A method, device, electronic device and storage medium for determining a target path

Abstract

The present invention discloses a method, device, electronic device and storage medium for determining a target path, wherein the method comprises: collecting at least one positioning information associated with a target user, and video information including the target user; determining a target navigation path corresponding to the target user according to the at least one positioning information, the video information and user attribute information corresponding to the target user; wherein the user attribute information comprises at least one of the destination information, the target user's companion information and the equipped tool information; and arriving at the destination based on the target navigation path. The method solves the problem that the user has difficulty finding a path in the target area, and even cannot find the best path for escape in the first time when an accident occurs, and achieves the effect of providing the best path for the user.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of intelligent navigation technology, and in particular, to a method, device, electronic device and storage medium for determining a target path. Background Art

[0002] Today's hospitals are generally larger in size, with more departments and complex route planning, which means that when people who are not familiar with hospital roads need to go to a certain area, they need to spend a lot of time looking for it.

[0003] At present, the common way to provide path guidance in hospitals is to deploy a small number of staff to provide path guidance, or post text, icons or indicator lights in the corridor to guide people to their destination. However, when there are many patients, these methods cannot provide effective help to patients in time, but can only alleviate such problems. Especially when medical disturbances, fires or earthquakes occur in hospitals, people in hospitals cannot find the best path to escape in the first time, which leads to serious casualties.

[0004] Therefore, to address the above issues, the path within the hospital can be planned to prompt the user to go to the destination. Summary of the invention

[0005] The present invention provides a method, device, electronic device and storage medium for determining a target path, so as to achieve the effect of providing an optimal path for a user.

[0006] In a first aspect, an embodiment of the present invention provides a method for determining a target path, characterized by comprising:

[0007] Collecting at least one location information associated with a target user and video information including the target user;

[0008] Determine a target navigation path corresponding to the target user according to the at least one positioning information, the video information and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information and the equipped tool information;

[0009] Arrive at the destination based on the target navigation path.

[0010] In a second aspect, an embodiment of the present invention further provides a device for determining a target path, characterized in that it includes:

[0011] A positioning information acquisition module, used to acquire at least one positioning information associated with a target user, and video information including the target user;

[0012] A user attribute information determination module, configured to determine a target navigation path corresponding to the target user according to the at least one positioning information, the video information, and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information, and the equipped tool information;

[0013] The destination arrival module is used to arrive at the destination based on the target navigation path.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0015] one or more processors;

[0016] a storage device for storing one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining a target path as described in any one of the embodiments of the present invention.

[0018] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the method for determining a target path as described in any one of the embodiments of the present invention.

[0019] The technical solution of this embodiment collects at least one positioning information associated with the target user, and video information including the target user. The current location information of the target user and the number of people in the area can be determined through the positioning information and video information, and the navigation path can be planned for the target user according to the pre-filled user attribute information. According to the at least one positioning information, the video information and the user attribute information corresponding to the target user, the target navigation path corresponding to the target user is determined; wherein the user attribute information includes at least one of the destination information, the target user's companion information and the equipped tool information, according to the user attribute information of the target user, the target user's companion information and tool information can be determined, and then a suitable navigation path is recommended for the target user, and the destination is reached based on the target navigation path, which is used to guide the target user to the destination based on the target navigation path. It solves the problem that the user has difficulty finding a path in the target area, and even cannot find the best path to escape in the first time when an accident occurs, and achieves the effect of providing the best path for the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flow chart of a method for determining a target path provided in Embodiment 1 of the present invention;

[0022] Figure 2 A schematic diagram of a flow chart of a method for determining a target path provided in Embodiment 2 of the present invention;

[0023] Figure 3 A schematic flow chart of a method for indoor navigation based on a navigation path provided in a third embodiment of the present invention;

[0024] Figure 4 A flowchart of a method for evacuating personnel based on a navigation path provided by a third embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a process for determining a target path provided by a third embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the structure of a device for determining a target path provided in Embodiment 4 of the present invention.

[0027] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a method for determining a target path provided in Embodiment 1 of the present invention. This embodiment can be applied to navigating indoor paths or providing users with the optimal path in a timely manner when crowds gather or abnormal situations occur indoors. The method can be executed by a device for determining the target path, which can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal or a PC.

[0031] like Figure 1 As shown, the method of this embodiment includes:

[0032] S110: Collect at least one piece of positioning information associated with a target user, and video information including the target user.

[0033] Among them, the target user can be understood as a user in the target area, and the target area can be understood as a designated area, such as the entire area of ​​a hospital or a floor area of ​​a hospital, or a building area of ​​other nature, such as a large supermarket, an indoor square, an indoor entertainment center, and any other designated indoor area with a large area and complex roads that require navigation. The specific target area can be customized according to actual conditions. Positioning information can be understood as the location information of the target user in the target area, which can include the current location information of the target user, and can also include the location information of the user at historical moments. The location information can be obtained through video surveillance query, or through the registration information of the target user at various locations in the target area, or can be obtained based on the positioning device in the user's mobile phone device. For example, the target user's mobile phone contains a Bluetooth device, and the location information of the target user can be determined by the connection between the target user's Bluetooth device and the Bluetooth sending device in the target area. The video information of the area can be obtained through the camera device in the target area. The video information of the target user can be understood as the information of the target user obtained through the video information of the target area, which can include the number information of the target user, the peer information, and the equipped tool information, etc.

[0034] Specifically, the scope of the target area is predefined, and a device that can obtain the location information of the target user is set within the scope of the target area, such as a Bluetooth sending device, a wifi positioning device, a camera device, and an inertial sensor positioning device. When the target user enters the target area, the mobile phone device can be connected to the positioning device in the target area. At the same time, multiple cameras are set in the target area to obtain video information in the target area. Through the positioning information of the target user collected by the positioning device in the target area and the location information of the target user obtained by the camera device, at least one positioning information associated with the target user can be collected. Among them, the video information of the target user obtained by the camera device mainly includes the number of people information, peer information, and equipped tool information of the target user, etc., and the acquisition method can be an image recognition method.

[0035] Optionally, before collecting at least one positioning information associated with the target user and the video information of the target user, the method includes: receiving user attribute information sent by a terminal device of the target user.

[0036] Among them, the user's terminal device can be a mobile phone device, and the user attribute information can be understood as the destination information, peer information and equipped tool information of the target user.

[0037] Specifically, when the target user enters the target area, he can use a mobile device to scan a QR code to enter the mini program or log in to a designated application software, etc., and fill in the user attribute information on the display interface, and then the mini program or designated application software will send the user attribute information to the background server, and the receiving information module in the server will be responsible for receiving the user attribute information sent by the terminal device of the target user. Among them, the display interface entered by the target user through the mini program or application software can be set to fill in the user attribute information, including the user's name, ID number, destination information, traveler information, and equipped tool information, etc. For example, if the target area is a hospital, the equipped tools can be tools such as wheelchairs, beds or stretchers.

[0038] Exemplarily, taking the target area as a hospital and the target user as a patient, when the patient enters the hospital, the patient's mobile device can automatically connect to the Bluetooth sending device set up in the hospital, or it is stipulated that each patient enters the hospital by scanning the QR code to enter the hospital's mini program, and follow the prompts on the mini program page to complete the information collection in the mini program. For example, the mini program page may include the patient's destination information, companion information, and equipped tool information. Considering that the number of people going to the hospital can be one or more, when the number of people is more than one, one of the people can also fill in the companion information, that is, the number of companions and the tool information equipped by the companions, etc. It can be understood that the companion information in the mini program can be an optional option. When the patient is registered as one person or everyone in the companion group, there is no need to fill in the companion information.

[0039] Optionally, the collecting of at least one positioning information associated with the target user and the video information of the target user includes: determining at least one positioning information associated with the target user based on a Bluetooth module deployed in a target area, and determining the current location information of the target user according to the at least one positioning information. Retrieving the video information on a preset navigation path according to the current location information and the destination information in the user attribute information.

[0040] The Bluetooth module can be understood as a Bluetooth sending device; the current location information can be understood as the location information of the target user in the target area at the current moment. The preset navigation path can be understood as the navigation path planned for the user according to the user attribute information after the target user inputs the destination information. During the target user's progress, the preset navigation path can be updated in real time according to the target user's location information and user attribute information.

[0041] Specifically, multiple Bluetooth modules can be pre-set at different positions in the target area to send Bluetooth signals, so that after the target user enters the target area, the Bluetooth signal of the target area can be connected through the Bluetooth device set in the terminal device. The setting method of the Bluetooth module can be placed according to the range of the Bluetooth signal, so that the Bluetooth signal can cover the entire target area as much as possible, and the signal range of each Bluetooth module can overlap. Each Bluetooth module can be marked with different labels or identification information to distinguish each Bluetooth module, and the placement position of each Bluetooth module in the target area is stored in the server, so that when the terminal device of the target user connects to a certain Bluetooth module, at least one positioning information of the target user can be determined according to the Bluetooth connection information of the target user, and the current location information of the target user can be determined. It is understandable that the Bluetooth module can also record the number of Bluetooth connections, and the number of target users within the signal range of each Bluetooth module can be determined according to the number of Bluetooth connections and the location information of the Bluetooth module.

[0042] After determining the current location information of the target user, the navigation module in the server can recommend a route as a preset navigation path for the target user based on the current location information of the target user and the destination information filled in by the target user in the applet or the specified application. The number of preset navigation paths can be one or more. In addition, multiple cameras are installed in the target area, and the shooting range of the camera covers the entire target area. Similarly, the identification information and installation location information corresponding to the camera are also stored in the server. After the server plans a path for the target user, it can retrieve the video information on the preset navigation path to determine whether the path is suitable for the target user to pass based on the video information. Among them, the video information can include information on the number of people on the preset navigation path, and can also include information on the tools equipped by the people, etc.

[0043] S120. Determine a target navigation path corresponding to the target user based on the at least one positioning information, the video information, and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information, and the equipped tool information.

[0044] Among them, the target navigation path can be understood as the most suitable navigation path for the target user planned for the target user based on the target user's location information, video information and corresponding user attribute information. Exemplarily, the user attribute information includes the user's destination information, peer information and equipped tool information. When the user is one or more people and is not equipped with any tools, the preset navigation path with the shortest distance or the shortest driving time or the smallest crowd density can be used as the target navigation path; if the target user is one or more people and the equipped tools are wheelchairs or mobile beds, the preset navigation path containing elevators is preferred as the target navigation path.

[0045] Specifically, the server includes a Bluetooth module, a camera module, a user attribute information storage module, and a path navigation module. The server can determine the target navigation path corresponding to the target user based on at least one positioning information, video information, and user attribute information corresponding to the target user.

[0046] Exemplarily, the user attribute information of the target user can be obtained based on the information filled in by the target user in the applet or application software, and the user attribute information is sent to the server. Then, when the navigation module in the server plans the path for the target user, it can provide the target user with a suitable navigation path based on the user attribute information. For example, although the Bluetooth module can record the number of Bluetooth connections in the area, the actual traffic conditions in the area cannot be obtained based on the number of Bluetooth connections alone. For example, when the target user is a person and is not equipped with tools, the number of connections in the Bluetooth module is 1. At this time, the target user actually occupies an area of ​​one person; but when the target user is a person, not only the area occupied by the target user needs to be considered, but also the area occupied by the tools equipped by the target user. Based on this, the corresponding relationship between different tools and the number of people can be preset, for example, 1 wheelchair is equivalent to 2 people; a stretcher can be equivalent to 3 or 4 people; a mobile bed can be equivalent to 5 or 6 people. In other words, when the target user is a person and the tool is a wheelchair, although the number of connections in the Bluetooth module is 1, the actual number of people should correspond to 2 people, which is equivalent to the flow density of 2 in the area.

[0047] Alternatively, the user attribute information of the target user can also be obtained by retrieving the video information within the Bluetooth area, from which the number of target users in the current area and the information of the tools they are equipped can be identified, and then the video information is sent to the server, which calculates the actual crowd density information in the area based on the correspondence between the number of people and the tools set in advance. Accordingly, when the navigation module of the server performs path planning, it can plan a navigation path with the minimum crowd density for the target user based on the actual crowd density in the area.

[0048] In addition, based on the tool information in the user attribute information, the navigation path corresponding to the tool information can be provided to the target user on a priority basis. For example, if the target user's user information includes tools such as a wheelchair, a stretcher or a mobile bed, the navigation path including an elevator can be recommended to the target user as the target navigation path; if the target user is not equipped with tools, the navigation path with low crowd density or short time to reach the destination can be recommended to the target user as the target navigation path.

[0049] S130: Arrive at the destination based on the target navigation path.

[0050] Specifically, after determining the target navigation path corresponding to the target user according to at least one positioning information, video information and user attribute information corresponding to the target user, the server can send the result of the target navigation path to the target user, and the target user goes to the destination based on the target navigation path. It is understandable that the server can send multiple target navigation paths to the target user, including the shortest distance, the shortest time, the elevator or the smallest crowd density, etc., and then the target user can select the target navigation path suitable for him according to his own needs.

[0051] It should be noted that in various areas of the hospital, people are constantly moving. Therefore, after determining the target navigation path, the target user can connect to the Bluetooth modules in each area in real time while following the navigation, and the video information captured by the camera device will also be updated in real time according to the traffic conditions of people in the area where the target user is currently located. Based on the number of Bluetooth connections and video information of the Bluetooth module, the actual traffic conditions in the area where the current target user is located can be determined, and the target navigation path can be updated in real time according to the number of Bluetooth connections and video information received in the area where the target user is located.

[0052] The technical solution of this embodiment collects at least one positioning information associated with the target user, and video information including the target user. The current location information of the target user and the number of people in the area can be determined through the positioning information and video information, and the navigation path can be planned for the target user according to the pre-filled user attribute information. According to the at least one positioning information, the video information and the user attribute information corresponding to the target user, the target navigation path corresponding to the target user is determined; wherein the user attribute information includes at least one of the destination information, the target user's companion information and the equipped tool information, according to the user attribute information of the target user, the target user's companion information and tool information can be determined, and then a suitable navigation path is recommended for the target user, and the destination is reached based on the target navigation path, which is used to guide the target user to the destination based on the target navigation path. It solves the problem that the user has difficulty finding a path in the target area, and even cannot find the best path to escape in the first time when an accident occurs, and achieves the effect of providing the best path for the user.

[0053] Embodiment 2

[0054] As an alternative embodiment of the above embodiment, Figure 2 A flow chart of a method for determining a target path provided in Embodiment 2 of the present invention is provided, wherein a target navigation path corresponding to the target user is determined based on the at least one positioning information, the video information, and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information, and the equipped tool information.

[0055] like Figure 2 As shown, the specific methods include:

[0056] S210: Collect at least one piece of positioning information associated with a target user, and video information including the target user.

[0057] S220: Determine the density of people on the preset navigation path according to the number of people in the video information and the Bluetooth connection information on the preset navigation path.

[0058] Among them, the Bluetooth connection information includes the number of Bluetooth connections of each Bluetooth module and the location information of the Bluetooth module in the target area; the population density information can be understood as the number information of target users in the target area, and the population density information in the target area can also be flexibly determined according to the area occupied by the tools equipped by the target users.

[0059] Specifically, multiple Bluetooth modules are set in the target area. When the user enters the signal coverage area of ​​the Bluetooth module, the terminal device will automatically disconnect from other Bluetooth modules and connect to the Bluetooth module in the area where the current location is located. According to the number of Bluetooth connections of each Bluetooth module, the number of people in each area can be determined. At the same time, according to the video information in the area, the number of people in each area can be determined by using image recognition methods. Then, according to the number of people in the video information and the number of Bluetooth connections on the preset navigation path, the density of people on the preset navigation path can be determined.

[0060] Optionally, the personnel density information on the preset navigation path is determined based on the number of people in the video information and the Bluetooth connection information on the preset navigation path, including: determining the Bluetooth weight value of the Bluetooth device and the device weight value of the shooting device based on the Bluetooth deployment information and camera deployment information of the sub-area to which the current location belongs.

[0061] Among them, the scope of the target area is the area of ​​the entire building or the area of ​​the entire floor, which can include many areas. The sub-area can be understood as the area of ​​the current location of the target user in the target area; the Bluetooth deployment information can be understood as the location information and quantity of the Bluetooth module in the sub-area where the target user is located; the camera deployment information can be understood as the installation location information and quantity information of the camera device in the sub-area where the target user is located. When planning a navigation path for the target user, it can be determined by the Bluetooth connection information and the camera device information. The Bluetooth weight value can be understood as the proportion of the Bluetooth connection information in planning the navigation path; the device weight value of the shooting device can be understood as the proportion of the video information of the shooting device in planning the navigation path.

[0062] Specifically, each sub-area in the target area has different characteristics, and the deployment information of the Bluetooth device and the camera deployment information in different sub-areas are different. According to the Bluetooth deployment information and the camera deployment information of the sub-area to which the current location of the target user belongs, the Bluetooth weight value of the Bluetooth device and the device weight value of the camera device are determined.

[0063] For example, in sub-area 1, a large number of Bluetooth modules are installed and the flow of people in sub-area 1 is large. If a camera device is used to calculate the current number of people, a large error may occur. Judging the number of people in sub-area 1 based on the number of Bluetooth connections will be more accurate. In this case, the Bluetooth weight value of the Bluetooth device can be set higher. For example, the Bluetooth weight value can be set to 80%, and the device weight of the shooting device is 20%.

[0064] For example, in sub-area 2, the number of deployed cameras will be large, the number of deployed Bluetooth devices will be small, or the Bluetooth signal in this area is not good, which may cause some target users to be unable to connect to the Bluetooth device. In this case, the device weight value of the shooting device in sub-area 2 can be set higher, for example, the device weight value of the shooting device can be set to 70%, and the Bluetooth weight value can be set to 30%.

[0065] It should be noted that the number of Bluetooth devices and camera devices in each sub-area, as well as the Bluetooth weight values ​​of the Bluetooth devices and the device weight values ​​of the camera devices can be set according to the actual situation of each sub-area without specific limitation.

[0066] Optionally, the first density information of the preset navigation path is determined according to the Bluetooth weight value and the Bluetooth connection information; the second density information of the preset navigation path is determined according to the device weight value and the number of people; and the personnel density information is determined based on the first density information and the second density information.

[0067] The first density information can be understood as the population density information determined based on the Bluetooth weight value and Bluetooth connection information in the sub-area to which the target user's current location belongs; the second density information can be understood as the population density information determined based on the shooting device weight value and the number of people in the shooting information in the sub-area to which the target user's current location belongs. The population density information can be understood as the population density information determined based on the first density information and the second density information.

[0068] Specifically, after determining the preset navigation path of the target user, based on the Bluetooth deployment information and camera deployment information on the preset navigation path, the Bluetooth weight values ​​of the Bluetooth devices and the device weight values ​​of the camera devices in each sub-area on the preset navigation path can be set. The population density information determined based on the Bluetooth device weight values ​​and the Bluetooth connection information is set as the first density information; the population density information determined based on the device weight values ​​of the camera devices and the number of people in the camera information is set as the second density information. Furthermore, based on the first density information and the second density information, the population density information of the area where the target user is currently located can be determined.

[0069] S230: If the personnel density information is not greater than a preset personnel density threshold, determine whether the personnel density information is greater than a preset personnel density threshold based on the peer information and tool information in the user attribute information.

[0070] Among them, the personnel density information can be understood as the number of people in the target area or target sub-area at the current moment; the preset personnel density threshold can be understood as the maximum number of people that the preset target area or sub-area of ​​the target area can accommodate.

[0071] Specifically, the number of Bluetooth connections of the Bluetooth module can be obtained according to the Bluetooth connection information in the Bluetooth module in the target area. At the same time, according to the location information of the Bluetooth module, the sub-area to which the Bluetooth module belongs can be determined, and then combined with the video information of the camera device in the sub-area, the density of people in the sub-area can be determined. Among them, when the density of people in the sub-area is newly determined according to the Bluetooth module and the video, it is necessary to determine the first density information and the second density information determined according to the Bluetooth weight value pre-set in the sub-area and the device weight value of the shooting device. If the obtained density of people information is not greater than the preset density of people threshold, the peer information and tool information in the user attribute information are obtained. Among them, the method for obtaining the peer information of the target user can be obtained through the user attribute information filled in by the user in the applet or application; the tool information can be obtained through the user attribute information filled in by the target user, and can also be obtained by identifying the tools equipped by the target user in the video information based on the image recognition method.

[0072] It can be understood that the actual population density is not only related to the number of target users in the area, but also to the tools equipped by the target users. After obtaining the peer information and tool information of the target users, the actual population density information in the current sub-area can be determined based on the pre-set correspondence between the tools and the number of people.

[0073] For example, assuming that the preset threshold of population density in a certain sub-area is 40 people, at this time, the number of people in the current area obtained through the Bluetooth module and video information is 10 people, then when the target user is not equipped with tools, the actual population density information is 10 people; if the target user is equipped with tools, the tool information needs to be considered when calculating the population density information. For example, if the target user is equipped with a mobile bed as a tool, based on the pre-set correspondence between the tool and the number of people, a mobile bed is equivalent to the floor space of 5 or 6 people, then the actual population density information of the area should be 50 or 60 people. Therefore, although the population density information obtained based on the number of people in the current area is not greater than the preset population density threshold, after considering the tool information equipped by the target user, the actual population density information is greater than the preset population density information, and the target user cannot pass this navigation path.

[0074] S240: If yes, determine the target navigation path based on the current location information, destination information, companion information and tool information.

[0075] Specifically, if the actual population density information is greater than the preset population density threshold, a target navigation path suitable for the target user is determined based on the current location information of the target user, the destination information of the target user, the peer information, and the equipped tool information.

[0076] Exemplarily, multiple preset navigation paths can be determined based on the target user's current location information and destination information. If the actual population density information on one or several of the preset navigation paths is greater than a preset population density threshold, a navigation path suitable for the target user is recommended to the target user based on the target user's peer information and tool information, and the navigation path is used as the target navigation path.

[0077] Optionally, based on the current location information, destination information, peer information and tool information, a target navigation path is determined, including: determining at least one navigation path to be selected based on the current location information and the destination information; updating each crowd density information to be selected based on the crowd density information to be selected of the at least one navigation path to be selected, the peer information and tool information; determining the target navigation path based on the updated crowd density information to be selected and a preset personnel density threshold.

[0078] Among them, the navigation path to be selected can be understood as a navigation path determined according to the current location information, destination information and user attribute information of the target user. It can be understood that there can be more than one navigation path to be selected, but not all navigation paths to be selected are feasible. For example, when the target user is equipped with a wheelchair, if the navigation path to be selected is all stairs, then the navigation path is not feasible. The crowd density information to be selected can be understood as the personnel density information in the navigation path to be selected. The crowd density information to be selected can be determined by the navigation module of the server. The server can receive Bluetooth information and video information in each sub-area in the target area, and the personnel density information in each sub-area can be obtained based on this, including the personnel density information of the navigation path to be selected by the target user.

[0079] Specifically, at least one navigation path to be selected can be determined based on the current location information and destination information of the target user, wherein the navigation path to be selected includes navigation paths with the shortest time, the shortest path, the smallest personnel density information, with or without elevators, etc. After determining at least one navigation path to be selected for the target user, the navigation module in the server can determine the crowd density information to be selected on each navigation path to be selected, the target user's traffic information and tool information based on the Bluetooth information of the Bluetooth module on each navigation path to be selected, the video information of the camera module and the user attribute information, and update the crowd density information to be selected in real time according to the personnel changes on each navigation path to be selected. Then compare the updated crowd density information to be selected with the preset personnel density threshold, and take the navigation path to be selected whose crowd density information is not greater than the preset personnel density threshold as the target navigation path.

[0080] Optionally, a target navigation path is determined based on updated crowd density information of each to-be-selected person and a preset population density threshold, including: if at least two target navigation paths to be selected are determined based on updated crowd density information of each to-be-selected person and a preset population density threshold, then the target navigation path is determined based on the path mileage information and tool information of each target navigation path to be selected.

[0081] Among them, the target navigation path to be selected can be understood as a navigation path to be selected among multiple navigation paths to be selected, in which the crowd density information to be selected is less than the preset crowd density information; the path mileage information can be understood as the distance information between the current position of the target user and the destination on each target navigation path to be selected.

[0082] Specifically, at least two target navigation paths to be selected can be determined based on the updated crowd density information and the preset crowd density threshold. It is understandable that although each target navigation path to be selected can reach the destination, considering that the needs of the target user are different, the path mileage information and tool information of each target navigation path to be selected can be displayed to the target user, and the user selects one of the target navigation paths to be selected as the target navigation path. Exemplarily, if the target user is not equipped with tools, the target navigation path to be selected with the shortest path mileage information can be used as the target navigation path; if the target user is not equipped with tools, but there are many people traveling with him, the navigation path to be selected with the shortest path mileage information or with an elevator can be used as the target navigation path; if the target user is equipped with tools such as wheelchairs, stretchers or mobile beds, the target navigation path to be selected with an elevator can be used as the target navigation path.

[0083] S250: Arrive at the destination based on the target navigation path.

[0084] The technical solution of this embodiment is to determine the density of people on the preset navigation path according to the number of people in the video information and the Bluetooth connection information on the preset navigation path, and compare the density of people on the preset navigation path with the preset density threshold. If it is greater than the preset density threshold, it means that the preset navigation path is not feasible. If the density of people is not greater than the preset density threshold, then determine whether the density of people is greater than the preset density threshold according to the peer information and tool information in the user attribute information. Considering that the peer information and equipped tool information of the target user will affect the actual density of people in the area, when the number of people in the area is not greater than the preset density of people, the tool information needs to be considered. Through the correspondence between the preset tools and the number of people, the actual density of people on each navigation path to be selected is obtained, and it is judged whether the actual density of people is less than the preset density threshold; if so, the target navigation path is determined based on the current location information, destination information, peer information and tool information, so that the user can reach the destination according to the target navigation path. The problem that the user needs to find a suitable path according to the peer information or tool information when the user is not familiar with the path is solved, and the effect of providing the user with a suitable navigation path is achieved.

[0085] Embodiment 3

[0086] It should be noted that the present technical solution can provide users with a navigation route to their destination based on the user's current location information. It can be used not only when there is a large flow of people indoors and insufficient staff is available to provide users with timely route guidance, but also in the event of accidents such as fire or earthquake, to provide users with escape routes based on the user's current location information.

[0087] In a specific example, taking a hospital as the target area for indoor navigation, Figure 3 As shown, when a user enters a hospital, he or she scans the QR code provided by the hospital through a mobile device to start the mini program, or downloads the application software designated by the hospital. After the user enters the mini program or application software, he or she can fill in the user attribute information, such as the user's name, ID number, destination information, traveler information, and equipped tool information, according to the questions in the display interface of the mini program or application software.

[0088] A plurality of Bluetooth modules and cameras are pre-installed at different locations in the hospital, and the server can record the location information of each Bluetooth module and the location information of each camera. After the user enters the hospital, turn on the Bluetooth module in the mobile device and connect to the Bluetooth signal of the hospital. The server of the hospital can receive the Bluetooth information sent by the Bluetooth modules in various areas of the hospital, including the number of Bluetooth connections of each Bluetooth module. According to the Bluetooth information connected by the user, the server can determine the current location information of the user. Then, according to the destination information filled in by the user in the display interface of the applet or application software, the navigation module of the server can provide the user with at least one preset navigation path according to the user's current location information and destination information. It is understandable that the server can receive the Bluetooth information of the Bluetooth modules at various locations, so the density of people on each preset navigation path can be determined according to the Bluetooth information. At the same time, the video information of the camera device in the sub-area to which the Bluetooth module belongs is called, and the Bluetooth weight value of the Bluetooth device and the device weight value of the shooting device can be determined according to the Bluetooth deployment information and the camera deployment information of the current location. Furthermore, the first density information of the approximate preset navigation path can be determined based on the Bluetooth weight value and the Bluetooth connection information; the second density information can be determined based on the device weight value of the shooting device and the number of identified people, and then the personnel density information of the current location can be determined based on the first density information and the second density information.

[0089] The obtained population density information of the area is compared with the preset population density threshold. If it is greater than the preset population density threshold, it means that the preset navigation path is not feasible; if it is less than the preset population density threshold, it is determined whether the user is equipped with tools based on the user attribute information filled in by the user and the video information of the area, and the actual population density information of the area is determined based on the tool information. If the actual population density information is less than the preset population density information, the user is provided with a target navigation path to be selected based on the user's current location, destination information, peer information and tool information, which may include navigation paths with low crowd density, shortest navigation paths, with or without elevators, etc. Finally, the user determines the target navigation path based on his own needs. For example, if the user is not equipped with tools, he can choose the navigation path with the smallest path mileage information; if the user's equipped tools are wheelchairs, stretchers or mobile beds, etc., and it is inconvenient to pass through stairs, then the navigation path with elevators can be selected as the target navigation path.

[0090] In another example, taking the target area as a hospital, Figure 4As shown, when a medical disturbance, fire or earthquake occurs in the hospital, when the detection module in the server detects the signal of the smoke alarm or the information sent by the vibration sensor, or the monitoring screen sent by the video monitoring information, the server receives this information and sends the information to the monitoring platform, and the staff determines the type and level of the accident, and then retrieves the video probe in the area and queries the number of Bluetooth connections in the area. If the accident type is a medical disturbance, the security guard is notified and the police are called. At this time, the crowd in the area is relatively dense. When planning the navigation path for the user, the navigation module of the server can avoid this area and provide other navigation paths for the user; if the accident type is a fire, the security guard and firefighters are notified, and based on the density of people in each area, an effective navigation path is provided for each user to lead the user to a safe area; if the accident type is an earthquake, the broadcast module in the hospital is used to provide an effective navigation path for each user based on the density of people in each area, leading the user to a safe area, and closing the elevator and other equipment at the same time. Finally, the staff determines whether the event is over, checks whether there are casualties, and conducts subsequent processing.

[0091] like Figure 5 As shown, video surveillance modules and Bluetooth device connection modules are installed at various locations in the hospital. Users connect to Bluetooth devices through mobile phones. After users enter the hospital, the video surveillance module can monitor the flow of people in each area in real time and send the personnel density information of each area to the server. At the same time, each Bluetooth connection module can send Bluetooth connection information, including the number of Bluetooth connections, to the server. The server can determine the user's current location information based on the location information of each Bluetooth module and the camera device, and then the navigation module in the server will match the indoor intelligent path map, that is, the preset navigation path, for the user. In addition, the server can also determine whether the preset navigation path is feasible and whether it contains closed areas based on the Bluetooth connection information and video information of each Bluetooth module, as well as pre-stored hospital structure diagrams and other information, and then provide users with the best navigation path information. Finally, the target navigation path is sent to the user's mobile device for the user to view and go to the destination according to the target navigation path.

[0092] The technical solution of this embodiment collects at least one positioning information associated with the target user, and video information including the target user. The current location information of the target user and the number of people in the area can be determined through the positioning information and video information, and the navigation path can be planned for the target user according to the pre-filled user attribute information. According to the at least one positioning information, the video information and the user attribute information corresponding to the target user, the target navigation path corresponding to the target user is determined; wherein the user attribute information includes at least one of the destination information, the target user's companion information and the equipped tool information, according to the user attribute information of the target user, the target user's companion information and tool information can be determined, and then a suitable navigation path is recommended for the target user, and the destination is reached based on the target navigation path, which is used to guide the target user to the destination based on the target navigation path. It solves the problem that the user has difficulty finding a path in the target area, and even cannot find the best path to escape in the first time when an accident occurs, and achieves the effect of providing the best path for the user.

[0093] Embodiment 4

[0094] Figure 6 A device for determining a target path is provided in the fourth embodiment of the present invention. The device includes: a positioning information collection module 610, a user attribute information determination module 620 and a destination arrival module 630.

[0095] A positioning information acquisition module 610, configured to acquire at least one positioning information associated with a target user, and video information including the target user;

[0096] A user attribute information determination module 620 is used to determine a target navigation path corresponding to the target user according to the at least one positioning information, the video information and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's companion information and the equipped tool information;

[0097] The destination arrival module 630 is used to arrive at the destination based on the target navigation path.

[0098] The technical solution of this embodiment collects at least one positioning information associated with the target user, and video information including the target user. The current location information of the target user and the number of people in the area can be determined through the positioning information and video information, and the navigation path can be planned for the target user according to the pre-filled user attribute information. According to the at least one positioning information, the video information and the user attribute information corresponding to the target user, the target navigation path corresponding to the target user is determined; wherein the user attribute information includes at least one of the destination information, the target user's companion information and the equipped tool information, according to the user attribute information of the target user, the target user's companion information and tool information can be determined, and then a suitable navigation path is recommended for the target user, and the destination is reached based on the target navigation path, which is used to guide the target user to the destination based on the target navigation path. It solves the problem that the user has difficulty finding a path in the target area, and even cannot find the best path to escape in the first time when an accident occurs, and achieves the effect of providing the best path for the user.

[0099] Based on any optional technical solution in the embodiments of the present invention, optionally, the positioning information collection module is used to:

[0100] Before collecting at least one positioning information associated with the target user and the video information of the target user, user attribute information sent by the terminal device of the target user is received.

[0101] Based on any optional technical solution in the embodiments of the present invention, optionally, the positioning information acquisition module specifically includes:

[0102] A current location information determination submodule, configured to determine at least one location information associated with the target user based on the Bluetooth module in the deployment target area, and determine the current location information of the target user according to the at least one location information;

[0103] The video information retrieving submodule is used to retrieve the video information on the preset navigation path according to the current location information and the destination information in the user attribute information.

[0104] Based on any optional technical solution in the embodiments of the present invention, optionally, the user attribute information determination module specifically includes:

[0105] A personnel density information determination submodule, used to determine the personnel density information on the preset navigation path according to the number of personnel in the video information and the Bluetooth connection information on the preset navigation path;

[0106] A density threshold comparison submodule, for determining whether the personnel density information is greater than a preset personnel density threshold according to the peer information and tool information in the user attribute information if the personnel density information is not greater than a preset personnel density threshold;

[0107] The target navigation path determination submodule is used to determine the target navigation path based on the current location information, destination information, peer information and tool information.

[0108] Based on any optional technical solution in the embodiments of the present invention, optionally, the personnel density information determination submodule specifically includes:

[0109] A weight value setting unit, used to determine the Bluetooth weight of the Bluetooth device and the device weight value of the camera device according to the Bluetooth deployment information and camera deployment information of the sub-area to which the current position belongs;

[0110] A first density information determining unit, configured to determine first density information of the preset navigation path according to the Bluetooth weight value and the Bluetooth connection information;

[0111] A personnel density information determination unit is used to determine the second density information of the preset navigation path according to the device weight value and the number of personnel; and determine the personnel density information based on the first density information and the second density information.

[0112] On the basis of any optional technical solution in the embodiments of the present invention, optionally, the target navigation path determination submodule specifically includes:

[0113] a navigation path determination unit to be selected, configured to determine at least one navigation path to be selected according to the current location information and the destination information;

[0114] A crowd density information updating unit for selection, configured to update each crowd density information for selection according to the crowd density information for selection of the at least one navigation path for selection, the peer information and the tool information;

[0115] The target navigation path determination unit is used to determine the target navigation path according to the updated density information of each to-be-selected crowd flow and a preset crowd density threshold.

[0116] Based on any optional technical solution in the embodiments of the present invention, optionally, the target navigation path determination unit is specifically used to:

[0117] If at least two target navigation paths to be selected are determined based on the updated crowd density information and the preset crowd density threshold, the target navigation path is determined based on the path mileage information and tool information of each target navigation path to be selected.

[0118] The device for determining a target path provided by the embodiment of the present invention can execute the method for determining a target path provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0119] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0120] Embodiment 5

[0121] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Figure 7 A block diagram of an exemplary electronic device 40 suitable for implementing exemplary embodiments of the present invention is shown. Figure 7 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0122] like Figure 7 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 connecting different system components (including the system memory 402 and the processing unit 401).

[0123] Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0124] The electronic device 40 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 40, including volatile and non-volatile media, removable and non-removable media.

[0125] System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and / or cache memory 405. Electronic device 40 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 406 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 7 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 403 via one or more data medium interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of various embodiments of the present invention.

[0126] A program / utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 407 generally perform the functions and / or methods of the embodiments described herein.

[0127] The electronic device 40 may also communicate with one or more external devices 409 (e.g., keyboards, pointing devices, displays 410, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 40, and / or may communicate with any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 411. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 412. As shown, the network adapter 412 communicates with other modules of the electronic device 40 via the bus 403. It should be understood that although Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0128] The processing unit 401 executes various functional applications and data processing by running the programs stored in the system memory 402, such as implementing the method for determining the target path provided in the embodiment of the present invention.

[0129] Embodiment 5

[0130] Embodiment 5 of the present invention further provides a storage medium including computer executable instructions, wherein the computer executable instructions are used to execute a method for determining a target path when executed by a computer processor, the method comprising:

[0131] Collecting at least one location information associated with a target user and video information including the target user;

[0132] Determine a target navigation path corresponding to the target user according to the at least one positioning information, the video information and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information and the equipped tool information;

[0133] Arrive at the destination based on the target navigation path.

[0134] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0135] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0136] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0137] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0138] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining a target path, characterized in that: include: Collect at least one location information associated with a target user, and video information of the target user; wherein the video information of the target user is information of the target user obtained through video information of a target area, including the number of target users, peer information, and equipped tool information; Determine a target navigation path corresponding to the target user according to the at least one positioning information, the video information and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information and the equipped tool information; Arriving at the destination based on the target navigation path; The determining, according to the at least one positioning information, the video information, and the user attribute information corresponding to the target user, a target navigation path corresponding to the target user includes: Determine the density of people on the preset navigation path according to the number of people in the video information and the Bluetooth connection information on the preset navigation path; If the personnel density information is not greater than the preset personnel density threshold, determining whether the personnel density information is greater than the preset personnel density threshold according to the peer information and tool information in the user attribute information; If so, determining the target navigation path based on the current location information, destination information, peer information, and tool information; The determining, according to the number of people in the video information and the Bluetooth connection information on the preset navigation path, the density information of people on the preset navigation path includes: Determine the Bluetooth weight value of the Bluetooth device and the device weight value of the camera device according to the Bluetooth deployment information and the camera deployment information of the sub-area to which the current location belongs; Determining first density information of the preset navigation path according to the Bluetooth weight value and the Bluetooth connection information; Determining second density information of the preset navigation path according to the device weight value and the number of personnel; Determine personnel density information based on the first density information and the second density information; The determining of a target navigation path based on the current location information, the destination information, the traveling companion information and the tool information includes: Determine at least one navigation path to be selected according to the current location information and the destination information; wherein the navigation path to be selected includes a navigation path with the shortest time, the shortest path, the smallest personnel density information, and whether it contains an elevator; According to the density information of people to be selected of the at least one navigation path to be selected, the peer information and the tool information, updating the density information of each person flow to be selected; The target navigation path is determined based on the updated crowd density information to be selected and the preset crowd density threshold.

2. The method according to claim 1, characterized in that Before collecting at least one positioning information associated with the target user and the video information of the target user, the method further comprises: Receive user attribute information sent by the terminal device of the target user.

3. The method according to claim 1, characterized in that: The collecting at least one positioning information associated with a target user and video information of the target user includes: Determine at least one positioning information associated with the target user based on the Bluetooth module in the deployment target area, and determine the current location information of the target user according to the at least one positioning information; The video information on the preset navigation path is retrieved according to the current location information and the destination information in the user attribute information.

4. The method according to claim 1, characterized in that: According to the updated crowd density information to be selected and the preset crowd density threshold, the target navigation path is determined, including: If at least two target navigation paths to be selected are determined based on the updated crowd density information and the preset crowd density threshold, the target navigation path is determined based on the path mileage information and tool information of each target navigation path to be selected.

5. A device for determining a target path, characterized in that: include: A positioning information acquisition module, used to acquire at least one positioning information associated with a target user, and video information of the target user; wherein the video information of the target user is information of the target user obtained through video information of a target area, including the number of target users, peer information, and equipped tool information; A user attribute information determination module, configured to determine a target navigation path corresponding to the target user according to the at least one positioning information, the video information, and the user attribute information corresponding to the target user; wherein the user attribute information includes at least one of the destination information, the target user's peer information, and the equipped tool information; A destination arrival module, used to arrive at the destination based on the target navigation path; The user attribute information determination module specifically includes: A personnel density information determination submodule, used to determine the personnel density information on the preset navigation path according to the number of personnel in the video information and the Bluetooth connection information on the preset navigation path; A density threshold comparison submodule, for determining whether the personnel density information is greater than a preset personnel density threshold according to the peer information and tool information in the user attribute information if the personnel density information is not greater than a preset personnel density threshold; A target navigation path determination submodule is used to determine the target navigation path based on the current location information, the destination information, the peer information and the tool information if yes; The personnel density information determination submodule specifically includes: A weight value setting unit, used to determine a Bluetooth weight value of the Bluetooth device and a device weight value of the camera device according to the Bluetooth deployment information and the camera deployment information of the sub-area to which the current position belongs; A first density information determining unit, configured to determine first density information of the preset navigation path according to the Bluetooth weight value and the Bluetooth connection information; A personnel density information determining unit, configured to determine second density information of the preset navigation path according to the device weight value and the number of personnel; and determine personnel density information based on the first density information and the second density information; The target navigation path determination submodule specifically includes: A navigation path determination unit to be selected, used to determine at least one navigation path to be selected according to the current location information and the destination information; wherein the navigation path to be selected includes a navigation path with the shortest time, the shortest path, the smallest personnel density information, and whether it contains an elevator; A crowd density information updating unit for selection, configured to update each crowd density information for selection according to the crowd density information for selection of the at least one navigation path for selection, the peer information and the tool information; The target navigation path determination unit is used to determine the target navigation path according to the updated density information of each to-be-selected crowd flow and a preset crowd density threshold.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method for determining a target path as described in any one of claims 1 to 4.

7. A storage medium containing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to implement the method for determining a target path as claimed in any one of claims 1 to 4.

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