstacle lidar reflectivity of the j-th sub-data area of the ith navigation path.

Preferably, the road surface data analysis unit is used to establish a road surface data analysis model, import the road surface data transmitted by the environmental data acquisition module into the road surface data analysis model, and calculate the road surface characteristic value of each sub-data area, which is specifically expressed as: , RP _i,j represents the pavement characteristic value of the jth sub-data area of the ith navigation path, Pc _i,j represents the maximum slope angle of the pavement in the jth sub-data area of the ith navigation path, Ph _i,j represents the pavement elastic hysteresis loss in the jth sub-data area of the ith navigation path, Pl _i,j represents the average coverage thickness of pavement sediments in the jth sub-data area of the ith navigation path, and Ps _i,j represents the pavement material echo loss in the jth sub-data area of the ith navigation path.

Preferably, the electromagnetic data analysis unit is used to establish an electromagnetic data analysis model, import the electromagnetic data transmitted by the environmental data acquisition module into the electromagnetic data analysis model, and calculate the electromagnetic characteristic value of each sub-data area, which is specifically expressed as: , RE _i,j represents the electromagnetic characteristic value of the jth sub-data area of the ith navigation path, Ec _i,j represents the maximum electromagnetic interference intensity of the jth sub-data area of the ith navigation path, Ed _i,j represents the main oscillation frequency of the electromagnetic field of the jth sub-data area of the ith navigation path, Ev _i,j represents the range of variation of the electromagnetic field amplitude of the jth sub-data area of the ith navigation path, and Er _i,j represents the distance from the main electromagnetic field source of the jth sub-data area of the ith navigation path.

Preferably, the environmental data analysis module calculates the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path through the obstacle characteristic value of the jth sub-data area of the ith navigation path, the road characteristic value of the jth sub-data area of the ith navigation path, and the electromagnetic characteristic value of the jth sub-data area of the ith navigation path, which is specifically expressed as: ,κ _i,j represents the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path.

Preferably, the power response data include power output feedback delay, power harmonic distortion rate, energy reserve charge and discharge rate, and temperature deviation, which are marked as Fd, Fh, Fl, and Fe, respectively; the control robustness data include controller fault tolerance processing delay, redundant system switching time, fault mode switching success rate, and abnormal state recovery rate, which are marked as Ld, Lt, Ls, and Lv, respectively; the inertial measurement data include acceleration resolution, angular velocity resolution, attitude measurement error, and zero bias maximum drift, which are marked as Aj, Am, Ad, and Ab, respectively.

Preferably, the power response data analysis unit is used to establish a power response data analysis model, import the power response data transmitted by the robot data acquisition module into the power response data analysis model, and calculate the power response efficiency value of each sub-data area, which is specifically expressed as: ,RF _i,j represents the power response efficiency value of the jth sub-data area of the i-th navigation path, Fd _i,j represents the power output feedback delay of the jth sub-data area of the i-th navigation path, Fh _i,j represents the power harmonic distortion rate of the jth sub-data area of the i-th navigation path, Fl _i,j represents the energy reserve charge and discharge rate of the jth sub-data area of the i-th navigation path, and Fe _i,j represents the temperature deviation of the jth sub-data area of the i-th navigation path.

Preferably, the control robustness data analysis unit is used to establish a control robustness data analysis model, import the control robustness data transmitted by the robot data acquisition module into the control robustness data analysis model, and calculate the robustness performance evaluation value of each sub-data area, which is specifically expressed as: ,RL _i,j represents the robust performance evaluation value of the jth sub-data area of the ith navigation path, Ld _i,j represents the controller fault-tolerant processing delay of the jth sub-data area of the ith navigation path, Lt _i,j represents the redundant system switching time of the jth sub-data area of the ith navigation path, Ls _i,j represents the failure mode switching success rate of the jth sub-data area of the ith navigation path, and Lv _i,j represents the abnormal state recovery rate of the jth sub-data area of the ith navigation path.

Preferably, the inertial measurement data analysis unit is used to establish an inertial measurement data analysis model, import the inertial measurement data transmitted by the robot data acquisition module into the inertial measurement data analysis model, and calculate the inertial data quality evaluation value of each sub-data area, which is specifically expressed as: , RA _i,j represents the inertial data quality assessment value of the j-th sub-data area of the ith navigation path, Aj _i,j represents the acceleration resolution of the j-th sub-data area of the ith navigation path, Am _i,j represents the angular velocity resolution of the j-th sub-data area of the ith navigation path, Ad _i,j represents the attitude measurement error of the j-th sub-data area of the ith navigation path, and Ab _i,j represents the maximum zero bias drift of the j-th sub-data area of the ith navigation path.

Preferably, the robot data analysis module calculates the robot comprehensive performance evaluation value of the jth sub-data area of the ith navigation path through the dynamic response efficiency value of the jth sub-data area of the ith navigation path, the robust performance evaluation value of the jth sub-data area of the ith navigation path, and the inertial data quality evaluation value of the jth sub-data area of the ith navigation path, which is specifically expressed as: , Represents the comprehensive performance evaluation value of the robot in the jth sub-data area of the ith navigation path.

Preferably, the comprehensive analysis model is specifically expressed as: , η _i represents the comprehensive optimization index of the ith navigation path, κ _i,j represents the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path, Represents the comprehensive performance evaluation value of the robot in the jth sub-data area of the ith navigation path.

Preferably, the preset value of the comprehensive optimization index is marked as ,when When , it means that the comprehensive optimization index of the i-th navigation path is less than the preset value of the comprehensive optimization index, indicating that the navigation effect of the i-th navigation path is poor, then the i-th navigation path is marked as a non-priority navigation path. When , it means that the comprehensive optimization index of the ith navigation path is greater than the preset value of the comprehensive optimization index, indicating that the navigation effect of the ith navigation path is good, then the ith navigation path is marked as the priority navigation path.

Technical effects and advantages of the present invention:

The present invention can divide the entire navigation path into smaller and more manageable sub-areas or path segments through the path division module; collect data on the environment of each sub-data area through the environmental data acquisition module, which is essential for the robot to accurately plan and navigate the path. By collecting environmental data in real time, the robot can dynamically adjust its path to avoid obstacles or take advantage of favorable factors in the environment; analyze and interpret environmental data through the environmental data analysis module to provide useful information about the state of the environment. The environmental data analysis module can also predict the changing trend of the environment, such as the moving direction or speed of obstacles, so as to help the robot make more accurate decisions; collect data on the robot's own state through the robot data acquisition module, which is essential for the robot to accurately position and navigate itself. By collecting robot data, the system can ensure that the robot always moves along the correct path and adjusts itself when necessary; the robot data analysis module analyzes and interprets the robot data to provide useful information about the robot's current status. It can evaluate the robot's battery life, mechanical wear or sensor performance, which helps the robot make smarter decisions, such as choosing a more energy-efficient path or replacing worn parts in a timely manner; the comprehensive analysis module combines environmental data and robot data to provide a comprehensive optimization index about the entire path status, using advanced algorithms and models to evaluate various possible situations and strategies and select the best path planning solution. By comprehensively considering environmental conditions and robot status, the comprehensive analysis module can ensure that the robot always operates in the optimal manner; control instructions are issued through the control module.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of the present invention.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Referring to FIG. 1 , a real-time path planning system for robot navigation includes a path division module, an environmental data acquisition module, an environmental data analysis module, a robot data acquisition module, a robot data analysis module, a comprehensive analysis module, and a control module.

The path division module is used to determine the navigation path data of the target robot as a target data area, divide the target data area into each navigation path data in the manner of dividing a single navigation path, and mark each navigation path as 1, 2...n in sequence, and divide each navigation path data into each sub-data area in the manner of dividing based on the end point distance, and mark them as 1, 2...m in sequence.

The environmental data acquisition module is used to collect obstacle data, road surface data and electromagnetic data in each sub-data area, and transmit the collected data to the environmental data analysis module.

The obstacle data include obstacle point cloud density, obstacle spatial distribution entropy, obstacle dynamic change frequency, and obstacle lidar reflectivity, which are marked as Bp, Bs, Bf, and Bl respectively. The pavement data include the maximum slope angle of the pavement, the elastic hysteresis loss of the pavement, the average coverage thickness of the pavement sediment, and the pavement material return loss, which are marked as Pc, Ph, Pl, and Ps respectively. The electromagnetic data include the maximum electromagnetic interference intensity, the main oscillation frequency of the electromagnetic field, the amplitude variation range of the electromagnetic field, and the distance from the main electromagnetic field source, which are marked as Ec, Ed, Ev, and Er respectively.

The environmental data analysis module includes an obstacle data analysis unit, a road surface data analysis unit and an electromagnetic data analysis unit, which are used to analyze the data transmitted by the environmental data acquisition module and transmit the analysis results to the comprehensive analysis module.

The obstacle data analysis unit is used to establish an obstacle data analysis model, import the obstacle data transmitted by the environment data acquisition module into the obstacle data analysis model, and calculate the obstacle characteristic value of each sub-data area, which is specifically expressed as: , RB _i,j represents the obstacle characteristic value of the j-th sub-data area of the ith navigation path, Bp _i,j represents the obstacle point cloud density of the j-th sub-data area of the ith navigation path, Bs _i,j represents the obstacle spatial distribution entropy of the j-th sub-data area of the ith navigation path, Bf _i,j represents the dynamic change frequency of the obstacle in the j-th sub-data area of the ith navigation path, and Bl _i,j represents the obstacle lidar reflectivity of the j-th sub-data area of the ith navigation path.

The road surface data analysis unit is used to establish a road surface data analysis model, import the road surface data transmitted by the environmental data acquisition module into the road surface data analysis model, and calculate the road surface characteristic value of each sub-data area, which is specifically expressed as: , RP _i,j represents the pavement characteristic value of the jth sub-data area of the ith navigation path, Pc _i,j represents the maximum slope angle of the pavement in the jth sub-data area of the ith navigation path, Ph _i,j represents the pavement elastic hysteresis loss in the jth sub-data area of the ith navigation path, Pl _i,j represents the average coverage thickness of pavement sediments in the jth sub-data area of the ith navigation path, and Ps _i,j represents the pavement material echo loss in the jth sub-data area of the ith navigation path.

The electromagnetic data analysis unit is used to establish an electromagnetic data analysis model, import the electromagnetic data transmitted by the environmental data acquisition module into the electromagnetic data analysis model, and calculate the electromagnetic characteristic value of each sub-data area, which is specifically expressed as: , RE _i,j represents the electromagnetic characteristic value of the jth sub-data area of the ith navigation path, Ec _i,j represents the maximum electromagnetic interference intensity of the jth sub-data area of the ith navigation path, Ed _i,j represents the main oscillation frequency of the electromagnetic field of the jth sub-data area of the ith navigation path, Ev _i,j represents the range of variation of the electromagnetic field amplitude of the jth sub-data area of the ith navigation path, and Er _i,j represents the distance from the main electromagnetic field source of the jth sub-data area of the ith navigation path.

The environmental data analysis module calculates the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path through the obstacle characteristic value of the jth sub-data area of the ith navigation path, the road characteristic value of the jth sub-data area of the ith navigation path, and the electromagnetic characteristic value of the jth sub-data area of the ith navigation path, which is specifically expressed as: , κ _i,j represents the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path.

The robot data acquisition module is used to collect the dynamic response data, control robustness data and inertial measurement data of each sub-data area, and transmit the collected data to the robot data analysis module.

The power response data includes power output feedback delay, power harmonic distortion rate, energy reserve charge and discharge rate, and temperature deviation, which are marked as Fd, Fh, Fl, and Fe, respectively. The control robustness data includes controller fault tolerance processing delay, redundant system switching time, fault mode switching success rate, and abnormal state recovery rate, which are marked as Ld, Lt, Ls, and Lv, respectively. The inertial measurement data includes acceleration resolution, angular velocity resolution, attitude measurement error, and zero bias maximum drift, which are marked as Aj, Am, Ad, and Ab, respectively.

The robot data analysis module includes a dynamic response data analysis unit, a control robustness data analysis unit and an inertial measurement data analysis unit, which are used to analyze the data transmitted by the robot data acquisition module and transmit the analysis results to the comprehensive analysis module.

The power response data analysis unit is used to establish a power response data analysis model, import the power response data transmitted by the robot data acquisition module into the power response data analysis model, and calculate the power response efficiency value of each sub-data area, which is specifically expressed as: , RF _i,j represents the power response efficiency value of the jth sub-data area of the ith navigation path, Fd _i,j represents the power output feedback delay of the jth sub-data area of the ith navigation path, Fh _i,j represents the power harmonic distortion rate of the jth sub-data area of the ith navigation path, Fl _i,j represents the energy reserve charge and discharge rate of the jth sub-data area of the ith navigation path, and Fe _i,j represents the temperature deviation of the jth sub-data area of the ith navigation path.

The control robustness data analysis unit is used to establish a control robustness data analysis model, import the control robustness data transmitted by the robot data acquisition module into the control robustness data analysis model, and calculate the robustness performance evaluation value of each sub-data area, which is specifically expressed as: , RL _i,j represents the robust performance evaluation value of the jth sub-data area of the ith navigation path, Ld _i,j represents the controller fault-tolerant processing delay of the jth sub-data area of the ith navigation path, Lt _i,j represents the redundant system switching time of the jth sub-data area of the ith navigation path, Ls _i,j represents the failure mode switching success rate of the jth sub-data area of the ith navigation path, and Lv _i,j represents the abnormal state recovery rate of the jth sub-data area of the ith navigation path.

The inertial measurement data analysis unit is used to establish an inertial measurement data analysis model, import the inertial measurement data transmitted by the robot data acquisition module into the inertial measurement data analysis model, and calculate the inertial data quality evaluation value of each sub-data area, which is specifically expressed as: , RA _i,j represents the inertial data quality assessment value of the jth sub-data area of the ith navigation path, Aj _i,j represents the acceleration resolution of the jth sub-data area of the ith navigation path, Am _i,j represents the angular velocity resolution of the jth sub-data area of the ith navigation path, Ad _i,j represents the attitude measurement error of the jth sub-data area of the ith navigation path, and Ab _i,j represents the maximum zero bias drift of the jth sub-data area of the ith navigation path.

The robot data analysis module calculates the robot comprehensive performance evaluation value of the jth sub-data area of the ith navigation path through the dynamic response efficiency value of the jth sub-data area of the ith navigation path, the robust performance evaluation value of the jth sub-data area of the ith navigation path, and the inertial data quality evaluation value of the jth sub-data area of the ith navigation path, which is specifically expressed as: , Represents the comprehensive performance evaluation value of the robot in the jth sub-data area of the ith navigation path.

The comprehensive analysis module is used to establish a comprehensive analysis model, import the data transmitted by the environment data analysis module and the robot data analysis module into the comprehensive analysis model, calculate the comprehensive optimization index of each navigation path, and transmit it to the control module.

The comprehensive analysis model is specifically expressed as: , η _i represents the comprehensive optimization index of the ith navigation path, κ _i,j represents the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path, Represents the comprehensive performance evaluation value of the robot in the jth sub-data area of the ith navigation path.

The control module is used to establish a preset value of the comprehensive optimization index, to judge the comprehensive optimization index of each navigation path, and to send a control signal according to the judgment result.

The preset value of the comprehensive optimization index is marked as ,when When , it means that the comprehensive optimization index of the i-th navigation path is less than the preset value of the comprehensive optimization index, indicating that the navigation effect of the i-th navigation path is poor, then the i-th navigation path is marked as a non-priority navigation path. When , it means that the comprehensive optimization index of the ith navigation path is greater than the preset value of the comprehensive optimization index, indicating that the navigation effect of the ith navigation path is good, then the ith navigation path is marked as the priority navigation path.

The present invention can divide the entire navigation path into smaller and more manageable sub-areas or path segments through the path division module; collect data on the environment of each sub-data area through the environmental data acquisition module, which is essential for the robot to accurately plan and navigate the path. By collecting environmental data in real time, the robot can dynamically adjust its path to avoid obstacles or take advantage of favorable factors in the environment; analyze and interpret environmental data through the environmental data analysis module to provide useful information about the state of the environment. The environmental data analysis module can also predict the changing trend of the environment, such as the moving direction or speed of obstacles, so as to help the robot make more accurate decisions; collect data on the robot's own state through the robot data acquisition module, which is essential for the robot to accurately position and navigate itself. By collecting robot data, the system can ensure that the robot always moves along the correct path and adjusts itself when necessary; the robot data analysis module analyzes and interprets the robot data to provide useful information about the robot's current status. It can evaluate the robot's battery life, mechanical wear or sensor performance, which helps the robot make smarter decisions, such as choosing a more energy-efficient path or replacing worn parts in a timely manner; the comprehensive analysis module combines environmental data and robot data to provide a comprehensive optimization index about the entire path status, using advanced algorithms and models to evaluate various possible situations and strategies and select the best path planning solution. By comprehensively considering environmental conditions and robot status, the comprehensive analysis module can ensure that the robot always operates in the optimal manner; control instructions are issued through the control module.

Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A real-time path planning system for robot navigation, comprising: Path division module: used to determine each navigation path data of the target robot as a target data area, divide the target data area into each navigation path data in the manner of dividing a single navigation path, and mark each navigation path as 1, 2...n in sequence, and divide each navigation path data into each sub-data area in the manner of dividing based on the end point distance, and mark them as 1, 2...m in sequence; Environmental data acquisition module: used to collect obstacle data, road surface data and electromagnetic data in each sub-data area, and transmit the collected data to the environmental data analysis module; Environmental data analysis module: including obstacle data analysis unit, road surface data analysis unit and electromagnetic data analysis unit, used to analyze the data transmitted by the environmental data acquisition module and transmit the analysis results to the comprehensive analysis module; Robot data acquisition module: used to collect dynamic response data, control robustness data and inertial measurement data of each sub-data area, and transmit the collected data to the robot data analysis module; Robot data analysis module: including a dynamic response data analysis unit, a control robustness data analysis unit and an inertial measurement data analysis unit, which are used to analyze the data transmitted by the robot data acquisition module and transmit the analysis results to the comprehensive analysis module; Comprehensive analysis module: used to establish a comprehensive analysis model, import the data transmitted by the environment data analysis module and the robot data analysis module into the comprehensive analysis model, calculate the comprehensive optimization index of each navigation path, and transmit it to the control module; Control module: used to establish a preset value of the comprehensive optimization index, to judge the comprehensive optimization index of each navigation path, and to send a control signal according to the judgment result. 2. A real-time path planning system for robot navigation according to claim 1, characterized in that: the obstacle data includes obstacle point cloud density, obstacle spatial distribution entropy, obstacle dynamic change frequency, and obstacle laser radar reflectivity, respectively marked as Bp, Bs, Bf, and Bl; the road surface data includes the maximum road surface slope angle, road surface elastic hysteresis loss, average road surface sediment coverage thickness, and road surface material return loss, respectively marked as Pc, Ph, Pl, and Ps; the electromagnetic data includes the maximum electromagnetic interference intensity, the main oscillation frequency of the electromagnetic field, the electromagnetic field amplitude variation range, and the main electromagnetic field source distance, respectively marked as Ec, Ed, Ev, and Er. 3. A real-time path planning system for robot navigation according to claim 1, characterized in that: the obstacle data analysis unit is used to establish an obstacle data analysis model, import the obstacle data transmitted by the environmental data acquisition module into the obstacle data analysis model, and calculate the obstacle characteristic value of each sub-data area, which is specifically expressed as: ,RB _i,j represents the obstacle characteristic value of the jth sub-data area of the ith navigation path, Bp _i,j represents the obstacle point cloud density of the jth sub-data area of the ith navigation path, Bs _i,j represents the obstacle spatial distribution entropy of the jth sub-data area of the ith navigation path, Bf _i,j represents the dynamic change frequency of the obstacle in the jth sub-data area of the ith navigation path, and Bl _i,j represents the obstacle lidar reflectivity of the jth sub-data area of the ith navigation path. 4. A real-time path planning system for robot navigation according to claim 1, characterized in that: the road surface data analysis unit is used to establish a road surface data analysis model, import the road surface data transmitted by the environmental data acquisition module into the road surface data analysis model, and calculate the road surface characteristic value of each sub-data area, which is specifically expressed as: ,RP _i,j represents the pavement characteristic value of the jth sub-data area of the ith navigation path, Pc _i,j represents the maximum slope angle of the pavement in the jth sub-data area of the ith navigation path, Ph _i,j represents the pavement elastic hysteresis loss in the jth sub-data area of the ith navigation path, Pl _i,j represents the average coverage thickness of pavement sediments in the jth sub-data area of the ith navigation path, and Ps _i,j represents the pavement material echo loss in the jth sub-data area of the ith navigation path. 5. A real-time path planning system for robot navigation according to claim 1, characterized in that: the electromagnetic data analysis unit is used to establish an electromagnetic data analysis model, import the electromagnetic data transmitted by the environmental data acquisition module into the electromagnetic data analysis model, and calculate the electromagnetic characteristic value of each sub-data area, which is specifically expressed as: ,RE _i,j represents the electromagnetic characteristic value of the jth sub-data area of the ith navigation path, Ec _i,j represents the maximum electromagnetic interference intensity of the jth sub-data area of the ith navigation path, Ed _i,j represents the main oscillation frequency of the electromagnetic field of the jth sub-data area of the ith navigation path, Ev _i,j represents the range of variation of the electromagnetic field amplitude of the jth sub-data area of the ith navigation path, and Er _i,j represents the distance of the main electromagnetic field source of the jth sub-data area of the ith navigation path. 6. A real-time path planning system for robot navigation according to claim 1, characterized in that: the power response data includes power output feedback delay, power harmonic distortion rate, energy reserve charge and discharge rate, and temperature deviation, respectively marked as Fd, Fh, Fl, and Fe; the control robustness data includes controller fault tolerance processing delay, redundant system switching time, fault mode switching success rate, and abnormal state recovery rate, respectively marked as Ld, Lt, Ls, and Lv; the inertial measurement data includes acceleration resolution, angular velocity resolution, attitude measurement error, and zero bias maximum drift, respectively marked as Aj, Am, Ad, and Ab. 7. A real-time path planning system for robot navigation according to claim 1, characterized in that: the power response data analysis unit is used to establish a power response data analysis model, import the power response data transmitted by the robot data acquisition module into the power response data analysis model, and calculate the power response efficiency value of each sub-data area, which is specifically expressed as: ,RF _i,j represents the power response efficiency value of the jth sub-data area of the i-th navigation path, Fd _i,j represents the power output feedback delay of the jth sub-data area of the i-th navigation path, Fh _i,j represents the power harmonic distortion rate of the jth sub-data area of the i-th navigation path, Fl _i,j represents the energy reserve charge and discharge rate of the jth sub-data area of the i-th navigation path, and Fe _i,j represents the temperature deviation of the jth sub-data area of the i-th navigation path. 8. A real-time path planning system for robot navigation according to claim 1, characterized in that: the control robustness data analysis unit is used to establish a control robustness data analysis model, import the control robustness data transmitted by the robot data acquisition module into the control robustness data analysis model, and calculate the robustness performance evaluation value of each sub-data area, which is specifically expressed as: ,RL _i,j represents the robust performance evaluation value of the jth sub-data area of the ith navigation path, Ld _i,j represents the controller fault-tolerant processing delay of the jth sub-data area of the ith navigation path, Lt _i,j represents the redundant system switching time of the jth sub-data area of the ith navigation path, Ls _i,j represents the failure mode switching success rate of the jth sub-data area of the ith navigation path, and Lv _i,j represents the abnormal state recovery rate of the jth sub-data area of the ith navigation path. 9. A real-time path planning system for robot navigation according to claim 1, characterized in that: the comprehensive analysis model is specifically expressed as: ,η _i represents the comprehensive optimization index of the ith navigation path, κ _i,j represents the comprehensive environmental characteristic value of the jth sub-data area of the ith navigation path, Represents the comprehensive performance evaluation value of the robot in the jth sub-data area of the ith navigation path.