A navigation method, device and related equipment and storage medium

Abstract

The present application discloses a navigation method, an apparatus, and related equipment and storage medium, the method comprising: determining the current position of a target device based on positioning data of the target device; and determining at least two target destinations; generating at least one path planning scheme using the current position of the target device and the at least two target destinations; and generating a navigation path based on the at least one path planning scheme. In the above manner, the present application can improve the convenience of navigation operation.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a navigation method, apparatus, and related equipment and storage medium. Background Art

[0002] Currently, the choice of navigation destination is unique. That is, after the user selects a destination for navigation, he or she must follow the navigation instructions to reach the corresponding location before starting navigation for the next destination. This navigation method is very cumbersome in operation, requiring multiple navigation positioning operations, and may also cause repeated detours. Summary of the invention

[0003] The present application at least provides a navigation method, apparatus and related equipment and storage medium.

[0004] The first aspect of the present application provides a navigation method, which includes: determining a current position of a target device based on positioning data of the target device; and determining at least two target destinations; generating at least one path planning scheme using the current position of the target device and the at least two target destinations; and generating a navigation path based on the at least one path planning scheme.

[0005] Therefore, at least one path planning scheme is generated by determining the current position of the target device and at least two target destinations, and a navigation path is generated according to the at least one path planning scheme. Therefore, by performing path planning between the at least two target destinations to generate a path planning scheme, and thus generating a navigation path according to the path planning scheme, the user does not need to perform navigation operations on the at least two target destinations separately, that is, the user does not need to perform multiple navigation operations, thereby improving the convenience of the navigation operation.

[0006] Among them, at least one path planning scheme is generated using the current position of the target device and at least two target destinations, including: determining at least one target arrival order of at least two target destinations; connecting a number of locations to be connected according to each target arrival order to obtain a path planning scheme corresponding to the target arrival order, wherein the number of locations to be connected include the current position and at least two target destinations, and the starting point of each path planning scheme is the current position.

[0007] Therefore, several locations to be connected are connected according to the determined target arrival order to obtain a path planning solution corresponding to the target arrival order.

[0008] Wherein, determining at least one target arrival order of at least two target destinations includes: using the order in which the target destinations are added by the user as a target arrival order of the at least two target destinations.

[0009] Therefore, the arrival order of the destinations is determined according to the order in which the user adds the destinations, that is, the arrival order is determined according to customer expectations, thereby improving the user experience.

[0010] Among them, based on the reference factors between the places to be connected, a target arrival order of at least two target destinations is obtained, wherein the reference factors include at least one of the following: whether there is a first pass path between every two places to be connected that does not pass through other places to be connected, and the distance relationship between the places to be connected.

[0011] Therefore, a target arrival order of at least two target destinations is determined based on the reference factors between the locations to be connected, so that the path planning solution subsequently generated based on the target arrival order can avoid problems such as repeated detours or long planned distances, thereby saving arrival time.

[0012] The distance relationship between the locations to be connected is the distance between the current location and each target destination.

[0013] Therefore, when the distance relationship between the places to be connected is the distance between the current location and each target destination, the subsequent path planning solution determined based on this can form a shorter navigation path to a certain extent, saving arrival time.

[0014] Among them, based on the reference factors between the places to be connected, a target arrival order of at least two target destinations is obtained, including: taking the current position as the previous arrival place; selecting a target destination whose distance relationship satisfies a first condition as the next arrival place from the target destinations whose arrival order is not currently determined and whose first passing path exists between the target destination and the previous arrival place; taking the next arrival place as the new previous arrival place, and repeating the step of selecting a target destination whose distance relationship satisfies the first condition as the next arrival place from the target destinations whose arrival order is not currently determined and whose passing path exists between the target destination and the previous arrival place, until the arrival order of all target destinations has been determined.

[0015] Therefore, the arrival order is determined by considering the distance relationship between the locations to be connected and whether there is a direct path, so that the subsequent path planning scheme generated based on the target arrival order can avoid the problem of repeated detours and save arrival time.

[0016] Among them, according to each target arrival order, several places to be connected are connected to obtain a path planning scheme corresponding to the target arrival order, including: determining each group of adjacent places to be connected under the target arrival order; for each group of adjacent places to be connected, obtaining at least one second pass path between adjacent places to be connected, and selecting the second pass path that meets the second condition as the target pass path of the adjacent places to be connected; according to the target pass path of each adjacent place to be connected, connecting each place to be connected to obtain a path planning scheme corresponding to the target arrival order.

[0017] Therefore, by generating a path planning scheme as the target path between each group of adjacent locations to be connected that meets the second condition, it is possible to further intelligently select paths for adjacent locations to be connected, making the generated path planning scheme more flexible.

[0018] Among them, determining at least two target destinations includes: in response to the user's adding operation on several destinations, displaying several destinations in the target display area of ​​the target device; or, in response to the user's confirmation operation, determining several destinations displayed in the target display area as target destinations.

[0019] Therefore, the user can add a destination and the added destination can be displayed to the user, so that the user can finally confirm the target destination.

[0020] The operation of adding several destinations includes any one of the following: selecting a destination in a destination set; selecting a destination on a map displayed by a target device; or inputting an identifier corresponding to the destination in a search area.

[0021] Therefore, adding a destination can be achieved in different ways.

[0022] Among them, before determining that several destinations displayed in the target display area are target destinations in response to the user's confirmation operation, the navigation method also includes: in response to the user's adjustment operation on the destination, adjusting the destination in the target display area, and displaying the adjusted destination in the target display area, wherein adjusting the destination in the target display area includes any one of the following: deleting the destination in the target display area, adding a destination in the target display area, and adjusting the arrangement order of the destination in the target display area, wherein the arrangement order is used as the order in which the user adds the destination.

[0023] Therefore, among the destinations added by the user, the user can adjust the added destinations. Further, it is possible to add, delete or adjust the order of adding the destinations, and to perform more flexible operations on the added destinations.

[0024] Among them, generating a navigation path based on at least one path planning scheme includes: in response to a user's selection operation of the path planning scheme, determining a target path planning scheme from at least one path planning scheme; and generating a navigation path based on the target path planning scheme.

[0025] Therefore, by generating at least one path planning scheme for the user to select, a navigation path is generated according to the path planning scheme selected by the user, thereby enabling the user to flexibly select the path planning scheme.

[0026] The positioning data includes visual data; determining the current position of the target device based on the positioning data of the target device includes: acquiring the visual data of the target device; locating the target device using the visual data and target map data; and in response to successful positioning, obtaining the current position obtained by positioning.

[0027] Therefore, the target map data is used to locate the target device to improve the accuracy of locating the target device.

[0028] Among them, obtaining the visual data of the target device includes: receiving visual data sent by the target device; or displaying first guidance information, the first guidance information is used to instruct the user to adjust the angle of the target device; and in response to the user's first collection operation, collecting the visual data of the target device.

[0029] Therefore, by displaying the first guidance information to guide the user to adjust the angle of the target device, the visual data collected by the target device is made more suitable for positioning, thereby improving the success rate of positioning.

[0030] The navigation method further includes: when it is detected that an update condition is met, updating the target map data.

[0031] Therefore, by detecting the update condition, it is possible to automatically and flexibly update the target map data.

[0032] A second aspect of the present application provides a navigation device, which includes: a determination module, used to determine the current position of a target device based on the positioning data of the target device; and determine at least two target destinations; a first generation module, used to generate at least one path planning scheme using the current position of the target device and at least two target destinations; a second generation module, used to generate a navigation path based on at least one path planning scheme.

[0033] A third aspect of the present application provides an electronic device, which includes a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the above-mentioned navigation method.

[0034] A fourth aspect of the present application provides a computer-readable storage medium, which is used to store program instructions, and the program instructions can be executed to implement the above-mentioned navigation method.

[0035] The above scheme generates at least one path planning scheme by determining the current position of the target device and at least two target destinations, and generates a navigation path according to the at least one path planning scheme. Therefore, by performing path planning between the at least two target destinations to generate a path planning scheme, and then generating a navigation path according to the path planning scheme, the user does not need to perform navigation operations on the at least two target destinations separately, that is, the user does not need to perform multiple navigation operations, thereby improving the convenience of navigation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0037] Figure 1 It is a flowchart of an embodiment of a navigation method provided by the present application;

[0038] Figure 2 is a flowchart of an embodiment of determining at least two target destinations provided by the present application;

[0039] Figure 3 is a flowchart of an embodiment of determining the current position of a target device based on the positioning data of the target device provided by the present application;

[0040] Figure 4 It is a schematic diagram of an embodiment of a physical space video material provided by the present application;

[0041] Figure 5 is a schematic diagram of an embodiment of target map data provided by the present application;

[0042] Figure 6 It is a flowchart of an embodiment of relocating a target device provided by the present application;

[0043] Figure 7 yes Figure 1 The flowchart of step S12 is shown as an embodiment;

[0044] Figure 8 It is a schematic diagram of an embodiment of a path planning solution provided by the present application;

[0045] Fig. 9 is a schematic diagram of another implementation of the path planning solution provided by the present application;

[0046] Fig.10 yes Figure 7 The flowchart of step S122 of an embodiment is shown;

[0047] Fig.11 It is a partial schematic diagram of an embodiment of a location to be connected and a passage path provided by the present application;

[0048] Fig.12 It is a partial schematic diagram of another embodiment of the location to be connected and the passage path provided by the present application;

[0049] Fig.13 is a structural schematic diagram of an embodiment of a navigation device provided by the present application;

[0050] Fig.14 It is a structural schematic diagram of an embodiment of an electronic device provided by the present application;

[0051] Fig.15 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0052] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0053] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0054] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0055] In one embodiment, the navigation method described herein may be that the user performs relevant operations on a terminal device, the terminal device generates a corresponding operation request based on the acquired relevant operations, and sends the operation request to other non-operation devices such as the cloud, and the cloud device performs the relevant operations in response to the operation request. That is, in this embodiment, the execution subject is the cloud device, and its response to the user's relevant operations refers to responding to the relevant operation request issued by the terminal device connected to the cloud device according to the user's relevant operations. In other embodiments, the navigation method described herein may also be that the user performs relevant operations on the terminal device, and the terminal device responds based on the acquired relevant operations, that is, the terminal device responds to the relevant operations and performs the relevant operations. That is, in this embodiment, the execution subject is the terminal device, and its response to the user's relevant operations refers to responding to the user performing relevant operations on the terminal device. Among them, the terminal device includes but is not limited to mobile phones, tablet computers, computers, etc., which are not specifically limited here.

[0056] See also Figure 1 , Figure 1 is a flowchart of an embodiment of the navigation method provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not Figure 1 The process sequence shown is limited. Figure 1 As shown, this embodiment includes:

[0057] Step S11: determining a current location of the target device based on the positioning data of the target device; and determining at least two target destinations.

[0058] The method of this embodiment is used to generate a navigation route by planning a path between the current location of the target device and at least two target destinations determined by the user, without the need to perform multiple navigations to multiple destinations, thereby improving convenience. The target device described herein may be, but is not limited to, a mobile phone, a tablet computer, a computer, etc., and is not specifically limited here.

[0059] In one embodiment, after receiving the positioning data sent by the target device, the cloud device may locate the target device according to the received positioning data to determine the current location of the target device. It is understandable that in other embodiments, the target device may obtain the positioning data, and the target device may directly locate the target device according to the obtained positioning data, that is, the target device performs local positioning.

[0060] In one embodiment, the positioning data is visual data, for example, the target device collects an image or video of the current location of the target device through a camera, and the cloud device or the target device determines the current location of the target device based on the image or video collected by the target device. It can be understood that in other embodiments, the positioning data can also be other types of data such as audio data, which can be specifically set according to actual use needs and is not specifically limited here.

[0061] In one embodiment, the high-precision map data can be used to locate the current position of the target device based on the positioning data of the target device to improve the positioning accuracy. It can be understood that in other embodiments, the target device can also be located based on the positioning data of the target device using GPS or Bluetooth, etc., which is not limited here and can be specifically set according to actual use needs.

[0062] In one embodiment, the user can select the target destination for navigation planning by adding an operation, and the target destination is determined after the user confirms. In other embodiments, the user can also search or directly select a destination in the destination list, and the target destination is determined after the user confirms. Among them, the determined target destinations are at least two, and can also be three, four, etc., which are not limited here and can be specifically set according to actual use needs.

[0063] Step S12: Generate at least one path planning solution using the current location of the target device and at least two target destinations.

[0064] In this embodiment, at least one path planning scheme is generated using the current position of the target device and at least two target destinations. The number of generated path planning schemes is not limited and can be specifically set according to actual use needs.

[0065] In one embodiment, a path planning scheme can be generated based on the order in which at least two target destinations are selected and added. For example, taking the current position of the target device as A, and the three target destinations selected and added successively as 1, 2 and 3 as an example, a path planning scheme generated based on the current position of the target device and the three target destinations is: A→1→2→3. At the same time, another path planning scheme can be generated based on the positional relationship between at least two target destinations and the current position of the target device, so that the subsequent navigation path generated based on the path planning scheme is more optimized, avoiding the problem of repeated detours. For example, taking the current position of the target device as A, and the three target destinations as 1, 2 and 3 as an example, since the distance of target destination 2 relative to the current position A of the target device is smaller than the distance of target destination 1 relative to the current position A of the target device, and the distance of target destination 1 relative to the current position A of the target device is smaller than the distance of target destination 3 relative to the current position A of the target device, in order to avoid repeated detours and other problems, another path planning scheme generated based on the current position of the target device and the three target destinations is: A→2→1→3. Of course, other path planning solutions different from the above two path planning solutions may also be generated based on other rules for generating path planning solutions by utilizing the current position of the target device and at least two target destinations.

[0066] It should be noted that if the path planning schemes generated according to different path planning scheme generation rules are the same, then only one path planning scheme will be generated in the end, that is, only one navigation path will be generated later. For example, for example, taking the current position of the target device as A, and the two target destinations selected and added successively as 1 and 2, a path planning scheme generated according to the current position of the target device and the two target destinations is: A→1→2. At the same time, another path planning scheme can be generated based on the positional relationship between at least two target destinations and the current position of the target device. For example, taking the current position of the target device as A, and the two target destinations as 1 and 2, since the distance of the target destination 1 relative to the current position A of the target device is smaller than the distance of the target destination 2 relative to the current position A of the target device, in order to avoid repeated detours and other problems, another path planning scheme generated according to the current position of the target device and the two target destinations is: A→1→2. The two path planning schemes are the same, and only one path planning scheme is generated in the end: A→1→2.

[0067] Step S13: Generate a navigation path based on at least one path planning solution.

[0068] In this embodiment, a navigation path is generated according to at least one path planning scheme. That is, at least one path planning scheme generated according to the above scheme can generate a navigation path to complete navigation to at least two confirmed target destinations. In other words, the navigation method of the present application can perform path planning between at least two target destinations selected by the user to obtain a path planning scheme, thereby generating a navigation path according to the path planning scheme, without the user having to perform navigation operations on at least two target destinations separately, that is, without the user having to perform multiple navigation operations, thereby improving the convenience of navigation operations.

[0069] In a specific embodiment, in response to the user's selection operation of the path planning scheme, a target path planning scheme is determined from at least one path planning scheme; then, a navigation path is generated based on the target path planning scheme. That is, at least one path planning scheme is provided for the user to select, for example, a path planning scheme generated according to the order in which the user adds the target destinations and an optimized path planning scheme generated after considering the relationship between the target destinations are provided, etc. The user can select from the provided path planning schemes to determine the target path planning scheme, and then generate a navigation path based on the target path planning scheme, so as to achieve the user's flexible selection of path planning schemes.

[0070] In the above implementation, at least one path planning scheme is generated by determining the current position of the target device and at least two target destinations, and a navigation path is generated according to the at least one path planning scheme. Therefore, by performing path planning between the at least two target destinations to generate a path planning scheme, and thus generating a navigation path according to the path planning scheme, the user does not need to perform navigation operations for the at least two target destinations separately, that is, the user does not need to perform multiple navigation operations, thereby improving the convenience of the navigation operation.

[0071] See also Figure 2 , Figure 2 is a flowchart of an embodiment of determining at least two target destinations provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not Figure 2 The process sequence shown is limited. Figure 2 As shown, in this embodiment, the user adds several destinations to determine the target destination, specifically including:

[0072] Step S21: In response to the user's operation of adding a plurality of destinations, the plurality of destinations are displayed in a target display area of ​​the target device.

[0073] In this embodiment, in response to the user's operation of adding several destinations, several destinations are displayed in the target display area of ​​the target device, so that the user can add destinations and the added destinations are displayed to the user, so that the user can finally confirm the target destination. Specifically, the interface of the target device includes a target display area. After the user adds several destinations, the several destinations added by the user will be displayed in the target display area of ​​the target device, so that the user can intuitively see the several destinations he has added, so that the subsequent user can confirm whether there is any omission or error in adding. For example, taking the user's current location as a shopping mall as an example, the destinations added by the user are "Store 1", "Store 2" and "Store 3", then in response to the user's operation of adding "Store 1", "Store 2" and "Store 3", "Store 1", "Store 2" and "Store 3" are displayed in the target display area of ​​the target device.

[0074] In one embodiment, the user can add several destinations by selecting a destination in the destination set. For example, in a certain shopping mall, it can be displayed in the form of a destination set on the interface of the target device. The destination set can be understood as a destination list, and the user adds the destination by selecting the destination in the destination list. For example, all the destinations in the mall are a set or the destinations on each floor of the mall are a set, and the destination sets on each floor constitute the destination set of the mall. It can be understood that in other embodiments, the user can also add the destination by selecting the destination on the map displayed by the target device, that is, the user can directly select the destination on the map displayed by the target device. It can be understood that in other embodiments, the user can also enter the identifier corresponding to the destination in the search area, and the identifier is a unique character representing a certain object; for example, the identifier of "1 store" is "a", then the user can enter "a" in the search area, thereby searching for "1 store" and completing the addition of the destination "1 store".

[0075] In one embodiment, pictures corresponding to several destinations may be displayed in the target display area of ​​the target device. It is understandable that in other embodiments, names corresponding to several destinations may also be displayed in the target display area of ​​the target device, which is not specifically limited here.

[0076] In one embodiment, the execution subject is a target device, and the target device responds to the user's operation of adding the plurality of destinations to display the plurality of destinations in the target display area of ​​the target device. It can be understood that in other embodiments, the execution subject is a cloud device, and the target device generates a corresponding add operation request according to the acquisition of the user's operation of adding the plurality of destinations, and sends the add operation request to the cloud device, and the cloud device performs the add operation in response to the add operation request to display the plurality of destinations in the target display area of ​​the target device.

[0077] Step S22: In response to the user's confirmation operation, a plurality of destinations displayed in the target display area are determined as target destinations.

[0078] In this embodiment, in response to the user's confirmation operation, the destinations displayed in the target display area are determined as the target destinations. That is, after the user adds the destinations and confirms them, the confirmed destinations are the target destinations, and subsequently the navigation route is generated by performing path planning for the current location of the target device and the target destinations confirmed by the user, without the need to perform navigation for each of the target destinations confirmed by the user.

[0079] After the user adds several destinations, there may be situations where some destinations are missed or added incorrectly. Therefore, in one embodiment, before determining that several destinations displayed in the target display area are the target destinations in response to the user's confirmation operation, the destinations need to be adjusted. Specifically, in response to the user's adjustment operation on the destination, the destination in the target display area is adjusted, and the adjusted destination is displayed in the target display area. In a specific embodiment, the user adjusts the destination in the target display area, including any of the following: deleting the destination in the target display area, adding a destination in the target display area, adjusting the sorting order of the destination in the target display area (for example, adjusting the sorting order of the destination in the target display area by dragging), wherein the sorting order is used as the order in which the user adds the destination. That is, among the destinations added by the user, the user can adjust the added destinations. Furthermore, it is possible to add, delete or adjust the order in which the destinations are added, so as to achieve more flexible operations on the added destinations.

[0080] In one embodiment, the execution subject is a target device, and the target device responds to the user's adjustment operation on the multiple destinations to adjust the destinations in the target display area; or, the target device responds to the user's confirmation operation on the multiple destinations to determine that the multiple destinations displayed in the target display area are the target destinations. It can be understood that in other embodiments, the execution subject is a cloud device, and the target device generates a corresponding adjustment operation request based on the user's adjustment operation on the multiple destinations, and sends the adjustment operation request to the cloud device, and the cloud device performs a corresponding adjustment operation in response to the adjustment operation request to adjust the destinations in the target display area; or, the target device generates a corresponding confirmation operation request based on the user's confirmation operation on the multiple destinations, and sends the confirmation operation request to the cloud device, and the cloud device performs a corresponding confirmation operation in response to the confirmation operation request to determine that the multiple destinations displayed in the target display area are the target destinations.

[0081] See also Figure 3 , Figure 3 1 is a flow chart of an embodiment of determining the current position of a target device based on the positioning data of the target device provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not use Figure 3 The process sequence shown is limited. Figure 3 As shown, in this embodiment, the current position of the target device is determined by using high-precision map data through visual data, specifically including:

[0082] Step S31: Acquire visual data of the target device.

[0083] Wherein, the positioning data includes visual data. In this embodiment, the current position of the target device is determined based on the visual data obtained by the target device. In one embodiment, the visual data may be a picture of the current position. It is understandable that in other embodiments, the visual data may also be a video of the current position.

[0084] In one embodiment, data is directly collected through the target device, and in response to the user's first collection operation, the target device collects visual data of the target device. For example, taking the target device as a mobile phone and the visual data as a picture corresponding to the current position, the user captures a picture frame through the camera of the mobile phone, and in response to the user's first collection operation through the camera of the mobile phone, the mobile phone collects the picture of the current position.

[0085] Since there may be visual data collection errors and the like in the process of collecting visual data of the target device, the subsequent positioning based on the visual data fails. Therefore, in one embodiment, the first guidance information is displayed on the target device, and the first guidance information is used to instruct the user to adjust the angle of the target device so that the user can adjust the angle of the target device to accurately collect visual data and avoid the user from performing collection operations when the target device is at an incorrect angle. For example, the user aims the target device at the ground to collect visual data, so that the visual data collected by the target device is more suitable for positioning, thereby improving the success rate of subsequent positioning. After the user adjusts the angle of the target device according to the first guidance information, the visual data of the target device is collected in response to the user's first collection operation. In a specific embodiment, the first guidance information can be text information, which states how to adjust the angle of the target device through text information. It can be understood that in other specific embodiments, the first guidance information can also be picture information, which more intuitively shows how to adjust the angle of the target device in the form of pictures; of course, the first guidance information can also be in the form of animation, which is not specifically limited here.

[0086] In one embodiment, when the execution entity is a cloud device, after the target device collects the visual data of the target device, the visual data of the target device is sent to the cloud device, and the cloud device receives the visual data sent by the target device, so that the cloud device obtains the visual data of the target device.

[0087] In one embodiment, the positioning data is visual data, so the camera of the target device is required to collect visual data. Therefore, after the navigation software is opened and before positioning navigation is performed, in response to the user's triggering access operation to the navigation software, an inquiry message is displayed on the target device, and the inquiry message is used to ask the user whether to allow the navigation software to access the camera; in response to the user's confirmation to allow the operation, subsequent steps such as visual data acquisition are performed.

[0088] Step S32: Utilize the visual data and the target map data to locate the target device.

[0089] In this embodiment, the target device is positioned using the visual data and the target map data. Specifically, the acquired visual data of the target device is matched with the target map data to position the target device.

[0090] In one embodiment, after detecting that the target map data meets the update condition, the target map data is updated. By detecting the update condition, the target map data can be automatically and flexibly updated. The update condition is not limited and can be specifically set according to actual use needs. For example, the target map data can be updated after detecting that the target map data meets the update time; for another example, the target map data can be updated after detecting that the target map data meets the update version. In other embodiments, the target map data can also be manually updated at any time.

[0091] In one embodiment, the target map data is high-precision map data, and the target device is positioned by using the high-precision map data and the visual data of the target device, which can improve the positioning accuracy of the target device. Figure 4-Figure 5 As shown, Figure 4 is a schematic diagram of an embodiment of a physical space video material provided by this application, Figure 5 1 is a schematic diagram of an embodiment of the target map data provided by the present application. The video material of the target physical space, i.e., the space to be navigated, is collected through a video collection tool such as a mobile phone or a panoramic camera. Then, the SFM (Structure From Motion) algorithm, i.e., a 3D reconstruction algorithm or other related reconstruction algorithms, is used to complete the 3D modeling of the entire target physical space based on the collected video material, thereby obtaining a 1:1 scale 3D physical space modeling, i.e., obtaining the following: Figure 5 High-precision map data of the target physical space shown.

[0092] Among them, when collecting video materials of the target physical space through video acquisition tools such as mobile phones or panoramic cameras, all scenes in the target physical space can be collected first to ensure that the collected video materials include all scenes; in addition, video materials for a certain scene can be repeatedly collected to improve the accuracy of the high-precision map data constructed subsequently.

[0093] In one embodiment, the high-precision map can be deployed locally, that is, deployed on the target device, so the execution subject is the target device at this time, and the target device matches the visual data with the high-precision map data to locate the target device and achieve local positioning. Since the deployment of the high-precision map locally requires the storage of the installation package of the high-precision map data on the target device, the installation package is large, so it needs to be loaded when using the navigation software or applet, causing the target device to run slowly. Therefore, in one embodiment, the high-precision map can also be deployed on a cloud device. At this time, the execution subject is the cloud device, and the cloud device matches the positioning data with the high-precision map data to locate the target device.

[0094] Step S33: In response to successful positioning, the current position obtained by positioning is obtained.

[0095] In this embodiment, in response to successful positioning, that is, in response to successful matching of the acquired visual data of the target device with the target map data, the current position obtained by positioning is obtained, and the positioning of the target device is achieved. Specifically, the acquired visual data of the target device is successfully matched with the target map data deployed on the cloud device or the target device, and the current position of the target device can be obtained.

[0096] When the positioning of the target device fails, a prompt indicating positioning failure is given, that is, in response to the positioning failure, that is, in response to the failure to match the acquired visual data of the target device with the target map data, a prompt indicating positioning failure is given. In one embodiment, a prompt indicating positioning failure may be displayed on the target device. It is understandable that in other embodiments, a prompt indicating positioning failure may also be played in the form of voice broadcast, which is not limited here and may be specifically set according to actual use needs.

[0097] In other embodiments, in response to the positioning failure, the target device is directly relocated. Alternatively, in other embodiments, the target device is relocated after prompting the positioning failure, that is, notifying the user of the positioning failure.

[0098] In a specific embodiment, Figure 6 As shown, Figure 6 is a flow chart of an embodiment of relocating a target device provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not use Figure 6 The process sequence shown is limited. Figure 6 As shown, in this embodiment, the execution subject is the target device, that is, the target device is used to perform the relevant relocation operations, specifically including:

[0099] Step S61: display the second guidance information, and in response to the second collection operation of the user, collect and obtain new visual data of the target device.

[0100] The failure of positioning may be due to the fact that the collected visual data is wrong or not accurate enough. Therefore, in this embodiment, the second guidance information is displayed on the target device, and the second guidance information is used to instruct the user to adjust the angle of the target device so that the user can adjust the angle of the target device to accurately collect visual data, so that the visual data collected by the target device is more suitable for positioning, and the success rate of subsequent repositioning is improved. After the user adjusts the angle of the target device according to the second guidance information, in response to the user's second collection operation, new visual data of the target device is collected. In a specific embodiment, the second guidance information can be text information, which states how to adjust the angle of the target device through text information. It can be understood that in other specific embodiments, the second guidance information can also be picture information, which more intuitively shows how to adjust the angle of the target device in the form of pictures; of course, the second guidance information can also be in the form of animation, which is not specifically limited here.

[0101] Step S62: Positioning the target device based on the new visual data and the target map data.

[0102] In this embodiment, the target device is positioned using the new visual data and the target map data. Specifically, the acquired new visual data of the target device is matched with the target map data to position the target device.

[0103] In other embodiments, when the execution entity is a cloud device, that is, when the cloud device is used to perform related repositioning operations, after the target device collects new visual data of the target device, the new visual data of the target device is sent to the cloud device, and the cloud device receives the new visual data sent by the target device, so that the cloud device obtains the new visual data of the target device and realizes the repositioning of the target device by the cloud device.

[0104] In one embodiment, if the number of times the target device is relocated exceeds a preset number, it may be because the current location of the target device is not within the preset area, that is, the target device is not within the target map data range, so the target device cannot be located. At this time, a prompt message to go to the preset area for positioning is displayed on the target device or announced by voice.

[0105] See also Figure 7 , Figure 7 yes Figure 1 FIG. 1 is a flow chart of an embodiment of step S12. It should be noted that if there is substantially the same result, this embodiment does not necessarily use Figure 7 The process sequence shown is limited. Figure 7 As shown, this embodiment includes:

[0106] Step S121: Determine at least one target arrival order of at least two target destinations.

[0107] In this implementation, at least one target arrival sequence of at least two target destinations is determined so that a corresponding path planning solution can be subsequently generated according to each target arrival sequence.

[0108] In one embodiment, the order of the target destinations added by the user is used as a target arrival order of at least two target destinations, that is, the arrival order is determined according to the user's expectations, thereby improving the user's experience. Figure 8 As shown, Figure 8 This is a schematic diagram of an embodiment of the path planning solution provided in the present application. The current position of the target device is the starting point. The user adds target destination 1, target destination 2, target destination 3, target destination 4 and target destination 5 in sequence. Then, the order of reaching the targets is: starting point → 1 → 2 → 3 → 4 → 5.

[0109] It is understandable that in other embodiments, a target arrival order of at least two target destinations can be obtained based on the reference factors between the places to be connected, so that the path planning scheme generated based on the target arrival order can avoid repeated detours or long planned routes, thereby saving arrival time. Among them, the places to be connected include the current location of the target device and at least two target destinations. It should be noted that the starting point of each path planning scheme is the current location of the target device.

[0110] In one embodiment, the reference factor includes whether there is a first passable path between every two locations to be connected that does not pass through other locations to be connected, that is, according to whether there is a first passable path between every two locations to be connected that does not pass through other locations to be connected, a target arrival order of at least two target destinations is obtained. For example, taking the current location as A and the target destinations as 1 and 2, that is, taking the locations to be connected as A, 1 and 2, respectively, since the passable path between location A to be connected and location 1 to be connected needs to pass through location 2 to be connected, that is, there is no first passable path between location A to be connected and location 1 to be connected that does not pass through other locations to be connected, and there is a first passable path between location A to be connected and location 2 to be connected that does not pass through other locations to be connected, the target arrival order obtained according to whether there is a first passable path between every two locations to be connected that does not pass through other locations to be connected is: A→2→1. For another example, taking the current position as A and the target destinations as 1, 2 and 3, that is, taking the places to be connected as A, 1, 2 and 3 respectively, since there is no first passable path between the places to be connected A and the place to be connected 1 and between the places to be connected A and the place to be connected 2 that does not pass through other places to be connected, and there is a first passable path between the places to be connected A and the place to be connected 3 that does not pass through other places to be connected, if the current position A is taken as the starting point, the target destination 3 is reached first; and there is a first passable path between the places to be connected 3 and the place to be connected 1 that does not pass through other places to be connected, and there is no first passable path between the places to be connected 3 and the place to be connected 2 that does not pass through other places to be connected, so starting from the target destination 3, 1 is reached first, and then 2; therefore, according to whether there is a first passable path between each two places to be connected that does not pass through other places to be connected, the target arrival order is: A→3→1→2.

[0111] In other embodiments, the reference factor includes the distance relationship between the locations to be connected, that is, based on the distance relationship between the locations to be connected, a target arrival order of at least two target destinations is obtained. In a specific embodiment, the distance relationship between the locations to be connected is the distance between the current location and each target destination, that is, the target arrival order of at least two target destinations is determined by the distance between the current location and each target destination, so that the subsequent path planning scheme determined based on this can form a shorter navigation path to a certain extent, saving arrival time. For example, Fig. 9 As shown, Fig. 9It is a schematic diagram of another implementation of the path planning solution provided by this application. The current position of the target device is the starting point, and the target destinations are 1, 2, 3, 4, and 5 respectively. Since the distance between the target destination 1 and the starting point is R1, the distance between the target destination 2 and the starting point is R2, the distance between the target destination 3 and the starting point is R3, the distance between the target destination 4 and the starting point is R4, and the distance between the target destination 5 and the starting point is R5, and the magnitude relationship of the distances between the starting point and each target destination is: R1 < R3 < R2 < R4 < R5; therefore, the target arrival order determined according to the distance relationship between the current position and each target destination is: starting point → 1 → 3 → 2 → 4 → 5.

[0112] In other specific embodiments, the first arrival location in the target arrival order can also be determined first according to the distance between the current position of the target device and each target destination, and then the second arrival location can be determined according to the distance relationship between the first arrival location and the target destinations whose orders have not been determined until the arrival orders of all target destinations are confirmed. By considering the distance relationship between the locations to be connected and whether there is a direct passage path together to determine the arrival order, the subsequent path planning solution generated based on this target arrival order can avoid the problem of repeated detours and save arrival time. Specifically, use the current position as the previous arrival location; select the target destination that satisfies the first condition in terms of the distance relationship from the target destinations whose arrival orders have not been determined and there is a first passage path between them and the previous arrival location as the next arrival location; use the next arrival location as the new previous arrival location, and repeat the step of selecting the target destination that satisfies the first condition in terms of the distance relationship from the target destinations whose arrival orders have not been determined and there is a first passage path between them and the previous arrival location as the next arrival location until the arrival orders of all target destinations have been determined. Among them, the first condition is not limited and can be specifically set according to actual usage needs. For example, the first condition is that the distance between the target destinations whose arrival orders have not been determined and there is a first passage path between them and the previous arrival location is the smallest.

[0113] For example, the first condition is that the distance between the target destinations whose arrival order is not determined and there is a first pass path between them and the previous arrival place is the smallest, and the current position is A, and the target destinations are 1, 2, and 3. Take the current position A as the previous arrival place. Since the arrival order of target destination 1 and target destination 4 is not determined and there is a first pass path between target destination 4 and target destination 1 and the current position A, and the distance between target destination 4 and the current position A is less than the distance between target destination 1 and the current position A, that is, the distance relationship between target destination 4 and the current position A meets the first condition, and target destination 4 is taken as the next arrival place. Then, target destination 4 is taken as the new previous arrival place. , only the target destination 2 has not determined the arrival order and only the first pass path exists between the target destination 2 and the target destination 4, so the target destination 2 is taken as the next arrival place; then, the target destination 2 is taken as the new previous arrival place, the target destination 1 and the target destination 3 have not determined the arrival order and there is a first pass path between the target destination 2, and the distance between the target destination 3 and the target destination 2 is less than the distance between the target destination 1 and the target destination 2, that is, the distance relationship between the target destination 3 and the target destination 2 meets the first condition, and the target destination 3 is taken as the next arrival place; at this time, the target destination 1 is the last next arrival place, and the arrival order of all the target destinations is determined. That is, the final target arrival order is: A→4→2→3→1.

[0114] In other embodiments, the reference factors include both the distance relationship between the places to be connected and whether there is a first passable path between every two places to be connected that does not pass through other places to be connected. That is, based on the distance relationship between the places to be connected and whether there is a first passable path between every two places to be connected that does not pass through other places to be connected, a target arrival order for at least two target destinations is obtained.

[0115] Step S122: Connect a number of locations to be connected according to each target arrival sequence, and obtain a path planning solution corresponding to the target arrival sequence.

[0116] In this embodiment, according to each target arrival order, a plurality of locations to be connected are connected to obtain a path planning scheme corresponding to the target arrival order. That is, according to the determined target arrival order, the locations to be connected are connected to obtain a path planning scheme corresponding to the target arrival order. By using the second pass path between each group of adjacent locations to be connected that meets the second condition as the target pass path to generate a path planning scheme, it is possible to further intelligently select a pass path for adjacent locations to be connected, so that the generated path planning scheme is more flexible. For example, there are two target arrival orders, one of which is as follows: Figure 8As shown, the target arrival order is: starting point → 1 → 2 → 3 → 4 → 5. Then, according to the target arrival order, the starting point and target destination 1 are connected, the target destination 1 and the target destination 2 are connected, the target destination 2 and the target destination 3 are connected, the target destination 3 and the target destination 4 are connected, and the target destination 4 and the target destination 5 are connected, so as to obtain Figure 8 The path planning scheme corresponding to the target arrival sequence shown in the figure; another target arrival sequence is as follows Fig. 9 As shown, the target arrival order is: starting point → 1 → 3 → 2 → 4 → 5. Then, according to the target arrival order, the starting point and target destination 1 are connected, the target destination 1 and the target destination 3 are connected, the target destination 3 and the target destination 2 are connected, the target destination 2 and the target destination 4 are connected, and the target destination 4 and the target destination 5 are connected, so as to obtain Fig. 9 The path planning scheme corresponding to the target arrival sequence shown.

[0117] Since there may be multiple paths between each group of adjacent locations to be connected according to the target arrival order, in order to obtain a more optimized and convenient path planning solution, in one implementation, Fig.10 As shown, Fig.10 yes Figure 7 The flowchart of step S122 of an embodiment shown in the figure screens the multiple paths to determine the target path when there are multiple paths between each group of adjacent locations to be connected, and specifically includes the following sub-steps:

[0118] Step S1221: Determine each group of adjacent locations to be connected in the target arrival order.

[0119] In this embodiment, each group of adjacent locations to be connected in the target arrival order is determined. For example, taking the target arrival order as: starting point → 1 → 3 → 2 → 4 → 5, each group of adjacent locations to be connected is determined as: the starting point is adjacent to location 1 to be connected, location 1 to be connected is adjacent to location 3 to be connected, location 3 to be connected is adjacent to location 2 to be connected, location 2 to be connected is adjacent to location 4 to be connected, and location 4 to be connected is adjacent to location 5 to be connected.

[0120] Step S1222: For each group of adjacent locations to be connected, at least one second pass path between the adjacent locations to be connected is obtained, and a second pass path that meets the second condition is selected as a target pass path for the adjacent locations to be connected.

[0121] In this embodiment, for each group of adjacent locations to be connected, at least one second pass path between the adjacent locations to be connected is obtained, and a second pass path that meets the second condition is selected as the target pass path of the adjacent locations to be connected. Among them, the second condition is not limited, and can be specifically set according to actual use needs. For example, the second condition is the path with the shortest distance among the second pass paths between the adjacent locations to be connected. For example, taking the second condition as the path with the shortest distance among the second pass paths between the adjacent locations to be connected, and the adjacent locations to be connected are 1 and 2 as an example, there are 3 second pass paths between the adjacent locations to be connected 1 and 2, and the second pass paths are A, B and C respectively; since the second pass path B is the path with the shortest distance among the second pass paths between the adjacent locations to be connected 1 and 2, and meets the second condition, the second pass path B is used as the target pass path between the adjacent locations to be connected 1 and 2.

[0122] It should be noted that when there is only one second passage path between adjacent locations to be connected, the second passage path is directly used as the target passage path between the adjacent locations to be connected.

[0123] In one embodiment, the traversable paths between adjacent connection locations and the locations to be connected can be drawn in advance using 2D map editing software or Unity so that they can be selected as target destinations and traversable paths later. Figure 11-Figure 12 As shown, Fig.11 is a partial schematic diagram of an embodiment of a location to be connected and a passage path provided by the present application, Fig.12 This is a partial schematic diagram of another embodiment of the location to be connected and the passage path provided by the present application. The high-precision map data constructed above is loaded into the 2D map editing software, and the passage path between the location to be connected and the adjacent connection location is set by the 2D map editing software. Fig.11 As shown, the 2D map editing software also includes a parameter setting area, namely area A. For example, a spatial map can be displayed on the 2D map editing software by selecting "SPATIAL MAP", a mesh can be displayed on the 2D map editing software by selecting "Mesh", or a texture can be displayed on the 2D map editing software by selecting "Texture".

[0124] Step S1223: Connect each location to be connected according to the target travel path of each adjacent location to be connected, and obtain a path planning solution corresponding to the target arrival order.

[0125] In this embodiment, each to-be-connected location is connected according to the target passage path of each adjacent to-be-connected location, and a path planning scheme corresponding to the target arrival order is obtained. For example, the target arrival order is: 1→3→2, and the target passage path between the to-be-connected location 1 and the to-be-connected location 3 is A1, and the target passage path between the to-be-connected location 3 and the to-be-connected location 2 is B3; the target passage path A1 between the to-be-connected location 1 and the to-be-connected location 3 is connected, and the target passage path B3 between the to-be-connected location 3 and the to-be-connected location 2 is connected, and a path planning scheme corresponding to the target arrival order of 1→3→2 is obtained.

[0126] See also Fig.13 , Fig.13 1 is a schematic diagram of the structure of an embodiment of a navigation device provided by the present application. The navigation device 130 includes a determination module 131, a first generation module 132 and a second generation module 133. The determination module 131 is used to determine the current position of the target device based on the positioning data of the target device; and determine at least two target destinations; the first generation module 132 is used to generate at least one path planning scheme using the current position of the target device and at least two target destinations; the second generation module 133 is used to generate a navigation path based on at least one path planning scheme.

[0127] Among them, the first generation module 132 is used to generate at least one path planning scheme using the current position of the target device and at least two target destinations, specifically including: determining at least one target arrival order of at least two target destinations; connecting a number of locations to be connected according to each target arrival order to obtain a path planning scheme corresponding to the target arrival order, wherein the number of locations to be connected include the current position and at least two target destinations, and the starting point of each path planning scheme is the current position.

[0128] Among them, the first generation module 132 is used to determine at least one target arrival order of at least two target destinations, specifically including: using the order in which the target destinations are added by the user as a target arrival order of at least two target destinations; and / or, based on the reference factors between the places to be connected, obtaining a target arrival order of at least two target destinations, wherein the reference factors include at least one of the following: whether there is a first passable path between each two places to be connected that does not pass through other places to be connected, and the distance relationship between the places to be connected.

[0129] Among them, the distance relationship between the above-mentioned places to be connected is the distance between the current position and each target destination; and / or, the first generation module 132 is used to obtain a target arrival order of at least two target destinations based on the reference factor between the places to be connected, specifically including: taking the current position as the previous arrival place; selecting a target destination whose distance relationship satisfies the first condition as the next arrival place from the target destinations whose arrival order is not currently determined and whose first pass path exists between the previous arrival place and the target destination; taking the next arrival place as the new previous arrival place, and repeating the step of selecting a target destination whose distance relationship satisfies the first condition as the next arrival place from the target destinations whose arrival order is not currently determined and whose pass path exists between the previous arrival place and the target destination until the arrival order of all target destinations has been determined.

[0130] Among them, the first generation module 132 is used to connect several places to be connected according to each target arrival order to obtain a path planning scheme corresponding to the target arrival order, specifically including: determining each group of adjacent places to be connected under the target arrival order; for each group of adjacent places to be connected, obtaining at least one second pass path between adjacent places to be connected, and selecting the second pass path that meets the second condition as the target pass path of the adjacent places to be connected; connecting each place to be connected according to the target pass path of each adjacent place to be connected to obtain a path planning scheme corresponding to the target arrival order.

[0131] Among them, the first generation module 132 is used to determine at least two target destinations, specifically including: in response to the user's addition operation of several destinations, displaying several destinations in the target display area of ​​the target device; or, in response to the user's confirmation operation, determining that several destinations displayed in the target display area are target destinations.

[0132] Among them, the above-mentioned operation of adding several destinations includes any one of the following: selecting a destination in the destination set; selecting a destination on the map displayed by the target device; entering an identifier corresponding to the destination in the search area; the navigation device 130 also includes an adjustment module 134, and the adjustment module 134 is used to respond to the user's confirmation operation and determine that several destinations displayed in the target display area are the target destination, specifically including: responding to the user's adjustment operation on the destination, adjusting the destination in the target display area, and displaying the adjusted destination in the target display area, wherein adjusting the destination in the target display area includes any one of the following: deleting the destination in the target display area, adding a destination in the target display area, and adjusting the arrangement order of the destination in the target display area, wherein the arrangement order is used as the order in which the user adds the destination.

[0133] Among them, the second generation module 133 is used to generate a navigation path based on at least one path planning scheme, specifically including: in response to the user's selection operation of the path planning scheme, determining a target path planning scheme from at least one path planning scheme; and generating a navigation path based on the target path planning scheme.

[0134] Among them, the above-mentioned positioning data includes visual data; the determination module 131 is used to determine the current position of the target device based on the positioning data of the target device, specifically including: obtaining the visual data of the target device; using the visual data and the target map data to locate the target device; in response to successful positioning, obtaining the current position obtained by positioning.

[0135] Among them, the determination module 131 is used to obtain the visual data of the target device, specifically including: receiving the visual data sent by the target device; or, displaying a first guidance information, the first guidance information is used to instruct the user to adjust the angle of the target device; and in response to the user's first collection operation, collecting the visual data of the target device; the navigation device 130 also includes an update module 135, the update module 135 is used to detect that the update conditions are met and update the target map data.

[0136] See also Fig.14 , Fig.14 1 is a schematic diagram of the structure of an embodiment of an electronic device provided by the present application. The electronic device 140 includes a memory 141 and a processor 142 coupled to each other, and the processor 142 is used to execute program instructions stored in the memory 141 to implement the steps of any of the above navigation method embodiments. In a specific implementation scenario, the electronic device 140 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 140 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0137] Specifically, the processor 142 is used to control itself and the memory 141 to implement the steps of any of the above-mentioned navigation method embodiments. The processor 142 can also be called a CPU (Central Processing Unit). The processor 142 may be an integrated circuit chip with signal processing capabilities. The processor 142 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 142 can be implemented by an integrated circuit chip.

[0138] See also Fig.15 , Fig.15 It is a structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 150 of the embodiment of the present application stores a program instruction 151, and when the program instruction 151 is executed, the method provided by any embodiment of the navigation method of the present application and any non-conflicting combination is implemented. Among them, the program instruction 151 can form a program file and be stored in the above-mentioned computer-readable storage medium 150 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of each implementation method of the present application. The aforementioned computer-readable storage medium 150 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0139] If the technical solution of this application involves personal information, the product using the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using the technical solution of this application has obtained the individual's separate consent before processing the sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, clear and prominent signs are set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that he or she agrees to the collection of his or her personal information; or on the device that processes personal information, the personal information processing rules are notified by obvious signs / information, and the individual's authorization is obtained through pop-up information or by asking the individual to upload his or her personal information; among them, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0140] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A navigation method, characterized in that: The method comprises: determining a current location of the target device based on the positioning data of the target device; and determining at least two target destinations; At least one path planning scheme is generated using the current position of the target device and the at least two target destinations; wherein the path planning scheme is generated by connecting the at least two target destinations in a target arrival order, and the target arrival order of the at least two target destinations is determined based on reference factors between places to be connected, the places to be connected include the current position and the at least two target destinations, and the reference factors include whether there is a first passable path between each two places to be connected that does not pass through other places to be connected and the distance relationship between the places to be connected; generating a navigation path based on the at least one path planning scheme; Wherein, determining the target arrival order of the at least two target destinations based on the reference factor between the locations to be connected includes: Taking the current location as the previous arrival place; From the target destinations whose arrival order is not currently determined and which have the first passable path to the previous arrival destination, select the target destination whose distance relationship satisfies the first condition as the next arrival destination; The next destination is taken as the new previous destination, and the step of selecting the target destination whose distance relationship satisfies the first condition as the next destination from the target destinations whose arrival order has not yet been determined and which have the travel path with the previous destination is repeated until the arrival order of all the target destinations has been determined.

2. The method according to claim 1, characterized in that The step of generating at least one path planning solution by using the current position of the target device and the at least two target destinations includes: determining at least one target arrival order of the at least two target destinations; According to each of the target arrival sequences, a number of locations to be connected are connected to obtain a path planning scheme corresponding to the target arrival sequence, wherein the starting point of each of the path planning schemes is the current location.

3. The method according to claim 1, characterized in that: The distance relationship between the locations to be connected is the distance between the current location and each of the target destinations.

4. The method according to claim 2, characterized in that: According to each of the target arrival sequences, a plurality of locations to be connected are connected to obtain a path planning solution corresponding to the target arrival sequence, including: Determine each group of adjacent locations to be connected in the target arrival order; For each group of the adjacent locations to be connected, obtaining at least one second pass path between the adjacent locations to be connected, and selecting the second pass path that meets the second condition as the target pass path of the adjacent locations to be connected; According to the target travel paths of the adjacent locations to be connected, the locations to be connected are connected to obtain a path planning solution corresponding to the target arrival order.

5. The method according to any one of claims 1 to 4, characterized in that: The determining of at least two target destinations comprises: In response to a user's operation of adding a plurality of destinations, displaying the plurality of destinations in a target display area of ​​the target device; or, In response to a confirmation operation of the user, the plurality of destinations displayed in the target display area are determined to be the target destinations.

6. The method according to claim 5, characterized in that The operation of adding multiple destinations includes any of the following: Choose a destination with a concentrated destination; selecting a destination on a map displayed by the target device; Enter the symbol corresponding to the destination in the search area; And / or, before determining, in response to the user's confirmation operation, that the plurality of destinations displayed in the target display area are the target destinations, the method further includes: In response to a user's adjustment operation on the destination, the destination in the target display area is adjusted, and the adjusted destination is displayed in the target display area, wherein the adjustment of the destination in the target display area includes any one of the following: deleting the destination in the target display area, adding a destination in the target display area, and adjusting the arrangement order of the destinations in the target display area, wherein the arrangement order is used as the order in which the user adds the destinations.

7. The method according to any one of claims 1 to 4, characterized in that: The generating a navigation path based on the at least one path planning scheme includes: In response to a user's selection operation of the path planning solution, determining a target path planning solution from the at least one path planning solution; Based on the target path planning solution, a navigation path is generated.

8. The method according to any one of claims 1 to 4, characterized in that: The positioning data includes visual data; and determining the current position of the target device based on the positioning data of the target device includes: Acquiring visual data of the target device; locating the target device using the visual data and the target map data; In response to the positioning being successful, a current position obtained by the positioning is obtained.

9. The method according to claim 8, characterized in that The acquiring of visual data of the target device includes: receiving the visual data sent by the target device; or, displaying first guidance information, wherein the first guidance information is used to instruct the user to adjust the angle of the target device; and acquiring visual data of the target device in response to a first acquisition operation of the user; And / or, the method further comprises: It is detected that the update condition is met, and the target map data is updated.

10. A navigation device, characterized in that: The device comprises: a determination module, configured to determine a current location of the target device based on the positioning data of the target device; and determine at least two target destinations; A first generation module is configured to generate at least one path planning scheme using the current position of the target device and the at least two target destinations; wherein the path planning scheme is generated by connecting the at least two target destinations in a target arrival order, and the target arrival order of the at least two target destinations is determined based on a reference factor between locations to be connected, the locations to be connected include the current position and the at least two target destinations, and the reference factor includes whether there is a first passable path between each two locations to be connected that does not pass through other locations to be connected and a distance relationship between the locations to be connected; A second generating module, configured to generate a navigation path based on the at least one path planning scheme; Wherein, determining the target arrival order of the at least two target destinations based on the reference factor between the locations to be connected includes: Taking the current location as the previous arrival place; From the target destinations whose arrival order is not currently determined and which have the first passable path to the previous arrival destination, select the target destination whose distance relationship satisfies the first condition as the next arrival destination; The next destination is taken as the new previous destination, and the step of selecting the target destination whose distance relationship satisfies the first condition as the next destination from the target destinations whose arrival order has not yet been determined and which have the travel path with the previous destination is repeated until the arrival order of all the target destinations has been determined.

11. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program instructions, and the program instructions can be executed to implement the method according to any one of claims 1 to 9.

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