A mobile robot movement control method, device and equipment

Abstract

The application provides a mobile robot movement control method, device and equipment, the method comprising: if the visit mode is started, a configuration interface is provided to the management object, the configuration interface comprises map information corresponding to a plurality of candidate paths between a starting position point and a terminal position point; configuration information input by the management object is obtained from the configuration interface, the configuration information comprises a first coefficient value corresponding to a first candidate path and a second coefficient value corresponding to a second candidate path, the first candidate path is a movement path of a target object, and the second candidate path is a driving path of the mobile robot; a target path is selected from the plurality of candidate paths based on the first coefficient value and the second coefficient value, and the mobile robot is controlled to move from the starting position point to the terminal position point based on the target path. Through the application scheme, which candidate path can be controlled as the target path, and the mobile robot can be controlled to drive on the specified path.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a method, apparatus and equipment for controlling the movement of a mobile robot. Background Technology

[0002] In recent years, various types of mobile robots have developed rapidly in terms of technology and market. Mobile robots are automated work devices that rely on their own power and control capabilities to achieve various functions. Mobile robots can be commanded by humans, run pre-programmed programs, and act according to strategies formulated by artificial intelligence. For example, a user can use a manual remote control to control a mobile robot to perform related operations. The manual remote control can wirelessly send operation commands to the mobile robot, and after receiving the operation command, the mobile robot will execute the operation specified in the operation command to complete the relevant function.

[0003] With the rapid development of mobile robot technology, mobile robots are increasingly being used in logistics, warehousing, and factory production, for example, to transport objects. However, there is currently no reasonable way to effectively control the movement of mobile robots. Summary of the Invention

[0004] This application provides a method for controlling the movement of a mobile robot, the method comprising:

[0005] If the visitor mode has been activated, a configuration interface is provided to the managed object. The configuration interface includes map information corresponding to multiple candidate paths between the starting point and the ending point.

[0006] The configuration information input by the managed object is obtained from the configuration interface. The configuration information includes a first coefficient value corresponding to a first candidate path and a second coefficient value corresponding to a second candidate path. The first candidate path is the motion path of the target object, and the second candidate path is the driving path of the mobile robot.

[0007] Based on the first coefficient value and the second coefficient value, a target path is selected from the plurality of candidate paths, and the mobile robot is controlled to move from the starting position point to the ending position point based on the target path.

[0008] This application provides a mobile control device for a mobile robot, the device comprising:

[0009] The acquisition module is used to provide a configuration interface to the managed object if the visitor mode has been activated. The configuration interface includes map information corresponding to multiple candidate paths between the starting point and the ending point. The module also acquires configuration information input by the managed object from the configuration interface. The configuration information includes a first coefficient value corresponding to a first candidate path and a second coefficient value corresponding to a second candidate path. The first candidate path is the movement path of the target object, and the second candidate path is the driving path of the mobile robot.

[0010] A determining module is configured to select a target path from the plurality of candidate paths based on the first coefficient value and the second coefficient value;

[0011] The control module is used to control the mobile robot to move from the starting position point to the ending position point based on the target path.

[0012] This application provides an electronic device, including a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the mobile robot movement control method disclosed in this application.

[0013] As can be seen from the above technical solutions, in this embodiment, a target path can be selected from all candidate paths, and the mobile robot can be controlled to move from the starting point to the ending point based on the target path. By controlling the path cost corresponding to the candidate path, and thus controlling which candidate path is used as the target path, the mobile robot can be controlled to travel on the specified path, effectively controlling the movement process of the mobile robot. For example, when the visitor mode is activated, the mobile robot can be controlled to prioritize traveling along the movement path of the target object, thereby enabling the target object to visit the mobile robot; or, the mobile robot can be controlled to avoid traveling along the movement path of the target object, thereby enabling the target object to visit the mobile robot. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings of the embodiments of this application.

[0015] Figure 1 This is a flowchart illustrating a mobile robot movement control method according to one embodiment of this application.

[0016] Figure 2A This is a schematic diagram of the first control mode of the visitor mode in one embodiment of this application;

[0017] Figure 2B This is a schematic diagram of the second control mode of the visitor mode in one embodiment of this application;

[0018] Figure 3 This is a flowchart illustrating a mobile robot movement control method according to one embodiment of this application.

[0019] Figure 4 This is a flowchart illustrating a mobile robot movement control method according to one embodiment of this application.

[0020] Figure 5 This is a flowchart illustrating a mobile robot movement control method according to one embodiment of this application.

[0021] Figure 6 This is a schematic diagram of the structure of a mobile robot's motion control device according to one embodiment of this application;

[0022] Figure 7 This is a hardware structure diagram of an electronic device according to one embodiment of this application. Detailed Implementation

[0023] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “the,” and “the” as used in this application and claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to any and all possible combinations comprising one or more of the associated listed items.

[0024] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" may also be interpreted as "when," "when," or "in response to a determination."

[0025] This application proposes a mobile robot movement control method to achieve mobile robot movement control. See [link to relevant documentation]. Figure 1 The diagram shown is a flowchart of the method, which may include:

[0026] Step 101: If the visitor mode has been activated, a configuration interface is provided to the managed object. This configuration interface can include map information corresponding to multiple candidate paths between the starting point and the ending point.

[0027] Step 102: Obtain the configuration information input by the management object from the configuration interface. The configuration information may include the first coefficient value corresponding to the first candidate path and the second coefficient value corresponding to the second candidate path. The first candidate path is the motion path of the target object, and the second candidate path is the driving path of the mobile robot.

[0028] Step 103: Select the target path from multiple candidate paths based on the first coefficient value and the second coefficient value, and control the mobile robot to move from the starting position point to the ending position point based on the target path.

[0029] For example, selecting a target path from multiple candidate paths based on a first coefficient value and a second coefficient value may include, but is not limited to: configuring a first cost adjustment coefficient for a first candidate path based on the first coefficient value and configuring a second cost adjustment coefficient for a second candidate path based on the second coefficient value; determining a first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient and determining a second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient; and selecting a target path from the first candidate path and the second candidate path based on the first path cost value and the second path cost value.

[0030] For example, determining the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient, and determining the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient, may include, but is not limited to: determining the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient and the actual path length corresponding to the first candidate path, and determining the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient and the actual path length corresponding to the second candidate path.

[0031] For example, selecting a target path from a first candidate path and a second candidate path based on the first path cost value and the second path cost value may include, but is not limited to: determining the candidate path with the smallest path cost value based on the path cost value corresponding to each candidate path; if the candidate path with the smallest path cost value is the second candidate path, then the second candidate path with the smallest path cost value can be selected as the target path; or, if the candidate path with the smallest path cost value is both the first candidate path and the second candidate path, then one of the first candidate path and the second candidate path can be selected as the target path.

[0032] In one possible implementation, the visit mode is used to enable the target object to visit the mobile robot, in which the mobile robot preferentially travels along the target object's movement path; or, the visit mode is used to enable the target object to visit the mobile robot, in which the mobile robot avoids traveling along the target object's movement path.

[0033] For example, if the first control mode of the visit mode is activated, the first control mode is used to enable the mobile robot to avoid traveling along the movement path of the target object, wherein: the second path cost value corresponding to the second coefficient value is less than the first path cost value corresponding to the first coefficient value; the first path cost value corresponding to the first coefficient value is used to prevent the first candidate path from becoming the target path of the mobile robot, and the second path cost value corresponding to the second coefficient value is used to make the second candidate path become the target path of the mobile robot.

[0034] For example, if the second control mode of the visit mode is activated, the second control mode is used to enable the mobile robot to travel along the motion path of the target object first, wherein: the second path cost value corresponding to the second coefficient value can be equal to the first path cost value corresponding to the first coefficient value; the first path cost value corresponding to the first coefficient value and the second path cost value corresponding to the second coefficient value are used to enable the first candidate path and the second candidate path to become the target path of the mobile robot in a balanced manner.

[0035] As can be seen from the above technical solutions, in this embodiment, a target path can be selected from all candidate paths, and the mobile robot can be controlled to move from the starting point to the ending point based on the target path. By controlling the path cost corresponding to the candidate path, and thus controlling which candidate path is used as the target path, the mobile robot can be controlled to travel on the specified path, effectively controlling the movement process of the mobile robot. For example, when the visitor mode is activated, the mobile robot can be controlled to prioritize traveling along the movement path of the target object, thereby enabling the target object to visit the mobile robot; or, the mobile robot can be controlled to avoid traveling along the movement path of the target object, thereby enabling the target object to visit the mobile robot.

[0036] The technical solutions of the embodiments of this application will be described below in conjunction with specific application scenarios.

[0037] A mobile robot is a machine that automatically performs tasks. It relies on its own power and control capabilities to achieve various functions. There are no restrictions on the type of mobile robot; it can be any type. For example, a mobile robot can be an AGV (Automatic Guided Vehicle) or other types of mobile robots. An AGV is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guidance path, and possessing safety protection, movement, and cargo-carrying functions.

[0038] With the rapid development of mobile robot technology, mobile robots are increasingly being used in logistics, warehousing, and factory production, for example, to transport objects. However, there is currently no reasonable way to effectively control the movement of mobile robots.

[0039] For example, in some application scenarios, the target object (such as a pedestrian or a visitor) may want to visit the mobile robot's work site. However, when the mobile robot selects its travel path, the distance between the mobile robot's travel path and the target object's travel path may be too far, preventing the target object from visiting the mobile robot's work site. In other words, because the mobile robot's movement process cannot be effectively controlled, the target object cannot visit the mobile robot's work site.

[0040] In response to the above findings, this application proposes a visit mode. When the visit mode is activated, the mobile robot can be controlled to travel along the movement path of the target object first, thereby enabling the target object to visit the mobile robot. Alternatively, when the visit mode is activated, the mobile robot can be controlled to avoid traveling along the movement path of the target object, but the distance between the mobile robot's movement path and the target object's movement path is relatively close, thereby enabling the target object to visit the mobile robot.

[0041] For example, the visit mode is a new function of the mobile robot. When the visit mode is activated, the mobile robot can be controlled to prioritize traveling along the movement path of the target object (i.e., the mobile robot is controlled to move along a specific path that is the same as the movement path of the target object), or the mobile robot can be controlled to avoid traveling along the movement path of the target object as much as possible (i.e., the mobile robot is controlled to move along a specific path that is different from the movement path of the target object), thereby enabling the target object to visit the mobile robot during operation.

[0042] In one possible implementation, if the visitor mode is not activated, for each mobile robot, multiple candidate paths between the starting and ending points can be obtained, and the path attributes corresponding to each candidate path can be acquired. These path attributes may include the actual path length, meaning the actual path length for each candidate path can be obtained. For each candidate path, the path cost can be determined based on its actual path length; for example, the actual path length can be used as the path cost. Based on the path cost of each candidate path, a target path can be selected from the multiple candidate paths. For instance, the candidate path with the lowest path cost can be selected as the target path, meaning the candidate path with the lowest actual path length can be selected as the target path. Based on this, the mobile robot can be controlled to move from the starting point to the ending point based on the target path; that is, the mobile robot can be controlled to move based on the candidate path with the lowest actual path length.

[0043] In another possible implementation, if the visitor mode has been activated, for each mobile robot, multiple candidate paths between the starting and ending points can be obtained. The path attributes for each candidate path are acquired, including the actual path length and a cost adjustment coefficient. For each candidate path, the path cost is determined based on its actual length and cost adjustment coefficient; for example, the product of the actual path length and the cost adjustment coefficient is used as the path cost. Based on the path cost of each candidate path, a target path is selected from the multiple candidate paths; for example, the candidate path with the lowest path cost is selected as the target path. Based on this, the mobile robot can be controlled to move from the starting point to the ending point along the target path.

[0044] In summary, if the visitor mode has been activated, based on the known actual path length, the path cost of candidate paths can be controlled using a cost adjustment coefficient. This allows for the selection of which candidate path becomes the target path, enabling the mobile robot to travel along the designated path and effectively controlling its movement. For example, the robot can be controlled to prioritize traveling along the target object's path, thus allowing the target object to visit the robot. Alternatively, the robot can be controlled to avoid traveling along the target object's path, also allowing the target object to visit the robot.

[0045] In one possible implementation, the visit mode can be divided into a first control mode and a second control mode. The first control mode prevents the mobile robot from traveling along the target object's path. That is, if the first control mode is activated, the mobile robot will avoid traveling along the target object's path, but its path will be relatively close to the target object's path, thus allowing the target object to visit the mobile robot. The second control mode prioritizes the mobile robot traveling along the target object's path. That is, if the second control mode is activated, the mobile robot will prioritize traveling along the target object's path, thus allowing the target object to visit the mobile robot.

[0046] See Figure 2AThe diagram illustrates the first control mode of the visitor mode. Multiple candidate paths between the starting and ending points can be divided into a first candidate path, a second candidate path, and a third candidate path. There is one first candidate path, which is the movement path of the target object; the target object will travel on the first candidate path. There is also one second candidate path, which is the travel path of the mobile robot; the mobile robot will travel on the second candidate path. It's important to note that the first and second candidate paths are relatively close together, meaning that while the target object is traveling on the first candidate path, it can also visit the mobile robot traveling on the second candidate path. The number of third candidate paths can be at least one, or zero; there is no restriction, and the number of third candidate paths does not affect the implementation of the visitor mode.

[0047] See Figure 2B The diagram illustrates the second control mode of the visitor mode. Multiple candidate paths between the starting and ending points can be divided into a first candidate path, a second candidate path, and a third candidate path. There is one first candidate path, which is the movement path of the target object; the target object will travel on the first candidate path. There is also one second candidate path, which is the travel path of the mobile robot; the mobile robot will travel on the second candidate path. The number of third candidate paths can be at least one, or zero; there is no restriction on this, and the number of third candidate paths does not affect the implementation of the visitor mode.

[0048] It's important to note that in the second control mode of the visitor mode, some mobile robots travel on the first candidate path, while others travel on the second candidate path. That is, some mobile robots follow the same path as the target object, while others follow a different path. Because some mobile robots travel on the first candidate path (i.e., their paths match the target object's), the target object can visit the mobile robots traveling on the first candidate path. The interval between the first and second candidate paths may be relatively short, meaning the target object can visit the mobile robots traveling on the second candidate path while traveling on the first. Conversely, the interval may be relatively large, meaning the target object will not visit the mobile robots traveling on the second candidate path while traveling on the first.

[0049] In one possible implementation, if the first control mode of the visitor mode is activated, the first control mode is used to enable the mobile robot to avoid traveling along the movement path of the target object; that is, the first control mode is a visitor mode in which the target object and the mobile robot are separated. To implement the first control mode of the visitor mode, see [link to relevant documentation]. Figure 3 As shown, the mobile robot's movement control method may include the following steps:

[0050] Step 301: The management device provides a configuration interface to the managed object (such as the management user). The configuration interface may include map information of multiple candidate paths between the starting point and the ending point.

[0051] For example, the management device can be a server, which implements the management function. The management device can also be any mobile robot among all mobile robots, which implements the management function. There is no restriction on the type of management device, as long as the management device can implement the management function.

[0052] For example, the management device can provide a configuration interface to the managed object. This configuration interface is a human-machine interface, on which the managed object performs operations to input configuration information into the management device.

[0053] Based on the map information of multiple candidate paths displayed in the configuration interface, the management object can determine which candidate path will be the first candidate path, i.e., the movement path of the target object. The management object can select the first candidate path from the multiple candidate paths and enter the corresponding first coefficient value in the configuration interface. For example, the management object can select the rectangular area of ​​the first candidate path using the mouse, right-click to bring up the attribute configuration, and select the first coefficient value for that rectangular area using the selection box.

[0054] Based on the map information of multiple candidate paths displayed in the configuration interface, the management object can determine which candidate path will be the second candidate path, i.e., the mobile robot's travel path. The management object can select the second candidate path from the multiple candidate paths and input the corresponding second coefficient value in the configuration interface. For example, the management object can select a rectangular area of ​​the second candidate path using the mouse, right-click to bring up the attribute configuration, and select the second coefficient value for that rectangular area using the selection box.

[0055] Step 302: The management device obtains the first configuration information input by the management object from the configuration interface. The first configuration information includes the first coefficient value corresponding to the first candidate path and the second coefficient value corresponding to the second candidate path.

[0056] For example, since the management object inputs the first coefficient value corresponding to the first candidate path in the configuration interface, the management device can obtain the first coefficient value corresponding to the first candidate path from the configuration interface.

[0057] Since the managed object inputs the second coefficient value corresponding to the second candidate path in the configuration interface, the management device can obtain the second coefficient value corresponding to the second candidate path from the configuration interface.

[0058] Step 303: The management device configures a first cost adjustment coefficient based on a first coefficient value for the first candidate path, and configures a second cost adjustment coefficient based on a second coefficient value for the second candidate path. The path cost value corresponding to the first cost adjustment coefficient is used to prevent the first candidate path from becoming the target path of the mobile robot, and the path cost value corresponding to the second cost adjustment coefficient is used to make the second candidate path become the target path of the mobile robot.

[0059] For example, the product of the actual path length and the cost adjustment coefficient can be used as the path cost. Given the actual path length, the cost adjustment coefficient controls the path cost corresponding to the candidate paths, thereby controlling which candidate path becomes the target path. Clearly, since the path cost corresponding to the first cost adjustment coefficient is used to prevent the first candidate path from becoming the target path of the mobile robot, the first cost adjustment coefficient is used to increase the path cost. The first cost adjustment coefficient can be a value greater than 1, making the path cost corresponding to the first cost adjustment coefficient relatively large, preventing the first candidate path from becoming the target path of the mobile robot. For example, the first cost adjustment coefficient can be an integer, such as 3, 4, 5, 6, etc., or it can be a non-integer, such as 1.5, 2.5, 3.6, etc. There are no restrictions on this, as long as the path cost corresponding to the first cost adjustment coefficient is sufficient to prevent the first candidate path from becoming the target path of the mobile robot.

[0060] Since the path cost value corresponding to the second cost adjustment coefficient is used to make the second candidate path the target path of the mobile robot, the second cost adjustment coefficient is used to reduce the path cost value. The second cost adjustment coefficient can be a value greater than 0 and less than 1, so that the path cost value corresponding to the second cost adjustment coefficient is relatively small, making the second candidate path the target path of the mobile robot. For example, the second cost adjustment coefficient can be 1 / 3, 1 / 4, 1 / 5, 1 / 6, etc., without restriction, as long as the path cost value corresponding to the second cost adjustment coefficient is sufficient to make the second candidate path the target path of the mobile robot.

[0061] For example, suppose the actual length of the path corresponding to the first candidate path is a1, the actual length of the path corresponding to the second candidate path is a2, and the actual length of the path corresponding to the third candidate path is a3. The first cost adjustment coefficient corresponding to the first candidate path is b1, the second cost adjustment coefficient corresponding to the second candidate path is b2, and the third cost adjustment coefficient corresponding to the third candidate path is b3. The path cost value corresponding to the first candidate path is a1*b1, the path cost value corresponding to the second candidate path is a2*b2, and the path cost value corresponding to the third candidate path is a3*b3. Based on this, in order to prevent the first candidate path from becoming the target path of the mobile robot and to make the second candidate path become the target path of the mobile robot, then a2*b2 needs to be less than a1*b1, and a2*b2 needs to be less than a3*b3. Since the actual path lengths a1, a2, and a3 are all known values, and the third cost adjustment coefficient b3 can be a default value (such as 1), by controlling the first cost adjustment coefficient b1 and the second cost adjustment coefficient b2, we can make a2*b2 less than a1*b1 and a2*b2 less than a3*b3. In this way, the second candidate path can be used as the target path of the mobile robot.

[0062] For example, to achieve the goal of "the path cost corresponding to the first cost adjustment coefficient being used to prevent the first candidate path from becoming the target path of the mobile robot, and the path cost corresponding to the second cost adjustment coefficient being used to make the second candidate path become the target path of the mobile robot," in one possible implementation, the first coefficient value can be a value greater than 1, and the second coefficient value can be a value greater than 0 and less than 1. Based on this, the first coefficient value can be used as the first cost adjustment coefficient corresponding to the first candidate path, and the second coefficient value can be used as the second cost adjustment coefficient corresponding to the second candidate path. For instance, the first coefficient value can be an integer, such as 3, 4, 5, 6, etc., or it can be a non-integer, such as 1.5, 2.5, 3.6, etc., and can be directly used as the first cost adjustment coefficient. The second coefficient value can be 1 / 3, 1 / 4, 1 / 5, 1 / 6, etc., and can be directly used as the second cost adjustment coefficient.

[0063] In another possible implementation, the first coefficient value can be a positive value greater than 1, and the second coefficient value can be a negative value less than -1. Based on this, the first coefficient value can be used as the first cost adjustment coefficient corresponding to the first candidate path, and the absolute value of the second coefficient value can be calculated, with the quotient of 1 and this absolute value used as the second cost adjustment coefficient corresponding to the second candidate path. For example, the first coefficient value can be an integer, such as 3, 4, 5, 6, etc., or it can be a non-integer, such as 1.5, 2.5, 3.6, etc., and can be directly used as the first cost adjustment coefficient. The second coefficient value can be a negative value such as -3, -4, -5, -6, -1.5, -2.5, -3.6, etc. The absolute value of the second coefficient value can be calculated, with the quotient of 1 and this absolute value used as the second cost adjustment coefficient, such as 1 / 3, 1 / 4, 1 / 5, 1 / 6, 1 / 1.5, 1 / 2.5, 1 / 3.6, etc.

[0064] For example, the first coefficient value can be a positive integer greater than 1, and the second coefficient value can be a negative integer less than -1. The integer range of the first coefficient value and the second coefficient value can be set to [-A, A]. A can be a positive integer greater than 1, and A can be configured based on experience, such as A being a preset constant, such as 10.

[0065] In summary, we can obtain the first cost adjustment coefficient corresponding to the first candidate path and the second cost adjustment coefficient corresponding to the second candidate path. We can configure the first cost adjustment coefficient for the first candidate path, that is, the first cost adjustment coefficient is used as the path attribute corresponding to the first candidate path. We can also configure the second cost adjustment coefficient for the second candidate path, that is, the second cost adjustment coefficient is used as the path attribute corresponding to the second candidate path.

[0066] In one possible implementation, if the second control mode of the visitor mode is activated, the second control mode is used to enable the mobile robot to preferentially travel along the movement path of the target object. That is, the second control mode is a visitor mode that combines the target object and the mobile robot. To implement the second control mode of the visitor mode, see [link to documentation]. Figure 4 As shown, the mobile robot's movement control method may include the following steps:

[0067] Step 401: The management device provides a configuration interface to the managed object (such as the management user). The configuration interface may include map information of multiple candidate paths between the starting point and the ending point.

[0068] For example, the management device can provide a configuration interface to the managed object. This configuration interface is a human-machine interface, on which the managed object performs operations to input configuration information into the management device.

[0069] Based on the map information of multiple candidate paths displayed in the configuration interface, the management object can determine which candidate path will be the first candidate path, i.e., the movement path of the target object. The management object can select the first candidate path from the multiple candidate paths and enter the corresponding first coefficient value in the configuration interface. For example, the management object can select the rectangular area of ​​the first candidate path using the mouse, right-click to bring up the attribute configuration, and select the first coefficient value for that rectangular area using the selection box.

[0070] Based on the map information of multiple candidate paths displayed in the configuration interface, the management object can determine which candidate path will be the second candidate path, i.e., the mobile robot's travel path. The management object can select the second candidate path from the multiple candidate paths and input the corresponding second coefficient value in the configuration interface. For example, the management object can select a rectangular area of ​​the second candidate path using the mouse, right-click to bring up the attribute configuration, and select the second coefficient value for that rectangular area using the selection box.

[0071] Step 402: The management device obtains the second configuration information input by the management object from the configuration interface. The second configuration information includes the first coefficient value corresponding to the first candidate path and the second coefficient value corresponding to the second candidate path.

[0072] Step 403: The management device configures a first cost adjustment coefficient based on a first coefficient value for the first candidate path, and configures a second cost adjustment coefficient based on a second coefficient value for the second candidate path. The path cost value corresponding to the first cost adjustment coefficient and the path cost value corresponding to the second cost adjustment coefficient can be the same, so that the first and second candidate paths can become the target paths of the mobile robot in a balanced manner.

[0073] For example, the product of the actual path length and the cost adjustment coefficient can be used as the path cost. Given the actual path length, the cost adjustment coefficient controls the path cost of candidate paths, thereby controlling which candidate path becomes the target path. Clearly, since the path cost corresponding to the first cost adjustment coefficient is the same as that corresponding to the second cost adjustment coefficient, and the first and second candidate paths need to be balanced to become the target paths of the mobile robot, the first cost adjustment coefficient is used to reduce the path cost, making it relatively small so that the first candidate path can become the target path of the mobile robot. For example, the first cost adjustment coefficient can be 1 / 3, 1 / 4, 1 / 5, 1 / 6, etc. Similarly, the second cost adjustment coefficient is used to reduce the path cost, making it relatively small, and the path cost corresponding to the second cost adjustment coefficient is the same as that corresponding to the first cost adjustment coefficient, making the second candidate path become the target path of the mobile robot. For example, the second cost adjustment coefficient can be 1 / 3, 1 / 4, 1 / 5, 1 / 6, etc.

[0074] For example, suppose the actual length of the first candidate path is a1, the actual length of the second candidate path is a2, and the actual length of the third candidate path is a3. The first cost adjustment coefficient for the first candidate path is b1, the second cost adjustment coefficient for the second candidate path is b2, and the third cost adjustment coefficient for the third candidate path is b3. The path cost value for the first candidate path is a1*b1, the path cost value for the second candidate path is a2*b2, and the path cost value for the third candidate path is a3*b3. Based on this, in order to make the first and second candidate paths become the target paths of the mobile robot in a balanced way, then a2*b2 needs to be equal to a1*b1, and a2*b2 needs to be less than a3*b3. Since the actual path lengths a1, a2, and a3 are all known values, and the third cost adjustment coefficient b3 can be a default value (such as 1), by controlling the first cost adjustment coefficient b1 and the second cost adjustment coefficient b2, we can make a2*b2 equal to a1*b1 and a2*b2 less than a3*b3. In this way, the first candidate path and the second candidate path can become the target path of the mobile robot in a balanced manner.

[0075] To achieve the goal of "the path cost corresponding to the first cost adjustment coefficient being the same as the path cost corresponding to the second cost adjustment coefficient, so that the first candidate path and the second candidate path can become the target paths of the mobile robot in a balanced way," in one possible implementation, the first coefficient value can be a value greater than 0 and less than 1, and the second coefficient value can be a value greater than 0 and less than 1. Based on this, the first coefficient value can be used as the first cost adjustment coefficient corresponding to the first candidate path, and the second coefficient value can be used as the second cost adjustment coefficient corresponding to the second candidate path. In this embodiment, there are no restrictions on the first and second coefficient values, as long as they satisfy "a2*b2 equals a1*b1, and a2*b2 is less than a3*b3".

[0076] In summary, we can obtain the first cost adjustment coefficient corresponding to the first candidate path and the second cost adjustment coefficient corresponding to the second candidate path. We can configure the first cost adjustment coefficient for the first candidate path, that is, the first cost adjustment coefficient is used as the path attribute corresponding to the first candidate path. We can also configure the second cost adjustment coefficient for the second candidate path, that is, the second cost adjustment coefficient is used as the path attribute corresponding to the second candidate path.

[0077] In one possible implementation, a target distance between the first candidate path and the second candidate path (e.g., the distance between the centers of the first and second candidate paths) can be obtained. If the target distance is less than a preset threshold (which can be configured empirically and is not limited), the first control mode of the visit mode can be activated. If the target distance is not less than the preset threshold, the second control mode of the visit mode can be activated. For example, if the target distance between the first and second candidate paths is less than the preset threshold, it means that the interval between the first and second candidate paths is relatively short. When the target object travels on the first candidate path, it can also visit the mobile robot traveling on the second candidate path. Therefore, the first control mode of the visit mode can be activated, which is used to prevent the mobile robot from traveling along the target object's movement path. If the target distance between the first and second candidate paths is not less than the preset threshold, it means that the interval between the first and second candidate paths is relatively long. When the target object travels on the first candidate path, it can no longer visit the mobile robot traveling on the second candidate path. Therefore, the second control mode of the visit mode can be activated, which is used to make the mobile robot preferentially travel along the target object's movement path.

[0078] In another possible implementation, visitor mode information can be configured by the management object, which indicates either a first control mode or a second control mode for activating the visitor mode. Based on this visitor mode information, either the first control mode or the second control mode can be activated.

[0079] In the above application scenarios, this application proposes a mobile robot motion control method to achieve mobile robot motion control. This method can be applied to mobile robots (e.g., each mobile robot), see [link to relevant documentation]. Figure 5 The diagram shown is a flowchart of the method, which may include:

[0080] Step 501: Obtain multiple candidate paths between the starting point and the ending point, and obtain the path attributes corresponding to each candidate path. The path attributes may include the actual path length and cost adjustment coefficient.

[0081] Step 502: For each candidate path, determine the path cost based on the actual path length and the cost adjustment coefficient. For example, the product of the actual path length and the cost adjustment coefficient can be used as the path cost.

[0082] In one possible implementation, if the visit mode has been activated, the path cost of the candidate path is determined based on the actual path length and the cost adjustment coefficient corresponding to the candidate path. The visit mode is used to enable the target object to visit the mobile robot, and the mobile robot preferentially travels along the target object's movement path; alternatively, the visit mode is used to enable the target object to visit the mobile robot, and the mobile robot avoids traveling along the target object's movement path.

[0083] In one possible implementation, the path cost of a candidate path can be determined using the following formula, based on the actual path length and the cost adjustment coefficient of the candidate path:

[0084]

[0085] `edge_cost` represents the cost of the candidate path, `edge_length` represents the actual length of the candidate path, and `edge_len_scale` is an integer representing the coefficient value of the candidate path. If `edge_len_scale > 0`, then `edge_len_scale` represents the cost adjustment coefficient of the candidate path; if `edge_len_scale < 0`, then... This represents the cost adjustment coefficient corresponding to the candidate path.

[0086] For example, if the first control mode of the visitor mode is activated, then for the first candidate path, the first coefficient value edge_len_scale corresponding to the first candidate path can be an integer greater than 1, and the first cost adjustment coefficient edge_len_scale corresponding to the first candidate path can also be an integer greater than 1. For the second candidate path, the second coefficient value edge_len_scale corresponding to the second candidate path can be an integer less than -1, and the second cost adjustment coefficient corresponding to the second candidate path... It can be a value greater than 0 and less than 1. For the third candidate path, the coefficient value edge_len_scale corresponding to the third candidate path can be 1, and the cost adjustment coefficient edge_len_scale corresponding to the third candidate path can be 1.

[0087] For example, if the second control mode of the visitor mode is activated, for the first candidate path, the first coefficient value edge_len_scale corresponding to the first candidate path can be a value greater than 0, and the first cost adjustment coefficient edge_len_scale corresponding to the first candidate path can be a value greater than 0 (e.g., greater than 0 and less than 1). For the second candidate path, the second coefficient value edge_len_scale corresponding to the second candidate path can be a value greater than 0, and the second cost adjustment coefficient edge_len_scale corresponding to the second candidate path can be a value greater than 0 (e.g., greater than 0 and less than 1). For the third candidate path, the coefficient value edge_len_scale corresponding to the third candidate path is 1, and the cost adjustment coefficient edge_len_scale corresponding to the third candidate path is 1.

[0088] Step 503: Select the target path from multiple candidate paths based on the path cost value corresponding to each candidate path. For example, based on the path cost value corresponding to each candidate path, determine the candidate path with the smallest path cost value; if the candidate path with the smallest path cost value is a single candidate path, then select the candidate path with the smallest path cost value as the target path; if the candidate path with the smallest path cost value is at least two candidate paths, then select one candidate path from at least two candidate paths as the target path.

[0089] For example, for each mobile robot, one candidate path can be randomly selected from at least two candidate paths as the target path. Assuming that the candidate paths with the lowest path cost are the two candidate paths (denoted as candidate path 1 and candidate path 2), then for each mobile robot, there is a 50% probability of selecting candidate path 1 as the target path and a 50% probability of selecting candidate path 2 as the target path.

[0090] Assuming there are 10 mobile robots in total, then 5 mobile robots will choose candidate path 1 as the target path, and 5 mobile robots will choose candidate path 2 as the target path.

[0091] For example, if the first control mode of the visit mode is activated, the path cost value corresponding to the first candidate path is a1*b1, the path cost value corresponding to the second candidate path is a2*b2, and the path cost value corresponding to the third candidate path (which can be at least one third candidate path or none) is a3*b3. Since a2*b2 is less than a1*b1 and a2*b2 is less than a3*b3, the candidate path with the lowest path cost is the second candidate path, which can be selected as the target path. In this way, the travel path of the mobile robot can be controlled to be the second candidate path, meaning all mobile robots travel on the second candidate path. Since the target object's movement path is the first candidate path, the mobile robots are controlled to avoid traveling along the target object's movement path. However, the distance between the mobile robot's travel path (i.e., the second candidate path) and the target object's movement path (i.e., the first candidate path) is relatively short, thus enabling the target object to visit the mobile robots. See also... Figure 2A As shown, the second candidate path and the first candidate path are two parallel paths. One is the travel path of the mobile robot, and the other is the movement path of the target object. In order to facilitate the visit of the target object, the path cost corresponding to the travel path of the mobile robot (i.e., the second candidate path) can be reduced, and the path cost corresponding to the movement path of the target object (i.e., the first candidate path) can be increased. This allows the mobile robot to move along the designated path first, reducing interference with the pedestrian passage.

[0092] For example, if the second control mode of the visit mode is activated, the path cost value corresponding to the first candidate path is a1*b1, the path cost value corresponding to the second candidate path is a2*b2, and the path cost value corresponding to the third candidate path is a3*b3. Since a2*b2 equals a1*b1 and a2*b2 is less than a3*b3, the candidate paths with the lowest path cost are the first and second candidate paths. Either the first or second candidate path can be selected as the target path. In this way, the travel paths of some mobile robots can be controlled to follow the first candidate path, and the travel paths of others can follow the second candidate path. Because the target object's movement path is the first candidate path, some mobile robots (e.g., 50% of the mobile robots) are controlled to preferentially travel along the target object's movement path, while the remaining mobile robots (e.g., 50% of the mobile robots) avoid traveling along the target object's movement path, thus enabling the target object to visit the mobile robots. See also... Figure 2BAs shown, the second candidate path and the first candidate path are two parallel paths. One is the travel path of the mobile robot, and the other is a path shared by the target object and the mobile robot. In order to facilitate the visit of the target object, the path cost corresponding to the first candidate path can be controlled so that the target object and some mobile robots share the first candidate path and reduce the frequency of the mobile robot passing through the first candidate path, but without completely prohibiting the mobile robot from passing through the first candidate path.

[0093] Step 504: Control the mobile robot to move from the starting position point to the ending position point based on the target path.

[0094] As can be seen from the above technical solutions, in this embodiment, based on the known actual path length, the path cost corresponding to the candidate path can be controlled based on the cost adjustment coefficient, thereby controlling which candidate path becomes the target path. This enables the mobile robot to travel on the specified path and effectively controls the movement process of the mobile robot. For example, when the visitor mode is activated, the mobile robot can be controlled to prioritize traveling along the movement path of the target object, thus enabling the target object to visit the mobile robot. Alternatively, the mobile robot can be controlled to avoid traveling along the movement path of the target object, thus enabling the target object to visit the mobile robot. The method of adjusting the map cost to avoid the target object during mobile robot navigation can also be implemented to allow the mobile robot to approach the target object. This satisfies the requirement that the mobile robot prioritizes traveling along the specified route of the target object, and can also restrict the area where the mobile robot passes through the target object's movement. By opening the map edge cost modification interface, the map edge cost of the selected area (such as the candidate path) can be increased or decreased through human-computer interaction. Then, the modified cost map is used to influence the robot navigation (i.e., path planning), which can have two directions of influence on the cost of the map edge: increasing the cost or decreasing the cost.

[0095] Based on the same concept as the method described above, this embodiment proposes a mobile control device for a mobile robot, see [link to relevant documentation]. Figure 6 The diagram shown is a structural schematic of the device, which includes:

[0096] The acquisition module 61 is used to provide a configuration interface to the managed object if the visitor mode has been activated. The configuration interface includes map information corresponding to multiple candidate paths between the starting point and the ending point. The module also acquires configuration information input by the managed object from the configuration interface. The configuration information includes a first coefficient value corresponding to a first candidate path and a second coefficient value corresponding to a second candidate path. The first candidate path is the movement path of the target object, and the second candidate path is the driving path of the mobile robot.

[0097] The determining module 62 is used to select a target path from the plurality of candidate paths based on the first coefficient value and the second coefficient value;

[0098] The control module 63 is used to control the mobile robot to move from the starting position point to the ending position point based on the target path.

[0099] For example, when the determining module 62 selects a target path from the plurality of candidate paths based on the first coefficient value and the second coefficient value, it is specifically configured to: configure a first cost adjustment coefficient for the first candidate path based on the first coefficient value, and configure a second cost adjustment coefficient for the second candidate path based on the second coefficient value; determine a first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient, and determine a second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient; and select a target path from the first candidate path and the second candidate path based on the first path cost value and the second path cost value.

[0100] For example, when determining the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient, and determining the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient, the determining module 62 is specifically used to: determine the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient and the actual path length corresponding to the first candidate path; and determine the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient and the actual path length corresponding to the second candidate path.

[0101] For example, the visit mode is used to enable the target object to visit the mobile robot, and the mobile robot preferentially travels along the movement path of the target object; or, the visit mode is used to enable the target object to visit the mobile robot, and the mobile robot avoids traveling along the movement path of the target object.

[0102] For example, if the first control mode of the visitor mode is activated, the first control mode is used to enable the mobile robot to avoid traveling along the movement path of the target object, wherein: the second path cost value corresponding to the second coefficient value is less than the first path cost value corresponding to the first coefficient value; the first path cost value corresponding to the first coefficient value is used to prevent the first candidate path from becoming the target path of the mobile robot, and the second path cost value corresponding to the second coefficient value is used to make the second candidate path become the target path of the mobile robot.

[0103] For example, if the second control mode of the visitor mode is activated, the second control mode is used to enable the mobile robot to preferentially travel along the movement path of the target object, wherein: the second path cost value corresponding to the second coefficient value is equal to the first path cost value corresponding to the first coefficient value; the first path cost value corresponding to the first coefficient value and the second path cost value corresponding to the second coefficient value are used to enable the first candidate path and the second candidate path to become the target path of the mobile robot in a balanced manner.

[0104] For example, when the determining module 62 selects a target path from the first candidate path and the second candidate path based on the first path cost value and the second path cost value, it is specifically used to: determine the candidate path with the smallest path cost value based on the path cost value corresponding to each candidate path; if the candidate path with the smallest path cost value is the second candidate path, then select the second candidate path with the smallest path cost value as the target path; or, if the candidate path with the smallest path cost value is both the first candidate path and the second candidate path, then select one candidate path from the first candidate path and the second candidate path as the target path.

[0105] Based on the same application concept as the above method, this application proposes an electronic device, see [link to application]. Figure 7 As shown, the electronic device includes a processor 71 and a machine-readable storage medium 72, the machine-readable storage medium 72 storing machine-executable instructions that can be executed by the processor 71; the processor 71 is used to execute the machine-executable instructions to implement the mobile robot movement control method disclosed in the above example of this application.

[0106] Based on the same concept as the above method, this application also provides a machine-readable storage medium storing a plurality of computer instructions. When the computer instructions are executed by a processor, they can implement the mobile robot movement control method disclosed in the above examples of this application.

[0107] The aforementioned machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, machine-readable storage media can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0108] The systems, devices, modules, or units described in the above embodiments can be implemented by a computer or entity, or by a product with a certain function. A typical implementation device is a computer, which can be a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0109] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0110] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] Furthermore, these computer program instructions can also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in the process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0114] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the movement of a mobile robot, characterized in that, The method includes: If the visitor mode has been activated, a configuration interface is provided to the managed object. The configuration interface includes map information corresponding to multiple candidate paths between the starting point and the ending point. The configuration information input by the managed object is obtained from the configuration interface. This configuration information includes a first coefficient value corresponding to a first candidate path and a second coefficient value corresponding to a second candidate path. The first candidate path is the movement path of the target object, and the second candidate path is the travel path of the mobile robot. The visit mode is used to enable the target object to visit the mobile robot, and the mobile robot preferentially travels along the target object's movement path. The second path cost value corresponding to the second coefficient value is equal to the first path cost value corresponding to the first coefficient value. The first path cost value corresponding to the first coefficient value and the second path cost value corresponding to the second coefficient value are used to ensure that the first candidate path and the second candidate path can become the target path of the mobile robot in a balanced manner. Alternatively, the visit mode is used to enable the target object to visit the mobile robot, and the mobile robot avoids traveling along the target object's movement path, but the distance between the mobile robot's travel path and the target object's movement path is close. The second path cost value corresponding to the second coefficient value is less than the first path cost value corresponding to the first coefficient value. The first path cost value corresponding to the first coefficient value is used to prevent the first candidate path from becoming the target path of the mobile robot, and the second path cost value corresponding to the second coefficient value is used to make the second candidate path become the target path of the mobile robot. Based on the first coefficient value and the second coefficient value, a target path is selected from the plurality of candidate paths, and the mobile robot is controlled to move from the starting position point to the ending position point based on the target path.

2. The method according to claim 1, characterized in that, The step of selecting a target path from the plurality of candidate paths based on the first coefficient value and the second coefficient value includes: A first cost adjustment coefficient is configured for the first candidate path based on the first coefficient value, and a second cost adjustment coefficient is configured for the second candidate path based on the second coefficient value; The first path cost value corresponding to the first candidate path is determined based on the first cost adjustment coefficient, and the second path cost value corresponding to the second candidate path is determined based on the second cost adjustment coefficient. Based on the first path value and the second path value, a target path is selected from the first candidate path and the second candidate path.

3. The method according to claim 2, characterized in that, The step of determining the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient, and determining the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient, includes: The first path cost value corresponding to the first candidate path is determined based on the first cost adjustment coefficient and the actual path length corresponding to the first candidate path; the second path cost value corresponding to the second candidate path is determined based on the second cost adjustment coefficient and the actual path length corresponding to the second candidate path.

4. The method according to claim 2 or 3, characterized in that, The step of selecting a target path from the first candidate path and the second candidate path based on the first path cost value and the second path cost value includes: Based on the path cost value corresponding to each candidate path, determine the candidate path with the minimum path cost value. If the candidate path with the lowest path cost value is the second candidate path, then the second candidate path with the lowest path cost value is selected as the target path; or, If the candidate paths with the lowest path cost are the first candidate path and the second candidate path, then select one of the first candidate path and the second candidate path as the target path.

5. A mobile control device for a mobile robot, characterized in that, The device includes: The acquisition module is used to provide a configuration interface to the managed object if the visit mode has been activated. The configuration interface includes map information corresponding to multiple candidate paths between the starting and ending points. It also acquires configuration information input by the managed object from the configuration interface. This configuration information includes a first coefficient value corresponding to a first candidate path and a second coefficient value corresponding to a second candidate path. The first candidate path is the movement path of the target object, and the second candidate path is the travel path of the mobile robot. The visit mode is used to enable the target object to visit the mobile robot, and the mobile robot preferentially travels along the target object's movement path. The second path cost corresponding to the second coefficient value is equal to the first path cost corresponding to the first coefficient value. The first path cost value and the second path cost value corresponding to the second coefficient value are used to ensure that the first candidate path and the second candidate path can become the target path of the mobile robot in a balanced way; or, the visit mode is used to enable the target object to visit the mobile robot, and the mobile robot avoids traveling along the movement path of the target object, but the distance between the movement path of the mobile robot and the movement path of the target object is close; the second path cost value corresponding to the second coefficient value is less than the first path cost value corresponding to the first coefficient value; the first path cost value corresponding to the first coefficient value is used to ensure that the first candidate path does not become the target path of the mobile robot, and the second path cost value corresponding to the second coefficient value is used to ensure that the second candidate path becomes the target path of the mobile robot. A determining module is configured to select a target path from the plurality of candidate paths based on the first coefficient value and the second coefficient value; The control module is used to control the mobile robot to move from the starting position point to the ending position point based on the target path.

6. The apparatus according to claim 5, Its features are, Specifically, when the determining module selects a target path from the plurality of candidate paths based on the first coefficient value and the second coefficient value, it is configured to: configure a first cost adjustment coefficient for the first candidate path based on the first coefficient value, and configure a second cost adjustment coefficient for the second candidate path based on the second coefficient value; determine a first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient, and determine a second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient; and select a target path from the first candidate path and the second candidate path based on the first path cost value and the second path cost value. Specifically, when the determining module determines the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient, and determines the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient, it is used to: determine the first path cost value corresponding to the first candidate path based on the first cost adjustment coefficient and the actual path length corresponding to the first candidate path; and determine the second path cost value corresponding to the second candidate path based on the second cost adjustment coefficient and the actual path length corresponding to the second candidate path. Specifically, when the determining module selects a target path from the first candidate path and the second candidate path based on the first path cost value and the second path cost value, it is used to: determine the candidate path with the smallest path cost value based on the path cost value corresponding to each candidate path; if the candidate path with the smallest path cost value is the second candidate path, then select the second candidate path with the smallest path cost value as the target path; or, if the candidate path with the smallest path cost value is both the first candidate path and the second candidate path, then select one candidate path from the first candidate path and the second candidate path as the target path.

7. An electronic device, characterized in that, The method includes a processor and a machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is configured to execute the machine-executable instructions to implement the method according to any one of claims 1-4.

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