CN113865608B

CN113865608B - Navigation path planning method, navigation path planning device and storage medium

Info

Publication number: CN113865608B
Application number: CN202111129479.5A
Authority: CN
Inventors: 阳叶文; 万永辉; 唐旋来
Original assignee: Taizhou Qinglang Intelligent Technology Co ltd
Current assignee: Taizhou Qinglang Intelligent Technology Co ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2024-09-06
Anticipated expiration: 2041-09-26
Also published as: CN113865608A

Abstract

The application discloses a planning method, a planning device and a storage medium for a navigation path, and relates to the technical field of artificial intelligence. The method comprises the following steps: judging whether the global navigation path of the mobile device comprises a first environment fluctuation road section or not; the global navigation path is a navigation path between a starting position and a destination position of the mobile device; if the global navigation path is determined to comprise the first environmental fluctuation road segment, determining whether to update the local navigation path of the mobile device according to the environmental state of the first environmental fluctuation road segment before the mobile device reaches the first environmental fluctuation road segment.

Description

Navigation path planning method, navigation path planning device and storage medium

Technical Field

The embodiment of the application relates to the technical field of artificial intelligence, in particular to a planning method, a planning device and a storage medium of a navigation path.

Background

With the rapid development of artificial intelligence technology, robots are increasingly used. For example, robots may perform tasks such as transporting items (e.g., shipping) instead of manually. At present, before a robot executes a task, a navigation path can be planned for the robot according to a starting position and a destination position of the robot, and the robot can travel according to the planned navigation path when executing the task.

However, when the robot travels along an existing navigation path in an area where environmental fluctuation is large, such as an area including an elevator or a narrow road section, the complex variability of the environment may affect the efficiency of the robot to perform tasks.

Disclosure of Invention

The application provides a planning method, a planning device and a storage medium for a navigation path, which can dynamically adjust a local navigation path according to the environmental state of a global navigation path in the running process of mobile equipment, so that the efficiency of executing tasks by the mobile equipment can be improved.

In order to achieve the above purpose, the application adopts the following technical scheme:

In a first aspect, the present application provides a method for planning a navigation path, including: judging whether the global navigation path of the mobile device comprises a first environment fluctuation road section or not; the global navigation path is a navigation path between a starting position and a destination position of the mobile device; if the global navigation path is determined to comprise the first environmental fluctuation road segment, determining whether to update the local navigation path of the mobile device according to the environmental state of the first environmental fluctuation road segment before the mobile device reaches the first environmental fluctuation road segment.

In a second aspect, the present application provides a navigation path determining apparatus, including: a judging module and a determining module;

Wherein, the judging module is used for judging whether the current state of the current state is the current state, determining whether a global navigation path of the mobile device includes a first environmental fluctuation road segment; the global navigation path is a navigation path between a starting position and a destination position of the mobile device; and the determining module is used for determining whether to update the local navigation path of the mobile device according to the environment state of the first environment fluctuation road section before the mobile device reaches the first environment fluctuation road section under the condition that the judging module judges that the global navigation path comprises the first environment fluctuation road section.

In a third aspect, the present application provides a navigation path planning apparatus, including a memory, a processor, a bus, and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through a bus; when the navigation path planning apparatus is operated, the processor executes the computer-executable instructions stored in the memory to cause the navigation path planning apparatus to perform the navigation path planning method as provided in the first aspect.

Optionally, the planning device of the navigation path may further comprise a transceiver for performing the step of transceiving data, signaling or information, e.g. acquiring the environmental status of the first environmental fluctuation road segment, under the control of the processor of the planning device of the navigation path.

Further alternatively, the planning device of the navigation path may be a physical machine for implementing the planning of the navigation path, or may be a part of a device in the physical machine, for example, may be a chip system in the physical machine. The chip system is used for enabling the planning device of the navigation path to realize the functions involved in the first aspect, such as receiving, transmitting or processing the data and/or information involved in the planning method of the navigation path. The chip system includes a chip, and may also include other discrete devices or circuit structures.

In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the method of planning a navigation path as provided in the first aspect.

In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the method of planning a navigation path as provided in the first aspect.

It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the navigation path planning apparatus or may be packaged separately from the processor of the navigation path planning apparatus, which is not limited in the present application.

In the present application, the names of the above-described navigation path planning apparatuses do not constitute limitations on the devices or function modules themselves, and in actual implementations, these devices or function modules may appear under other names. Insofar as the function of each device or function module is similar to that of the present application, it falls within the scope of the claims of the present application and the equivalents thereof.

According to the technical scheme provided by the application, after the global navigation path for executing the task is planned for the mobile equipment, whether the global navigation path comprises the first environment fluctuation road section can be judged. In the case where it is determined that the global navigation path includes the first environmental fluctuation road segment, in order to reduce an influence of environmental fluctuation of the first environmental fluctuation road segment on efficiency of the mobile device to perform a task, an environmental state of the first environmental fluctuation road segment may be acquired before the mobile device reaches the first environmental fluctuation road segment. Therefore, when the fluctuation of the environmental state of the first environmental fluctuation road section has a large influence on the efficiency of the mobile device for executing the task, the local navigation path can be adjusted in time before the mobile device reaches the first environmental fluctuation road section, so that the mobile device can bypass the first environmental fluctuation road section and travel to the target position according to the updated local navigation path. According to the technical scheme provided by the application, the local navigation path can be dynamically adjusted according to the environmental state of the global navigation path in the running process of the mobile equipment, so that the influence of environmental fluctuation on the efficiency of executing the task of the mobile equipment can be reduced, and the efficiency of executing the task of the mobile equipment is further improved.

These and other aspects of the application will be more readily apparent from the following description.

Drawings

Fig. 1 is a flow chart of a planning method for a navigation path according to an embodiment of the present application;

fig. 2 is a schematic view of a scene of a connected building according to an embodiment of the present application;

FIG. 3 is a flowchart illustrating another method for planning a navigation path according to an embodiment of the present application;

FIG. 4 is a flowchart illustrating a method for planning a navigation path according to an embodiment of the present application;

FIG. 5 is a flowchart illustrating a method for planning a navigation path according to an embodiment of the present application;

FIG. 6 is a flowchart illustrating a method for planning a navigation path according to an embodiment of the present application;

FIG. 7 is a flowchart illustrating a method for planning a navigation path according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a planning apparatus for a navigation path according to an embodiment of the present application;

Fig. 9 is a schematic structural diagram of another planning apparatus for navigation paths according to an embodiment of the present application.

Detailed Description

The following describes in detail a method, an apparatus, and a storage medium for planning a navigation path according to an embodiment of the present application with reference to the accompanying drawings.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.

The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or between different processes of the same object and not for describing a particular order of objects.

Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.

It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.

However, when the robot travels along an existing navigation path in an area where environmental fluctuation is large, such as an area including an elevator or a narrow road section, the complex variability of the environment may affect the efficiency of the robot to perform a task.

Aiming at the problems in the prior art, the embodiment of the application provides a planning method of a navigation path, in the method, whether the local navigation path needs to be adjusted can be timely judged before the mobile equipment reaches a first environment fluctuation road section, so that the influence of environment fluctuation on the efficiency of executing tasks by the mobile equipment can be reduced, and the efficiency of executing tasks by the mobile equipment is further improved.

The navigation path planning method provided by the embodiment of the application can be applied to a navigation path planning device.

In one possible implementation manner, the planning device of the navigation path may be a mobile device itself or a chip system in the mobile device, and the mobile device may adjust the local navigation path in time according to the environmental state of the first environmental fluctuation road section acquired in real time during the running process of the mobile device.

Wherein the mobile device may be a robot. Of course, in practical applications, the mobile device may also be other mobile artificial intelligence devices.

Alternatively, in order to reduce the computing pressure and the storage pressure of the mobile device and save the computing resources and the storage resources of the mobile device itself, in another possible implementation manner, the planning device of the navigation path may be a physical machine (such as a server) or a Virtual Machine (VM) deployed on the physical machine. For example, the planning device of the navigation path may be a background server of the mobile device, where the background server may determine whether to update the local navigation path according to the environmental state of the first environmental fluctuation road section acquired in real time during the running process of the mobile device, and may issue the updated local navigation path to the mobile device when determining to update. In the following description of the embodiments of the present application, description will be made taking an example in which a planning apparatus of a navigation path is a background server.

The following describes the navigation path planning method provided by the application in detail.

Referring to fig. 1, the method for planning a navigation path provided by the embodiment of the present application includes S101-S102:

s101, judging whether a global navigation path of the mobile device comprises a first environment fluctuation road section or not.

The global navigation path is a navigation path between a starting position and a destination position of the mobile device.

The planning method of the navigation path provided by the embodiment of the application can be applied to the scene of the task execution of the mobile equipment. For example, the mobile device performing a task may be a task of transporting an item from a starting location to a destination location, or the mobile device performing a task may be a task that the mobile device needs to travel from a starting location to a destination location (e.g., the mobile device travels to a destination location to interact with a user), etc.

For example, at least one navigation path from a starting location to a destination location may be planned according to a scene map of an application scene before the mobile device performs a task. And then determining an optimal path from the at least one navigation path according to the path length or the expected driving time length of each navigation path in the at least one navigation path, wherein the optimal path can be used as a global navigation path in the embodiment of the application.

Alternatively, the environmental fluctuation road section may include at least one of a boarding road section, a narrow passage road section, a high-flow road section, and a building interior communication road section.

When the environmental fluctuation road section comprises an elevator taking road section, fluctuation of the environmental states such as the up-down direction of the elevator in the elevator taking road section, the congestion degree and the like can have influence on the running time of the mobile equipment through the elevator taking road section, and the time for the mobile equipment to execute the task can be greatly increased. Therefore, in order to reduce the influence of the fluctuation of the environmental state of the boarding section on the efficiency of the mobile device to perform the task, it may be determined whether the global navigation path of the mobile device includes the boarding section, thereby determining whether to adjust the local navigation path according to the environmental state of the boarding section.

When the traffic of people in a narrow road section or a high traffic section is too large (or when the traffic of other mobile devices is too large), the navigation path of the mobile device may collide with the path of pedestrians or other mobile devices in the narrow road section. Conventionally, in order to avoid collision with pedestrians or other mobile devices, the mobile device needs to wait for the passage of other pedestrians or other mobile devices at the starting point or obstacle avoidance point of a narrow passage section or a high flow section, and then pass through the narrow passage section or the high flow section. It can be seen that the fluctuation of the environmental status of the narrow road section or the high-flow road section has a great influence on the driving time of the mobile device passing through the narrow road section or the high-flow road section, and may cause the increase of the time for the mobile device to perform the task. Therefore, in order to reduce the influence of the fluctuation of the environmental state of the narrow passage section or the high-flow section on the efficiency of the mobile device to perform the task, it may be determined whether the global navigation path of the mobile device includes the narrow passage section or the high-flow section, thereby determining whether to adjust the local navigation path according to the environmental state of the narrow passage section or the high-flow section.

If the starting position and the destination position of the mobile device are not in the same building and are not on the same floor, the global navigation path of the mobile device comprises the building internal communication section, and then the uplink and downlink directions of the elevator taken by the mobile device before entering the building internal communication section affect the time period of waiting for the elevator by the mobile device, which may cause the time period of executing the task by the mobile device to be greatly increased, especially when the number of floors is more and the number of elevators is less. That is, the planning method of the navigation path disclosed by the embodiment of the application can be suitable for running of mobile equipment among a plurality of internal communication buildings, can realize the inter-building scheduling of the mobile equipment, and improves the overall running efficiency.

Exemplary, referring to fig. 2, an embodiment of the present application provides a schematic view of a scene of a connected building. As shown in fig. 2, the communication building comprises two buildings a and B, each of which comprises 5 floors, namely an overground 4 floors (corresponding to 1F, 2F, 3F and 4F in fig. 2) and an underground one floor (corresponding to B1 in fig. 2). Wherein, the 3F layer area of A span is connected with the 3F layer area of B span through the internal communication road section L1 of the building. If the starting position of the mobile device is 1F of a span and the destination position is 3F of B span, in the embodiment of the present application, the global navigation path planned for the mobile device is: when the elevator of the A span is lifted to the 3F of the A span from the 1F of the A span and then reaches the 3F of the B span through the L1, the up-down direction of the elevator of the A span can influence the waiting time of the mobile equipment in the running process of the mobile equipment. Therefore, in order to reduce the influence of the fluctuation of the environmental state of the building interior communication link on the efficiency of the mobile device to perform the task, it may be determined whether the global navigation path of the mobile device includes the building interior communication link, thereby determining whether to adjust the local navigation path according to the environmental state of the building interior communication link.

S102, if the global navigation path comprises the first environment fluctuation road section, determining whether to update the local navigation path of the mobile device according to the environment state of the first environment fluctuation road section before the mobile device reaches the first environment fluctuation road section.

Optionally, if it is determined that the global navigation path includes the first environmental fluctuation road segment, a first path segment point may be determined between the starting position and the starting point of the first environmental fluctuation road segment; in the process that the mobile equipment runs according to the navigation path between the starting position and the first path segmentation point, if the mobile equipment is determined to run into a first planning area of the first path segmentation point, acquiring the environmental state of a first environmental fluctuation road section; and determining whether to update the local navigation path between the first path segmentation point and the destination position according to the environmental state of the first environmental fluctuation road section.

In order to avoid that the mobile device has driven into the environment state of the first environment fluctuation road segment, which has not been acquired by the first environment fluctuation road segment, it is not easy to adjust the local navigation path of the mobile device. According to the method and the device for determining the environment state of the first environment fluctuation road section, the first path segmentation point can be determined between the starting position and the starting point of the first environment fluctuation road section, and when the mobile equipment enters the first planning area of the first path segmentation point, the environment state of the first environment fluctuation road section is obtained. In this way, since the first path segment point is between the start position and the start point of the first environmental fluctuation road section, the timing to acquire the environmental state of the first environmental fluctuation road section is before the mobile device enters the first environmental fluctuation road section. Therefore, the environment state of the first environment fluctuation road section can be acquired before the mobile equipment enters the first environment fluctuation road section, so that the local navigation path between the first path segmentation point and the destination position can be timely adjusted according to the environment state of the first environment fluctuation road section, and the influence of environment fluctuation on the efficiency of the mobile equipment for executing tasks is reduced. Preferably, the first path segment point may be set as the last dockable point before the mobile device reaches the first environmental fluctuation road segment.

The first planning area of the first path segment point may be a path range determined in advance between the starting position and the first path segment point, near the first path segment point. For example, the first planning zone of the first path segment point may be a path range between the starting location and the first path segment point, within 2 meters of the first path segment point. Preferably, the first planning area can be set in the range of 3-5 meters of the radius of the first path segmentation point, so that the situation that the environment state is obtained too early and is changed greatly is avoided, certain data calculation and processing time can be ensured, and the local planning path is determined when the mobile equipment reaches the first path segmentation point.

In one possible implementation, the planning apparatus of the navigation path may first control the mobile device to travel from the starting position to the first path segment point according to the global navigation path. When the mobile equipment enters a first planning area of the first path segmentation point, if the local navigation path from the first path segmentation point to the target position is not updated, the mobile equipment can be controlled to continuously travel from the first path segmentation point to the target position according to the global navigation path; if the local navigation path from the updated first path segment point to the destination position is determined, a section of the local navigation path from the first path segment point to the destination position in the global navigation path can be replaced by the updated local navigation path from the first path segment point to the destination position. After the mobile device travels to the first path segment point, the mobile device may be controlled to travel to the destination location according to the updated local navigation path.

In another possible implementation, to relieve the storage pressure of the mobile device, the planning means of the navigation path may segment the local navigation path to below the mobile device in case it is determined that the global navigation path comprises the first environmental fluctuation road segment. For example, a local navigation path from the starting position to the first segmentation point may be intercepted from the global navigation path, and the segment of the local navigation path is issued to the mobile device, so as to control the mobile device to travel towards the first segmentation point according to the segment of the local navigation path. When the mobile equipment enters a first planning area of a first path segmentation point, if a local navigation path from the first path segmentation point to a target position is determined not to be updated, the local navigation path from the first segmentation point to the target position can be intercepted from a global navigation path and sent to the mobile equipment, and the mobile equipment is controlled to run to the target position according to the local navigation path; if the local navigation path from the updated first path segment point to the target position is determined, the updated local navigation path can be issued to the mobile device, and the mobile device is controlled to travel to the target position according to the updated local navigation path.

Optionally, after determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental state of the first environmental fluctuation road segment, if it is determined that the local navigation path between the first path segment point and the destination location includes the second environmental fluctuation road segment, determining a second path segment point between the first path segment point and the starting point of the second environmental fluctuation road segment; in the process that the mobile equipment runs according to the navigation path between the first path segmentation point and the second path segmentation point, if the mobile equipment is determined to enter a second planning area of the second path segmentation point, acquiring the environmental state of a second environmental fluctuation road section; and determining whether to update the local navigation path between the second path segmentation point and the destination position according to the environmental state of the second environmental fluctuation road section.

The second planning area of the second path segment point may be a path range previously determined between the first path segment point and the second path segment point, near the second path segment point. The second planning region of the second path segment point may be, for example, a path range between the first path segment point and the second path segment point, within 2 meters of the second path segment point.

In practical applications, the global navigation path may include a plurality of environmental fluctuation segments, for example, a second environmental fluctuation segment in addition to the first environmental fluctuation segment. Fluctuations in the environmental conditions of the second environmental fluctuation segment may also have a significant impact on the efficiency of the mobile device to perform tasks. Therefore, in the process that the mobile device runs according to the navigation path between the first path segmentation point and the second path segmentation point, if the mobile device is determined to run into the second planning area of the second path segmentation point, the environment state of the second environment fluctuation road section can be obtained, and whether the local navigation path between the second path segmentation point and the destination position is updated or not is determined according to the second environment fluctuation road state. In this way, when the influence of the fluctuation of the environmental state of the second environmental fluctuation road section on the efficiency of the mobile device for executing the task is large, the local navigation path can be adjusted in time before the mobile device reaches the second environmental fluctuation road section, so that the influence of the fluctuation of the environmental state of the second environmental fluctuation road section on the efficiency of the mobile device for executing the task can be reduced.

Specifically, the embodiment of determining whether to update the local navigation path between the second path segment point and the destination location according to the environmental status of the second environmental fluctuation road segment may refer to the foregoing embodiment of determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental status of the first environmental fluctuation road segment, which is not described herein in detail.

It may be appreciated that the determining whether the local navigation path between the first path segment point and the destination location includes the second environmental fluctuation road segment may be performed after determining to update the local navigation path between the first path segment point and the destination location, or may be performed after determining not to update the local navigation path between the first path segment point and the destination location, which is not limited in the embodiment of the present application.

Alternatively, in the case where it is determined that the first environmental fluctuation road section includes an elevator taking road section, the environmental status of the first environmental fluctuation road section may include the traveling direction of the target elevator. After determining that the mobile device enters the first planning area of the first path segmentation point, determining the direction of the object scale multiplication ladder according to the first path segmentation point and the destination position; under the condition that the alternative elevator is determined to exist, determining whether to update a local navigation path between the first path segmentation point and the target position according to the running direction of the target elevator, the current floor of the target elevator, the running direction of the alternative elevator, the current floor of the alternative elevator and the target elevator taking direction; if the update is determined, the local navigation path between the first path segmentation point and the destination position is re-planned according to the first path segmentation point, the position of the alternative elevator and the destination position.

If the global navigation path is that the mobile device needs to travel to the destination location by taking the target elevator, when the mobile device reaches the elevator taking point of the target elevator, namely, the elevator taking point of the target elevator is the first path segmentation point, if the elevator taking direction of the mobile device to the destination location (namely, the destination scale multiplication elevator direction in the embodiment of the application) is consistent with the uplink and downlink directions of the target elevator and does not pass through the current floor, the mobile device can directly take an elevator to reach the destination location. Otherwise, the mobile device needs to wait for the destination elevator for a long time to get up to the destination location. It can be seen that the direction of travel of the target elevator, the current floor of the target elevator and the target boarding direction can have an impact on the efficiency of the mobile device in performing tasks. Therefore, in the embodiment of the application, the target alternative elevator which is consistent with the target elevator taking direction and does not pass through the current floor can be determined from the alternative elevators, and the local navigation path between the first path segmentation point and the target position is re-planned according to the first path segmentation point, the position of the target alternative elevator and the target position. In this way the effect of the direction of travel of the elevator on the efficiency of the task performed by the mobile device can be reduced.

Preferentially, if the target alternative elevator exists, the mobile equipment can send an elevator taking control instruction to the target alternative elevator through the background server so as to ensure that the mobile equipment can take an elevator smoothly.

Alternatively, in the case where it is determined that the first environmental fluctuation road section includes an boarding road section, the environmental status of the first environmental fluctuation road section may include a degree of congestion of the target elevator. After determining that the mobile device enters the first planning area of the first path segmentation point, determining the arrival time of the mobile device from traveling to the target elevator according to the current position of the mobile device and the position of the target elevator; according to the arrival time, combining historical elevator taking data, and estimating the crowding degree of the target elevator when the mobile equipment takes the target elevator; then, under the condition that the existence of the alternative elevator is determined, whether to update the local navigation path between the first path segmentation point and the target position or not can be determined according to the crowding degree of the target elevator and the crowding degree of the alternative elevator; if the update is determined, the local navigation path between the first path segmentation point and the destination position is re-planned according to the first path segmentation point, the position of the alternative elevator and the destination position.

If the global navigation path is that the mobile equipment needs to travel to the destination location by taking the target elevator, when the mobile equipment reaches the elevator hoistway of the target elevator, if the residual space in the target elevator bridge box is large, the mobile equipment can directly take the elevator to reach the destination location. If the remaining space in the target elevator car is small or even overloaded, the mobile device needs to wait for the next elevator to arrive. It can be seen that the congestion level of the target elevator can have an impact on the efficiency of the mobile device in performing tasks. Therefore, in the embodiment of the application, if the congestion degree of the target elevator is high, the target alternative elevator with low congestion degree can be determined from the alternative elevators, and the local navigation path between the first path segmentation point and the target position is re-planned according to the first path segmentation point, the position of the target alternative elevator and the target position. In this way, the impact of the degree of congestion of the elevator on the efficiency of the mobile device to perform tasks can be reduced.

In addition, in order to enable the obtained congestion degree of the target elevator to be closer to the congestion degree of the target elevator after the mobile device arrives at the target elevator, after determining that the mobile device enters the first planning area of the first path segmentation point, the arrival time of the mobile device traveling to the target elevator can be determined according to the current position of the mobile device and the position of the target elevator. According to the arrival time, the crowding degree of the target elevator when the mobile equipment takes the target elevator is estimated, and the accuracy of the determined crowding degree of the target elevator can be improved, so that the influence of the crowding degree of the elevator on the efficiency of the mobile equipment for executing tasks is further reduced.

The method comprises the steps that an image collected by a camera in a target elevator can be subjected to face recognition to determine the number of people in the target elevator in real time, so that the real-time crowding degree of the target elevator is determined; or the real-time crowding degree of the target elevator can be determined according to the weight detected by the pressure sensor of the target elevator; then, according to the floor and the elevator taking direction (for example, the control instruction is that a person needs to get off the elevator in the 5 th floor) included in the control instruction received by the elevator and the number of people waiting outside the elevator, the crowding degree of the target elevator when the mobile equipment takes the target elevator can be estimated.

Optionally, in the case that the first environmental fluctuation road section is determined to include a boarding road section and a building interior communication road section, the environmental state of the first environmental fluctuation road section includes the running direction of the target elevator and the current floor of the target elevator; under the condition that the alternative communication road section exists, determining whether to update the local navigation path between the first path segmentation point and the target position according to the running direction of the target elevator and the current floor of the target elevator; if the update is determined, the local navigation path between the first path segment point and the destination location is re-planned according to the first path segment point, the alternative communication road section and the destination location.

If the global navigation path is that the mobile device needs to take a ladder and go to a destination position through a communication road section in the building, when the mobile device reaches a taking point of the target elevator, the running direction of the target elevator and the consistency of the target taking direction of the mobile device can influence the efficiency of the mobile device in executing the task, and the floor where the target elevator is located can influence the efficiency of the mobile device in executing the task. Therefore, in the embodiment of the application, if the running direction of the target elevator is inconsistent with the target boarding direction of the mobile device or the direction is consistent but the current floor is passed under the condition that the alternative communication road section exists, the communication road section in the building can be switched to the alternative communication road section. In this way the effect of the direction of travel of the elevator on the efficiency of the task performed by the mobile device can be reduced.

For example, as shown in fig. 2, if the global navigation path planned for the mobile device is: ascending from 1F of A span to 3F of A span, and then going through L1 to 3F of B span. When the mobile device reaches the elevator taking point of 1F of A span, if the elevator is in the ascending direction and the target elevator is located in B1, an elevator taking instruction can be directly sent to the mobile device, so that the mobile device takes an elevator to ascend to 3F of A span and then passes through L1 to reach 3F of B span. If the mobile device arrives at the elevator hoistway of 1F of a, and if the elevator is in the down direction and the elevator is at 3F, the mobile device may update the local navigation path to first get to B1 of a, then get to B1 of B through the building internal communication link L3, and then get to 3F of B by taking the elevator of B.

Alternatively, in the case where it is determined that the first environmental fluctuation road section includes a narrow passage road section or a high flow rate road section, the environmental status of the first environmental fluctuation road section may include a degree of congestion of the narrow passage road section or the high flow rate road section; after determining that the mobile device enters the first planning area of the first path segmentation point, determining the arrival time of the mobile device when the mobile device travels to the narrow channel section or the high flow section according to the position of the narrow channel section or the high flow section and the current position of the mobile device; estimating the crowding degree of a narrow channel section or a high-flow section when the mobile equipment enters the first environment fluctuation section according to the arrival time; then determining whether to update the local navigation path between the first path segmentation point and the target position according to the crowding degree of the narrow channel section or the high-flow section; if the update is determined, determining an avoidance path according to the first path segment point and the target position, and updating a local navigation path between the first path segment point and the target position according to the avoidance path.

If the global navigation path is that the mobile device needs to pass through a narrow channel section or a high-flow section to reach the destination, when the mobile device reaches the starting point of the narrow channel section or the high-flow section, if the crowding degree of the narrow channel section or the high-flow section is smaller, the mobile device can directly pass through the narrow channel section or the high-flow section. If the crowding degree of the narrow passage section or the high flow section is large, the mobile device needs to wait for the reduced flow of people on the narrow passage section or the high flow section to pass through. It can be seen that the degree of congestion of a narrow channel segment or a high traffic segment has a great impact on the efficiency of the mobile device to perform tasks. Therefore, in the embodiment of the application, if the congestion degree of the narrow channel section or the high-flow section is large, and the waiting time of the mobile device is too long, the avoidance path between the first path segmentation point and the destination position can be determined again for the mobile device. In this way, the impact of the degree of congestion of the narrow channel section or the high traffic section on the efficiency of the mobile device to perform tasks may be reduced.

For example, the congestion degree of the narrow road section or the high-flow road section at the arrival time may be determined according to the historic traffic of the narrow road section or the high-flow road section, or may be determined according to the images acquired by the cameras provided on the narrow road section or the high-flow road section.

In the technical scheme provided by the embodiment of the application, after the global navigation path for executing the task is planned for the mobile equipment, whether the global navigation path comprises the first environment fluctuation road section can be judged. In the case where it is determined that the global navigation path includes the first environmental fluctuation road segment, in order to reduce an influence of environmental fluctuation of the first environmental fluctuation road segment on efficiency of the mobile device to perform a task, an environmental state of the first environmental fluctuation road segment may be acquired before the mobile device reaches the first environmental fluctuation road segment. Therefore, when the fluctuation of the environmental state of the first environmental fluctuation road section has a large influence on the efficiency of the mobile device for executing the task, the local navigation path can be adjusted in time before the mobile device reaches the first environmental fluctuation road section, so that the mobile device can bypass the first environmental fluctuation road section and travel to the target position according to the updated local navigation path. It can be seen that the technical scheme provided by the embodiment of the application can be implemented, and the local navigation path is dynamically adjusted according to the environmental state of the global navigation path in the running process of the mobile device, so that the influence of environmental fluctuation on the efficiency of executing the task of the mobile device can be reduced, and the efficiency of executing the task of the mobile device is further improved.

In combination with the above description, as shown in fig. 3, step S102 in fig. 1 may be replaced with S1021-S1023:

S1021, if the global navigation path is determined to comprise the first environment fluctuation road section, a first path segmentation point is determined between the starting position and the starting point of the first environment fluctuation road section.

S1022, if the mobile device is determined to enter the first planning area of the first path segmentation point in the process of driving according to the navigation path between the starting position and the first path segmentation point, acquiring the environmental state of the first environmental fluctuation road section.

S1023, determining whether to update the local navigation path between the first path segmentation point and the destination position according to the environmental state of the first environmental fluctuation road section.

Optionally, as shown in fig. 3, after step S1023, the method for planning a navigation path provided in the embodiment of the present application may further include S1024-S1026:

S1024, in the process that the mobile device runs according to the local navigation path between the first path segmentation point and the destination position, if the local navigation path between the first path segmentation point and the destination position is determined to comprise a second environment fluctuation road section, determining a second path segmentation point between the first path segmentation point and the starting point of the second environment fluctuation road section.

S1025, in the process that the mobile device runs according to the navigation path between the first path segment and the second path segment point, if the mobile device is determined to run into the second planning area of the second path segment point, the environmental state of the second environmental fluctuation road section is obtained.

And S1026, determining whether to update the local navigation path between the second path segmentation point and the destination position according to the environmental state of the second environmental fluctuation road section.

Optionally, as shown in fig. 4, the embodiment of the present application further provides a method for planning a navigation path, including S401-S405:

S401, judging whether the global navigation path of the mobile device comprises a ladder section.

S402, if the global navigation path is determined to comprise the elevator-taking road section, a first path segmentation point is determined between the starting position and the starting point of the elevator-taking road section.

S403, if the mobile equipment is determined to enter a first planning area of the first path segmentation point in the process of traveling according to the navigation path between the starting position and the first path segmentation point, acquiring the traveling direction of the target elevator, and determining the destination scale multiplication elevator direction according to the first path segmentation point and the destination position before the mobile equipment reaches the elevator taking section.

S404, under the condition that the existence of the alternative elevator is determined, determining whether to update the local navigation path between the first path segmentation point and the target position according to the running direction of the target elevator, the running direction of the alternative elevator and the target elevator riding direction.

And S405, if the update is determined, re-planning the local navigation path between the first path segmentation point and the destination position according to the first path segmentation point, the position of the alternative elevator and the destination position.

Optionally, as shown in fig. 5, the embodiment of the present application further provides a method for planning a navigation path, including S501-S505:

S501, judging whether the global navigation path of the mobile device comprises a ladder section.

S502, if the global navigation path is determined to comprise the elevator taking section, a first path segmentation point is determined between the starting position and the starting point of the elevator taking section.

S503, if the mobile equipment is determined to enter a first planning area of a first path segmentation point in the process of running according to a navigation path between the starting position and the first path segmentation point, determining the arrival time of the mobile equipment from running to a target elevator according to the current position of the mobile equipment and the position of the target elevator; and, according to the arrival time, estimate the crowding degree of the goal elevator when the movable equipment takes the goal elevator.

S504, if the alternative elevator is determined to exist, determining whether to update the local navigation path between the first path segmentation point and the destination position according to the congestion degree of the target elevator and the congestion degree of the alternative elevator.

And S505, if the updating is determined, re-planning the local navigation path between the first path segmentation point and the destination position according to the first path segmentation point, the position of the alternative elevator and the destination position.

Optionally, as shown in fig. 6, the embodiment of the present application further provides a method for planning a navigation path, including S601-S605:

s601, judging whether the global navigation path of the mobile device comprises a ladder section and a building internal communication section.

S602, if the global navigation path is determined to comprise a ladder section and a building internal communication section, determining a first path segmentation point between a starting position and a starting point of a first environment fluctuation section.

S603, if the mobile equipment is determined to enter a first planning area of the first path segmentation point in the process of driving according to the navigation path between the starting position and the first path segmentation point, the running direction of the target elevator is obtained.

S604, determining whether to update the local navigation path between the first path segmentation point and the destination position according to the running direction of the target elevator under the condition that the alternative communication road section exists.

And S605, if the updating is determined, re-planning the local navigation path between the first path segmentation point and the destination position according to the first path segmentation point, the alternative communication road section and the destination position.

Optionally, as shown in fig. 7, the embodiment of the present application further provides a method for planning a navigation path, including S701-S705:

s701, judging whether the global navigation path of the mobile device comprises a narrow channel section or a high-traffic section.

S702, if the narrow channel section or the high-flow section is determined to be included, a first path segmentation point is determined between the starting position and the starting point of the first environment fluctuation section.

S703, if the mobile device is determined to enter a first planning area of a first path segmentation point in the process of running according to the navigation path, determining the arrival time of the mobile device from the mobile device to the narrow channel section or the high flow section according to the position of the narrow channel section or the high flow section and the current position of the mobile device; and estimating the congestion degree of the narrow channel section or the high flow section when the vehicle enters the first environment fluctuation section according to the arrival time.

S704, determining whether to update the local navigation path between the first path segmentation point and the destination position according to the congestion degree of the narrow channel section or the high-flow section.

And S705, if the update is determined, determining an avoidance path according to the first path segmentation point and the target position, and updating a local navigation path between the first path segmentation point and the target position according to the avoidance path.

As shown in fig. 8, the embodiment of the application further provides a planning device for the navigation path. The device comprises: a judgment module 11 and a determination module 12.

Wherein the judging module 11 executes S101 in the above-described method embodiment, and the determining module 12 executes S102 in the above-described method embodiment.

Specifically, the judging module 11 is configured to judge whether the global navigation path of the mobile device includes a first environmental fluctuation road section; the global navigation path is a navigation path between a starting position and a destination position of the mobile device; the determining module 12 is configured to determine whether to update the local navigation path of the mobile device according to the environmental status of the first environmental fluctuation road segment before the mobile device reaches the first environmental fluctuation road segment, in the case where the determining module 11 determines that the global navigation path includes the first environmental fluctuation road segment.

Optionally, in one possible implementation, the determining module 12 includes: the first determining submodule is used for determining a first path segmentation point between the starting position and the starting point of the first environment fluctuation road section; the acquisition sub-module is used for acquiring the environment state of the first environment fluctuation road section if the mobile equipment is determined to enter the first planning area of the first path segmentation point in the process of running according to the navigation path between the starting position and the first path segmentation point by the mobile equipment; and the second determining submodule is used for determining whether to update the local navigation path between the first path segmentation point and the target position according to the environmental state of the first environmental fluctuation road section acquired by the acquiring submodule.

Optionally, in another possible implementation manner, the determining module 12 further includes a third determining sub-module and a fourth determining sub-module; the third determining submodule is used for determining a second path segment point between the first path segment point and the starting point of the second environment fluctuation road section if the local navigation path between the first path segment point and the destination position comprises the second environment fluctuation road section; the acquisition sub-module is further used for acquiring the environmental state of a second environmental fluctuation road section if the mobile equipment is determined to enter a second planning area of the second path segmentation point in the process of running according to the navigation path between the first path segmentation point and the second path segmentation point by the mobile equipment; and the fourth determination submodule is used for determining whether to update the local navigation path between the second path segmentation point and the destination position according to the environmental state of the second environmental fluctuation road section.

Alternatively, in yet another possible implementation, the environmental fluctuation road segment may include at least one of an elevator road segment, a narrow passage road segment, a high flow road segment, and a building interior communication road segment.

Optionally, in a further possible implementation, in case it is determined that the first environmental fluctuation road section includes an elevator taking road section, the environmental status of the first environmental fluctuation road section includes a running direction of the target elevator; the second determination submodule is specifically configured to: determining the direction of a destination scale multiplication ladder according to the first path segmentation point and the destination position; under the condition that the alternative elevator is determined to exist, determining whether to update a local navigation path between the first path segmentation point and the target position according to the running direction of the target elevator, the current floor of the target elevator, the running direction of the alternative elevator, the current floor of the alternative elevator and the target elevator taking direction; if the update is determined, the local navigation path between the first path segmentation point and the destination position is re-planned according to the first path segmentation point, the position of the alternative elevator and the destination position.

Optionally, in a further possible implementation manner, in a case that it is determined that the first environmental fluctuation road section includes an elevator taking road section, the environmental status of the first environmental fluctuation road section includes a congestion level of the target elevator; the acquisition submodule is specifically configured to: determining the arrival time of the mobile equipment from traveling to the target elevator according to the current position of the mobile equipment and the position of the target elevator; estimating the crowding degree of the target elevator when the mobile equipment rides the target elevator according to the arrival time; the second determination submodule is specifically configured to: determining whether to update a local navigation path between the first path segmentation point and the target position according to the congestion degree of the target elevator and the congestion degree of the alternative elevator under the condition that the alternative elevator exists; if the update is determined, the local navigation path between the first path segmentation point and the destination position is re-planned according to the first path segmentation point, the position of the alternative elevator and the destination position.

Optionally, in a further possible implementation manner, in a case that the first environment fluctuation road section is determined to include a boarding road section and a building interior communication road section, the environment state of the first environment fluctuation road section includes the running direction of the target elevator and the current floor of the target elevator; the second determination submodule is specifically configured to: under the condition that the alternative communication road section exists, determining whether to update the local navigation path between the first path segmentation point and the target position according to the running direction of the target elevator and the current floor of the target elevator; if the update is determined, the local navigation path between the first path segment point and the destination location is re-planned according to the first path segment point, the alternative communication road section and the destination location.

Optionally, in a further possible implementation manner, in a case that it is determined that the first environmental fluctuation road section includes a narrow channel road section or a high flow road section, the environmental state of the first environmental fluctuation road section is a congestion degree of the narrow channel road section or the high flow road section; the acquisition submodule is specifically configured to: determining the arrival time of the mobile device when the mobile device runs to the narrow channel section or the high-flow section according to the position of the narrow channel section or the high-flow section and the current position of the mobile device; estimating the crowding degree of the narrow channel section or the high-flow section when the mobile equipment enters the crowding degree of the narrow channel section or the high-flow section according to the arrival time; the second determination submodule is specifically configured to: determining whether to update a local navigation path between a first path segmentation point and a destination position according to the crowding degree of the narrow channel section or the high-flow section; if the update is determined, determining an avoidance path according to the first path segment point and the target position, and updating a local navigation path between the first path segment point and the target position according to the avoidance path.

Optionally, the navigation path determining device may further include a storage module, where the storage module is configured to store program codes of the navigation path determining device, and the like.

As shown in fig. 9, the embodiment of the present application further provides a planning apparatus for a navigation path, including a memory 41, a processor 42 (42-1 and 42-2), a bus 43, and a communication interface 44; the memory 41 is used for storing computer-executable instructions, and the processor 42 is connected with the memory 41 through the bus 43; when the navigation path planning apparatus is operated, the processor 42 executes computer-executable instructions stored in the memory 41 to cause the navigation path planning apparatus to execute the navigation path planning method as provided in the above-described embodiment.

In a particular implementation, processor 42 may include one or more central processing units (central processing unit, CPU), such as CPU0 and CPU1 shown in FIG. 9, as one example. And as one example, the navigation path planning apparatus may include a plurality of processors 42, such as the processor 42-1 and the processor 42-2 shown in fig. 9. Each of these processors 42 may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor 42 herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

The memory 41 may be, but is not limited to, a read-only memory 41 (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 41 may be stand alone and be coupled to the processor 42 via a bus 43. Memory 41 may also be integrated with processor 42.

In a specific implementation, the memory 41 is used for storing data in the present application and computer-executable instructions corresponding to a software program for executing the present application. The processor 42 may navigate the various functions of the path planning apparatus by running or executing software programs stored in the memory 41 and invoking data stored in the memory 41.

Communication interface 44, using any transceiver-like device, is used to communicate with other devices or communication networks, such as a control system, a radio access network (radio access network, RAN), a wireless local area network (wireless local area networks, WLAN), etc. The communication interface 44 may include a receiving unit to implement a receiving function and a transmitting unit to implement a transmitting function.

Bus 43 may be an industry standard architecture (industry standard architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus 43 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 9, but not only one bus or one type of bus.

As an example, the function implemented by the acquisition submodule in the navigation path planning apparatus in the foregoing embodiment is the same as the function implemented by the receiving unit in fig. 9, the function implemented by the determination module in the navigation path planning apparatus is the same as the function implemented by the processor in fig. 9, and the function implemented by the storage module in the navigation path planning apparatus is the same as the function implemented by the memory in fig. 9.

The explanation of the related content in this embodiment may refer to the above method embodiment, and will not be repeated here.

From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, and when the computer executes the instructions, the computer executes the navigation path planning method provided by the embodiment.

The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (erasable programmable read only memory, EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). In embodiments of the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The foregoing is merely illustrative of specific embodiments of the present application, and the scope of the present application is not limited thereto, but any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for planning a navigation path, comprising:

Judging whether the global navigation path of the mobile device comprises a first environment fluctuation road section or not; the global navigation path is a navigation path between a starting position and a destination position of the mobile device, the mobile device is a robot, and the environment fluctuation road section comprises at least one of a boarding road section and a building internal communication road section;

If the global navigation path comprises the first environment fluctuation road section, determining whether to update the local navigation path of the mobile device according to the environment state of the first environment fluctuation road section before the mobile device reaches the first environment fluctuation road section;

Before the mobile device reaches the first environmental fluctuation road section, determining whether to update the local navigation path of the mobile device according to the environmental state of the first environmental fluctuation road section comprises the following steps:

determining a first path segment point between the starting position and a starting point of the first environmental fluctuation road section; the first path segmentation point is the last dockable point before the mobile equipment reaches the first environment fluctuation road section;

In the process that the mobile equipment runs according to the navigation path between the starting position and the first path segmentation point, if the mobile equipment is determined to run into a first planning area of the first path segmentation point, acquiring the environmental state of the first environmental fluctuation road section; the first planning area is a path range which is determined between the starting position and a first path segmentation point and is close to the first path segmentation point in advance;

and determining whether to update the local navigation path between the first path segmentation point and the destination position according to the environmental state of the first environmental fluctuation road section.

2. The method according to claim 1, wherein after determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental status of the first environmental fluctuation road segment, the method further comprises:

If the local navigation path between the first path segmentation point and the target position comprises a second environment fluctuation road section, determining a second path segmentation point between the first path segmentation point and a starting point of the second environment fluctuation road section;

In the process that the mobile equipment runs according to the navigation path between the first path segmentation point and the second path segmentation point, if the mobile equipment is determined to run into a second planning area of the second path segmentation point, acquiring the environmental state of the second environmental fluctuation road section;

and determining whether to update the local navigation path between the second path segmentation point and the destination position according to the environmental state of the second environmental fluctuation road section.

3. The method of planning a navigation path according to claim 1 or 2, wherein the environmental fluctuation road section further includes at least one of a narrow passage road section and a high-flow road section.

4. A method of planning a navigation path according to claim 3, characterized in that in the case where it is determined that the first environmental fluctuation road section includes the boarding road section, the environmental status of the first environmental fluctuation road section includes the direction of travel of a target elevator; the determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental state of the first environmental fluctuation road section comprises:

determining the direction of a destination scale multiplication ladder according to the first path segmentation point and the destination position;

determining whether to update a local navigation path between the first path segmentation point and the destination location according to the running direction of the target elevator, the current floor of the target elevator, the running direction of the target elevator, the current floor of the target elevator and the target boarding direction when the existence of the target elevator is determined;

And if the update is determined, re-planning a local navigation path between the first path segmentation point and the destination position according to the first path segmentation point, the position of the alternative elevator and the destination position.

5. A method of planning a navigation path according to claim 3, wherein in the case where it is determined that the first environmental fluctuation road section includes the boarding road section, the environmental status of the first environmental fluctuation road section includes a degree of congestion of a target elevator;

the obtaining the environmental state of the first environmental fluctuation road section includes: determining the arrival time of the mobile equipment from traveling to the target elevator according to the current position of the mobile equipment and the position of the target elevator; estimating the crowding degree of the target elevator when the mobile equipment rides the target elevator according to the arrival time;

The determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental state of the first environmental fluctuation road section comprises: determining whether to update a local navigation path between the first path segmentation point and the destination position according to the congestion degree of the target elevator and the congestion degree of the alternative elevator under the condition that the alternative elevator exists; and if the update is determined, re-planning a local navigation path between the first path segmentation point and the destination position according to the first path segmentation point, the position of the alternative elevator and the destination position.

6. A method of planning a navigation path according to claim 3, wherein in the case where it is determined that the first environmental fluctuation road section includes the boarding road section and the building interior communication road section, the environmental state of the first environmental fluctuation road section includes the traveling direction of a target elevator and the current floor of the target elevator; the determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental state of the first environmental fluctuation road section comprises:

Determining whether to update a local navigation path between the first path segmentation point and the destination position according to the running direction of the target elevator and the current floor of the target elevator under the condition that the existence of the alternative communication road section is determined;

And if the updating is determined, re-planning the local navigation path between the first path segmentation point and the destination position according to the first path segmentation point, the alternative communication road section and the destination position.

7.A method of planning a navigation path according to claim 3, wherein in the case where it is determined that the first environmental fluctuation road section includes the narrow passage road section or the high-flow road section, the environmental state of the first environmental fluctuation road section is a degree of congestion of the narrow passage road section or the high-flow road section;

The obtaining the environmental state of the first environmental fluctuation road section includes: determining the arrival time of the mobile device when the mobile device travels to the narrow passage section or the high-flow section according to the position of the narrow passage section or the high-flow section and the current position of the mobile device; estimating the congestion degree of the narrow channel section or the high-flow section when the mobile equipment enters the narrow channel section or the high-flow section according to the arrival time;

The determining whether to update the local navigation path between the first path segment point and the destination location according to the environmental state of the first environmental fluctuation road section comprises: determining whether to update a local navigation path between the first path segmentation point and the target position according to the crowding degree of the narrow channel section or the high-flow section; if the update is determined, determining an avoidance path according to the first path segment point and the target position, and updating a local navigation path between the first path segment point and the target position according to the avoidance path.

8. A navigation path determining apparatus, comprising:

the judging module is used for judging whether the global navigation path of the mobile device comprises a first environment fluctuation road section or not; the global navigation path is a navigation path between a starting position and a destination position of the mobile device, the mobile device is a robot, and the environment fluctuation road section comprises at least one of a boarding road section and a building internal communication road section;

The determining module is used for determining a first path segmentation point between the starting position and the starting point of the first environment fluctuation road section when the judging module judges that the global navigation path comprises the first environment fluctuation road section; the first path segmentation point is the last dockable point before the mobile equipment reaches the first environment fluctuation road section;

9. A navigation path determining device, which is characterized by comprising a memory, a processor, a bus and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through the bus;

when the navigation path determining device is operated, the processor executes the computer-executable instructions stored in the memory, so that the navigation path determining device performs the navigation path planning method according to any one of claims 1 to 7.

10. A computer readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the method of planning a navigation path according to any one of claims 1-7.