Path planning method, device and system

Abstract

The embodiment of the invention provides a path planning method, and relates to the field of intelligent warehousing, and the method comprises the steps: first equipment receives an autonomous navigation region sent by second equipment; determining whether an initial path is in an autonomous navigation area, wherein the initial path is a path planned by the second device for executing the first mobile task for the first device; under the condition that the initial path is located in the autonomous navigation area, the autonomous navigation function is started, autonomous navigation is executed, and the final position of the autonomous navigation is the destination of the first movement task. Through the autonomous navigation area determined by the second device, the first device can determine whether to start an autonomous navigation function, perform autonomous navigation and make an autonomous decision based on whether the initial path is in the area, and furthermore, the scheme of autonomously determining a detouring scheme, stopping waiting or re-planning a path when encountering an obstacle is realized. The utilization rate and working efficiency of the robot are improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and more particularly to a path planning method, device and system. Background Art

[0002] In smart warehousing, the robot operation path is planned as a one-way road, so when the robot encounters an obstacle while driving in the warehouse, it can only wait, resulting in a large number of robots queuing up and causing congestion, especially when the obstacle is a static object, which reduces the robot's operating efficiency. In addition, when the one-way road map is input into the RMS system, if the map is modified or replaced, it needs to be reloaded and debugged, which places high demands on on-site staff and makes the cost of updating the map high. Summary of the invention

[0003] The present disclosure provides a path planning method, device and system. The present disclosure provides the following technical solutions:

[0004] A first aspect of an embodiment of the present disclosure provides a path planning method, which is applied to a first device, including: receiving an autonomous navigation area sent by a second device; determining whether an initial path is within the autonomous navigation area, the initial path being a path planned by the second device for the first device to perform a first mobile task; when the initial path is within the autonomous navigation area, turning on the autonomous navigation function and performing autonomous navigation, the end point of the autonomous navigation being the destination of the first mobile task.

[0005] In some embodiments, determining whether the initial path is within the autonomous navigation area includes: determining whether the initial path is blocked by an obstacle; and if the initial path is blocked by an obstacle, determining whether the initial path is within the autonomous navigation area.

[0006] In some embodiments, determining whether the initial path is blocked by an obstacle includes: acquiring point cloud data from a sensor device in the first device, and transforming the point cloud data into a raster cost map; projecting the initial path into the raster cost map, and determining whether there is an obstacle area at a first path point on the initial path, the first path point being any path point from the current position of the first device to the end position; determining that the initial path is blocked by an obstacle at the first path point if there is a continuous obstacle at the first path point, or if there is an obstacle at the first path point when the first device moves along the initial path to the first path point.

[0007] In some embodiments, when the initial path is within the autonomous navigation area, turning on the autonomous navigation function and performing autonomous navigation includes: automatically turning on the autonomous navigation function and performing autonomous navigation when the initial path is within the autonomous navigation area; or sending a turn-on request to a second device when the initial path is within the autonomous navigation area; turning on the autonomous navigation function and performing autonomous navigation in response to a turn-on indication sent by the second device.

[0008] In some embodiments, when the initial path is within the autonomous navigation area, the autonomous navigation function is turned on, and the execution of autonomous navigation includes: determining the type of obstacles blocking the initial path, the types include static obstacles and dynamic obstacles; according to the type, determining the strategy for executing autonomous navigation, the strategy includes at least one of stopping and waiting, waiting time, and autonomous navigation path, the autonomous navigation path is a path that bypasses obstacles and reaches the end location, and the autonomous navigation path includes at least one of a detour path and a replanned path.

[0009] In some embodiments, determining the type of obstacle blocking the initial path includes: determining a reference path for the first device to bypass the obstacle; determining a first confidence level that the obstacle is a static obstacle or a second confidence level that the obstacle is a dynamic obstacle at multiple time points in a preset time period; determining that the obstacle is a static obstacle when the first confidence level reaches a first preset threshold, otherwise, determining that the obstacle is a dynamic obstacle; or determining that the obstacle is a dynamic obstacle when the second confidence level reaches a second preset threshold, otherwise, determining that the obstacle is a static obstacle.

[0010] In some embodiments, at multiple time points in a preset time period, determining a first confidence that an obstacle is a static obstacle or a second confidence that the obstacle is a dynamic obstacle includes: at a first time point in the preset time period, determining a first initial confidence and a second initial confidence; at a second time point in the preset time period, determining whether the first device can pass through a reference path, the second time point being after the first time point in the time sequence; if the first device can pass through the reference path at the second time point, increasing the first initial confidence by a preset value and decreasing the second initial confidence by a preset value; if the first device cannot pass through the reference path at the second time point, decreasing the first initial confidence by a preset value, increasing the second initial confidence by a preset value, and re-planning the path until multiple time points are traversed.

[0011] In some embodiments, based on the type, determining a strategy for performing autonomous navigation includes: in the case of a static obstacle, obtaining the occlusion ratio of the obstacle to the initial path and the road width of the initial path; based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determining a detour path based on the surrounding environment of the obstacle, performing detour according to the detour path, and continuing to travel along the initial path after passing the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determining a replanned path and traveling along the replanned path.

[0012] In some embodiments, determining the replanned path includes: sending feedback information to the second device, the feedback information is used to notify the first device of at least one of the following: there are obstacles on the initial path and it is impossible to bypass it, and path replanning is required to execute the first mobile task; receiving a replanning indication sent by the second device, the replanning indication is used to instruct the first device to autonomously generate a replanned path; in response to the replanning indication, autonomously generating a replanned path; or receiving a replanned path sent by the second device, the replanned path is a path replanned by the second device for the first device, and the replanned path is generated by the second device based on a multi-directional road map.

[0013] In some embodiments, based on the type, determining the strategy for executing autonomous navigation includes: in the case where the type is a dynamic obstacle, determining the correlation between the obstacle's movement trajectory and the initial path, the correlations including: moving in the same direction, moving in the opposite direction, moving in an intersecting direction, and having no correlation; based on the correlation, determining the strategy for executing autonomous navigation.

[0014] In some embodiments, based on the correlation relationship, determining the strategy for executing autonomous navigation includes: when the correlation relationship is travel in the same direction, obtaining the travel speed of the obstacle, the occlusion ratio of the obstacle to the initial path, and the road width of the initial path; when the travel speed of the obstacle is greater than or equal to the travel speed of the first device, based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, then determining a detour path based on the surrounding environment of the obstacle, performing detour according to the detour path, and continuing to travel along the initial path after bypassing; if it is determined that the first device cannot bypass the obstacle without changing the initial path, then determining a re-planned path and traveling according to the re-planned path.

[0015] In some embodiments, based on the correlation relationship, determining a strategy for executing autonomous navigation includes: when the correlation relationship is reverse travel, obtaining the occlusion ratio of the obstacle to the initial path and the road width of the initial path; based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determining a detour path according to the instructions of the second device, performing detour according to the detour path, and continuing to travel along the initial path after the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determining a re-planned path and traveling along the re-planned path.

[0016] In some embodiments, determining a detour path according to an instruction of the second device includes: determining a first detour direction and a first detour distance of the first device; sending a detour request to the second device, the detour request including the first detour direction and the first detour distance; receiving a detour instruction sent by the second device, the detour instruction being used to indicate whether to agree with the first device to perform a detour according to the first detour direction and the first detour distance; if the detour instruction indicates agreement, determining a detour path according to the first detour direction and the first detour distance; if the detour instruction indicates disagreement, stopping and waiting, or re-requesting a detour path from the second device.

[0017] In some embodiments, determining a detour path according to an instruction of the second device includes: sending a detour request to the second device, the detour request being used to request the second device to determine a detour direction and a detour distance of the obstacle; obtaining a second detour direction and a second detour distance of the obstacle sent by the second device; determining a first detour direction and a first detour distance of the first device according to the second detour direction and the second detour distance; and determining a detour path according to the first detour direction and the first detour distance.

[0018] In some embodiments, determining a detour path according to an instruction of the second device includes: sending a detour request to the second device, the detour request is used to request the second device to send a detour path; receiving the detour path sent by the second device, the detour path includes a first detour direction and a first detour distance for the first device to bypass the obstacle.

[0019] In some embodiments, based on the correlation relationship, determining the strategy for executing autonomous navigation includes: when the correlation relationship is cross-travel, determining whether the obstacle can pass through the initial path within a preset time period; when it is determined that the obstacle can pass through the initial path within the preset time period, determining the waiting time, stopping and waiting for the obstacle to pass; when it is determined that the obstacle cannot pass through the initial path within the preset time period, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determining a detour path, performing detour according to the detour path, and continuing to travel according to the initial path after the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determining a re-planned path, and traveling according to the re-planned path.

[0020] In some embodiments, based on the correlation relationship, determining a strategy for executing autonomous navigation includes: when there is no correlation relationship, stopping and waiting, and sending a request message to the second device, the request message is used to request the second device to make a decision; receiving a decision message sent by the second device, the decision message is used to instruct the first device to continue waiting and any one of the first waiting time and resuming travel.

[0021] In some embodiments, receiving the autonomous navigation area sent by the second device includes: receiving the autonomous navigation area sent by the second device at the same time as sending the initial path; or sending an autonomous navigation request to the second device and receiving the autonomous navigation area sent by the second device in response to the autonomous navigation request.

[0022] In the above embodiment, through the autonomous navigation area determined by the second device, the first device can determine whether to turn on the autonomous navigation function based on whether the initial path is in the area, and perform autonomous navigation and autonomous decision-making. Furthermore, when encountering obstacles, it can autonomously determine a detour plan, stop and wait, or re-plan the path, thereby improving the utilization rate and work efficiency of the robot.

[0023] A second aspect of an embodiment of the present disclosure provides a path planning method, which is applied to a second device in a warehousing system, including: sending an autonomous navigation area to a first device, the autonomous navigation area is used by the first device to determine whether an initial path is within the autonomous navigation area, the initial path is a path planned by the second device for the first device to perform a first mobile task, when the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation, and the end point of the autonomous navigation is the destination of the first mobile task.

[0024] In some embodiments, the method further includes: based on congestion information of multiple first devices in the first area, using a density clustering algorithm to perform congestion thermal identification, and determining the congestion probability of multiple sub-areas in the first area; and determining the sub-area whose congestion probability meets a preset threshold as an autonomous navigation area.

[0025] In some embodiments, the method also includes: receiving an enable request sent by the first device when the initial path is within the autonomous navigation area, the enable request being used to request enabling the autonomous navigation function; and sending an enable indication to the first device, the enable indication being used to instruct the first device to enable the autonomous navigation function.

[0026] In some embodiments, the method also includes: receiving feedback information sent by the first device, the feedback information is used to notify the first device of at least one of the following: there are obstacles on the initial path and it is impossible to bypass, and path replanning is required to execute the first mobile task; based on the multi-directional road map, determining a reference direction for the first device to execute the first mobile task, the reference direction is different from the initial direction of the initial path; based on the reference direction, determining a replanned path for the first device to execute the first mobile task; and sending the replanned path to the first device.

[0027] In some embodiments, the method also includes: receiving a bypass request sent by the first device when it is determined that the obstacle is a dynamic obstacle, the bypass request including a first bypass direction and a first bypass distance determined by the first device; determining whether the obstacle is a mobile device, and if so, determining a second bypass direction and a second bypass distance of the obstacle based on the first bypass direction and the first bypass distance; sending a first bypass instruction to the first device, the first bypass instruction being used to indicate consent for the first device to perform a bypass according to the first bypass direction and the first bypass distance; and sending a second bypass instruction to the obstacle, the second bypass instruction being used to instruct the obstacle to perform a bypass according to the second bypass direction and the second bypass distance.

[0028] In some embodiments, the method also includes: receiving a detour request sent by the first device when it is determined that the obstacle is a dynamic obstacle, the detour request is used to request the second device to send a detour path; determining a detour path of the first device based on the position and travel speed of the obstacle, the detour path including a first detour direction and a first detour distance for the first device to detour the obstacle; and sending the detour path to the first device.

[0029] In some embodiments, the method also includes: receiving a request message sent by the first device when it is determined that the obstacle is a dynamic obstacle and the obstacle has no correlation with the first device, the request message is used to request the second device to make a decision; if the location of the obstacle cannot be obtained, determining a first time duration for the first device to continue waiting, and sending a decision message to the first device, the decision message includes an instruction instructing the first device to continue waiting and the first time duration; sending a warning instruction, the warning instruction is used to notify the staff to check and remove the obstacle; after the obstacle is removed, sending a decision message to the first device, the decision message includes an instruction instructing the first device to resume moving.

[0030] In the above embodiment, the second device can determine the autonomous navigation area of ​​the first device so that the first device can perform autonomous navigation within the area, and can plan a path for the first device based on the setting of the multi-directional road map, so as to increase the options of the path and reduce the inefficiency of the first device queuing to pass. Furthermore, there is no need to re-import the map, which improves the working efficiency of the first device and reduces costs.

[0031] A third aspect of an embodiment of the present disclosure provides a path planning device, which is applied to a first device in a warehousing system, including: a receiving unit, used to receive an autonomous navigation area sent by a second device; a determining unit, used to determine whether an initial path is within the autonomous navigation area, the initial path being a path planned by the second device for the first device to perform a first mobile task; a navigation unit, used to enable an autonomous navigation function and perform autonomous navigation when the initial path is within the autonomous navigation area, the end point of the autonomous navigation being the destination of the first mobile task.

[0032] A fourth aspect of an embodiment of the present disclosure provides a path planning device, which is applied to a second device in a warehousing system, including: a sending unit, used to send an autonomous navigation area to a first device, the autonomous navigation area is used by the first device to determine whether an initial path is within the autonomous navigation area, the initial path is a path planned by the second device for the first device to perform a first mobile task, when the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation, and the end point position of the autonomous navigation is the destination of the first mobile task.

[0033] A fifth aspect of an embodiment of the present disclosure provides a path planning system, comprising a first device for executing a method in any implementation of the first aspect; and a second device for executing a method in any implementation of the second aspect.

[0034] A sixth aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory, the memory being used to store computer executable instructions; the processor being used to read instructions from the memory and execute the instructions to implement the method in any one of the implementation modes of the first and second aspects above.

[0035] A seventh aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are configured to enable the computer to execute the method in any implementation of the first aspect or the second aspect.

[0036] An eighth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method in any one of the implementation methods of the first and second aspects above.

[0037] The path planning method, device and system provided by the embodiments of the present disclosure increase the number of walking paths for the robot by upgrading a one-way road to a two-way road. When the robot encounters a congestion point, the path can be replanned. Based on the autonomous navigation area determined by historical data, when the robot encounters an obstruction and cannot move forward or other problems and falls within the scope of the area, the robot can make an autonomous decision to determine whether to execute strategies such as detour or stop, thereby solving the problems of queuing or jamming caused by obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A A schematic diagram of a path planning system provided by an embodiment of the present disclosure is shown;

[0039] Figure 1B This is an application scenario diagram of the present disclosure;

[0040] Figure 2 A schematic diagram of a flow chart of a path planning method applied to a first device proposed in an embodiment of the present disclosure;

[0041] Figure 3 A schematic diagram of a flow chart of a path planning method for static obstacles proposed in an embodiment of the present disclosure;

[0042] Figure 4 A schematic diagram of a flow chart of a path planning method for dynamic obstacles proposed in an embodiment of the present disclosure;

[0043] Figure 5 A schematic diagram of a flow chart of a path planning method applied to a second device proposed in an embodiment of the present disclosure;

[0044] Figure 6A schematic diagram of a flow chart of a path planning method applied to a second device proposed in an embodiment of the present disclosure;

[0045] Figure 7 A schematic diagram of a flow chart of a path planning method applied to a second device proposed in an embodiment of the present disclosure;

[0046] Figure 8 An interactive schematic diagram of a path planning method proposed in an embodiment of the present disclosure;

[0047] Fig.9A It is a schematic diagram of a multi-directional road map;

[0048] Fig. 9B This is a schematic diagram of the detour path scenario;

[0049] Fig.10 A schematic diagram of the structure of a path planning device 1000 applied to a first device proposed in an embodiment of the present disclosure;

[0050] Fig.11 A schematic diagram of the structure of a path planning device 1100 applied to a second device proposed in an embodiment of the present disclosure;

[0051] Fig.12 is a structural diagram of an electronic device 1200 for implementing the above-mentioned path planning method according to an exemplary embodiment. DETAILED DESCRIPTION

[0052] Many specific details are described in the following description to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present disclosure, so the present disclosure is not limited by the specific implementation disclosed below.

[0053] The terms used in one or more embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present disclosure. The singular forms of "a", "said" and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0054] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0055] In the present disclosure, a path planning method is provided. The present disclosure also relates to a path planning device, a path planning system, a computing device, a computer program product, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0056] The following describes the solutions of the embodiments of the present disclosure in combination with examples.

[0057] Figure 1A A schematic diagram of a path planning system provided in an embodiment of the present disclosure, the path planning system includes a first device 101 and a second device 102. The first device may be an intelligent storage device in a storage system, such as an AGV automatic guided vehicle, a picking and handling device, i.e., a robot. The second device 102 may be an RMS robot management system.

[0058] Figure 1B This is an application scenario of the present disclosure. Figure 1B As shown, the first device may encounter obstacles or other situations that require path planning while moving along the initial path. In the related art, when the first device needs to plan a path, the RMS system can only re-plan the path. The solution proposed in the present disclosure enables the first device to turn on the autonomous navigation function when it is located in the autonomous navigation area, and make autonomous decisions to avoid obstacles.

[0059] In the embodiment of the present disclosure, the first device 101 may be a device with path planning and obstacle avoidance requirements, such as picking and handling equipment in a warehousing system (eg, an industrial picking robot).

[0060] In some embodiments, the first device 101 can be a robot for transporting cartons and / or goods, such as a RoboShuttle (RS) robot. The RS robot transports target goods and / or cartons from a target location on a fixed shelf to other locations, or transports target goods and / or cartons from other locations to a target location on a fixed shelf.

[0061] In some embodiments, the first device 101 may be a robot for moving shelves, for example, a lurking robot, such as a P robot. The P robot is used to move mobile shelves (also referred to as portable shelves). For example, the P robot may move the mobile shelves to the picking area according to the moving tasks sent by the server, or move the mobile shelves to a position below the fixed shelves or other positions.

[0062] In some embodiments, the first device 101 may be a sorting robot, such as an S-series robot, for sorting cargo boxes / cargoes according to different types.

[0063] In some embodiments, the first device 101 may be a forklift robot, such as an F series robot; or a mobile handling robot, such as an M series robot.

[0064] In some embodiments, different functional modules can be deployed on the first device 101 according to different types of robots, such as a communication module for communication, a power supply module for power supply, a camera module for identifying road conditions and identifying QR codes of cargo boxes / shelves / landmarks, a PNC module for planning and controlling maps, a clock module, etc.

[0065] In some optional embodiments, the path planning method provided by the embodiments of the present disclosure can be used in a warehousing system, for example, it can be used in a terminal device in a warehousing system. In the warehousing system, a second device (not shown in the figure) can also be included, and the second device can have the function of planning and issuing a path for the terminal device. For example, the second device can be deployed with a robot management system (Robot Management System, RMS) or an autonomous mobile robot (Autonomous Mobile Robot, AMR) control system, etc.

[0066] For example, the second device may be a terminal or a server. For example, when the second device is a terminal, the second device may include various personal computers, laptops, smart phones, tablet computers, and portable wearable devices. When the second device is a server, the second device may be an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present disclosure.

[0067] In the present disclosure, the second device 102 and the first device 101 in the storage system can communicate with each other, the second device can control or manage the first device 101, the second device can plan and issue a path for the first device 101, the first device 101 can feedback the real-time position, task execution status, abnormal situation, etc. during the movement along the issued path to the second device, the first device 101 can have an autonomous navigation function, and the first device 101 can report the autonomous navigation results, location information, etc. to the second device after autonomous navigation. The present disclosure is not limited to this.

[0068] Figure 2 FIG. 1 is a flow chart of a path planning method proposed in an embodiment of the present disclosure, which is applied to a first device in a storage system. Figure 2 As shown, the method comprises the following steps:

[0069] Step 201: Receive an autonomous navigation area sent by a second device.

[0070] In some embodiments, the autonomous navigation area is an area range for the first device to perform autonomous navigation determined by the second device based on historical data fed back by the first device, wherein the historical data may include congestion information of the first device.

[0071] In some embodiments, the autonomous navigation area may be that the second device uses a density clustering algorithm to perform congestion thermal identification based on congestion information of multiple first devices in the first area, and determines the congestion probability of multiple sub-areas in the first area; and determines the sub-area whose congestion probability meets a preset threshold as the autonomous navigation area.

[0072] Optionally, the autonomous navigation area is an area where the first device can make autonomous decisions based on the current congestion situation, such as selecting a route when encountering an obstacle. For example, it can be a detour or stop and wait. It can determine the detour route within the authority of autonomous decision-making, or it can send the detour decision to the second device, and the second device will plan the detour route for the first device; or, when the first device encounters a situation in which the second device cannot provide a decision to it within the area, autonomous navigation can be performed.

[0073] In some embodiments, receiving the autonomous navigation area sent by the second device includes: receiving the autonomous navigation area sent by the second device at the same time as sending the initial path; or sending an autonomous navigation request to the second device and receiving the autonomous navigation area sent by the second device in response to the autonomous navigation request.

[0074] In some embodiments, the autonomous navigation area sent by the second device may be sent together with the initial path planned by the second device for the first device, or may be sent separately. In other words, the timing of sending the autonomous navigation area by the second device is optional and is not limited by the present disclosure.

[0075] In some embodiments, the first device sends an autonomous navigation request to the second device, and the second device sends an autonomous navigation area to the first device based on the request sent by the first device.

[0076] For example, the robot receives the autonomous navigation area and / or the initial path sent by the RMS system, where the initial path is the path planned by the RMS system for the robot to perform the first movement task.

[0077] Step 202: Determine whether the initial path is within the autonomous navigation area.

[0078] In some embodiments, the initial path is a path planned by the second device for the first device to perform the first movement task.

[0079] In some embodiments, determining whether the initial path is within the autonomous navigation area may be that the second device is currently unable to provide path planning to the first device, and the first device determines whether the current location is within the autonomous navigation area issued by the second device.

[0080] In some embodiments, the first device determining whether the initial path is within the autonomous navigation area can be used by the first device to determine whether to enable the autonomous navigation function.

[0081] In some embodiments, the first device may determine whether the initial path is within the autonomous navigation area when encountering an obstacle.

[0082] In some embodiments, the first device may determine whether the initial path is within the autonomous navigation area when the RMS system computing power is insufficient.

[0083] In some embodiments, the first device may determine whether it is in the autonomous navigation area at any time during the execution of the first movement task.

[0084] Optionally, when the first device determines that the initial path is not within the autonomous navigation area, when an obstacle is encountered or the path needs to be replanned, it needs to send a request to the second device to request the second device to make a decision for the first device.

[0085] Optionally, if the first device determines that the initial path is within the autonomous navigation area, the first device may choose to turn on the autonomous navigation function so that it can make autonomous decisions when encountering obstacles or needing to replan the path.

[0086] In some embodiments, determining whether the initial path is within the autonomous navigation area may include: determining whether the initial path is blocked by an obstacle; and if the initial path is blocked by an obstacle, determining whether the initial path is within the autonomous navigation area.

[0087] In some embodiments, obstacles may be other equipment or other objects in the warehousing system that are not used to perform the first moving task, such as goods dropped in the warehouse, staff, other terminal devices, etc., which are not limited in this disclosure.

[0088] For example, if the initial path of the robot is blocked by an obstacle, the robot can determine whether the initial path is within the autonomous navigation area based on the autonomous navigation area sent by the RMS system to determine whether the autonomous navigation function can be enabled.

[0089] In some embodiments, determining whether the initial path is blocked by an obstacle includes: acquiring point cloud data from a sensor device in the first device, and transforming the point cloud data into a raster cost map; projecting the initial path into the raster cost map, and determining whether there is an obstacle at a first path point on the initial path, the first path point being any path point from the current position of the first device to the end position; determining that the initial path is blocked by an obstacle at the first path point if there is a continuous obstacle at the first path point, or if there is an obstacle at the first path point when the first device moves along the initial path to the first path point.

[0090] In some embodiments, the grid cost map can be a grid-based data structure generated by a terminal device or obtained from other devices and can be used for robot navigation and path planning. The grid cost map divides the environment into a series of grid cells, each of which is assigned a certain cost value to represent information such as the accessibility, safety or feasibility of the location.

[0091] For example, the sensor of a terminal device (such as a robot) can be used to perceive the surrounding environment of the terminal device. For example, the sensor device of the terminal device can be a radar sensor device. The terminal device can obtain radar point cloud data from the radar sensor device of the terminal device and transform the radar point cloud data into a grid cost map, thereby assisting the robot to identify obstacles.

[0092] In some embodiments, the first device may project the initial path onto a grid cost map to determine whether there are obstacles on the initial path.

[0093] In some embodiments, the first device can determine whether there is an obstacle on the initial path through the grid cost map. The specific determination method can be: using the characteristics of the grid cost map, through the projection of the initial path on the grid cost map, determine the occupied state of a certain grid passed by the initial path (for example, occupied or not occupied), if occupied, it means that the place is blocked by an obstacle. In other words, it is to determine whether there is an obstacle at the first path point on the initial path, and the first path point is any path point from the current position of the first device to the end position.

[0094] In some embodiments, the initial path is projected into the grid cost map, and determining whether there is an obstacle at the first path point on the initial path may be performed by predicting whether there is an obstacle at the first path point when the first device walks along the initial path to the first path point. In other words, it may be performed by predicting whether there is an obstacle at the first path point when the first device arrives at the first path point.

[0095] In some embodiments, if the grid corresponding to the first path point is occupied, it means that there is a continuous obstacle on the first path point or there is an obstacle on the first path point when the first device moves along the initial path to the first path point, thereby determining that the initial path is blocked by an obstacle at the first path point.

[0096] For example, the occupied state can be represented by binary values ​​0 and 1, for example, 0 represents unoccupied and 1 represents occupied; it can also be represented by probability, for example, a probability value between 0 and 1 represents the possibility that the grid is occupied, when the probability falls within a certain range, it represents that the grid is occupied, otherwise it represents that the grid is not occupied. The method for determining the occupied state is not limited in the present disclosure.

[0097] In some embodiments, when the first device determines that there are no obstacles on the initial path, the first device can walk along the initial path. For example, the first device can generate a control instruction based on the initial path calculation and send it to the execution controller, so as to continue to perform pure path tracking on the initial path. In other words, when there are no obstacles on the initial path, or in a section without obstacles on the initial path, the terminal can continue to move along the initial path.

[0098] In the above embodiment, the first device may need to determine whether the initial path is within the autonomous navigation area because the initial path is blocked by an obstacle, so as to prepare for subsequent obstacle avoidance. That is, when encountering an obstacle, it is determined whether it is within the autonomous navigation area, so that when encountering an obstacle, if it needs to stop and wait, it can determine whether autonomous navigation is possible, thereby improving the efficiency of the robot.

[0099] In the above embodiment, the first device may also be unable to provide a decision to the first device due to other reasons, such as insufficient computing power of the RMS system, and therefore needs to determine whether the initial path is within the autonomous navigation area to prepare for subsequent autonomous decision-making. That is, the robot can perform autonomous navigation in a timely manner to avoid delays in the robot's execution of mobile tasks due to the RMS system, further improving the efficiency of the robot.

[0100] In the above embodiment, the prerequisite for the first device to determine whether the initial path is within the autonomous navigation area is not restricted. The first device can also determine whether it is in the autonomous decision-making area at all times during the execution of the first mobile task, so that it can determine whether to turn on the autonomous navigation function at any time, thereby further improving the execution efficiency of the first device.

[0101] Step 203: When the initial path is within the autonomous navigation area, the autonomous navigation function is enabled.

[0102] In some embodiments, when the initial path is within the autonomous navigation area, that is, the first device meets the conditions for autonomous navigation, the first device may choose to enable the autonomous navigation function to perform autonomous decision-making and autonomous navigation.

[0103] In some embodiments, the autonomous navigation function may be an autonomous decision-making behavior of the first device, such as determining whether to continue to follow the initial path, or change the route, or stop and wait, based on the current location and surrounding environment.

[0104] In some embodiments, when the initial path is within the autonomous navigation area, turning on the autonomous navigation function and performing autonomous navigation includes: automatically turning on the autonomous navigation function and performing autonomous navigation when the initial path is within the autonomous navigation area; or sending a turn-on request to a second device when the initial path is within the autonomous navigation area; turning on the autonomous navigation function and performing autonomous navigation in response to a turn-on indication sent by the second device.

[0105] In some embodiments, the first device can enable the autonomous navigation function by itself, or request the second device to enable the autonomous navigation function of the first device. In other words, when the robot is in the autonomous navigation area, the robot can make an autonomous decision to enable the autonomous navigation function to realize the autonomous decision-making ability of the robot; the RMS system can also control whether to enable the autonomous navigation function of the robot to achieve the purpose of managing and controlling the robot by the RMS system.

[0106] For example, when the robot is walking, it determines whether it is blocked by an obstacle. If it is blocked by an obstacle, it determines whether it is in the autonomous decision-making navigation area. If it is in the autonomous decision-making navigation area, it starts the autonomous decision-making navigation function; or, it sends a message to the RMS system to start the autonomous decision-making navigation function, and after receiving the start instruction sent by the RMS system, it starts the autonomous decision-making navigation function.

[0107] In some embodiments, after the first device turns on the autonomous navigation function, it can make autonomous decisions. During the execution of the first moving task, it can make autonomous judgments and decisions based on the current situation to reach the destination location.

[0108] In some embodiments, when the initial path is within the autonomous navigation area, the autonomous navigation function is turned on, and the execution of autonomous navigation includes: determining the type of obstacles blocking the initial path, the types include static obstacles and dynamic obstacles; according to the type, determining the strategy for executing autonomous navigation, the strategy includes at least one of stopping and waiting, waiting time, and autonomous navigation path, the autonomous navigation path is a path that bypasses obstacles and reaches the end location, and the autonomous navigation path includes at least one of a detour path and a replanned path.

[0109] In some embodiments, after the first device turns on the autonomous navigation function, it can determine the strategy for executing autonomous navigation based on the current environment. The specific method can be: by determining the type of obstacle blocking the initial path and making an autonomous decision based on the type, where the content of the autonomous decision is the method of avoiding the obstacle.

[0110] In some embodiments, a specific method for determining the type of obstacle blocking the initial path may be: determining a reference path for the first device to bypass the obstacle; determining a first confidence level that the obstacle is a static obstacle or a second confidence level that the obstacle is a dynamic obstacle at multiple time points in a preset time period; determining that the obstacle is a static obstacle when the first confidence level reaches a first preset threshold, otherwise, determining that the obstacle is a dynamic obstacle; or, determining that the obstacle is a dynamic obstacle when the second confidence level reaches a second preset threshold, otherwise, determining that the obstacle is a static obstacle.

[0111] In some embodiments, the reference path may be a travel path planned for the first device to bypass obstacles.

[0112] In some embodiments, the first preset threshold is a threshold of confidence that the preset obstacle is a static obstacle. The second preset threshold is a threshold of confidence that the preset obstacle is a dynamic obstacle. When any confidence reaches the corresponding threshold, it can be determined that the type of the obstacle is the type corresponding to the threshold.

[0113] In some embodiments, a first preset threshold may be set, that is, a first confidence level that an obstacle is a static obstacle may be determined at multiple time points in a preset time period, and the first confidence level may be compared with the first preset threshold level to determine whether the obstacle type is static or dynamic.

[0114] In some embodiments, a second preset threshold can be set, that is, a second confidence level that the obstacle is a dynamic obstacle can be determined at multiple time points in a preset time period, and the second confidence level can be compared with the second preset threshold to determine whether the obstacle type is dynamic or static.

[0115] In some embodiments, a reference path can be planned for the first device to predict the passability at future times, thereby determining the type of obstacle. That is, first determine that the initial probability of the obstacle being dynamic and static is 50%, and determine the confidence level of the obstacle being dynamic and static at multiple time points. By changing the confidence level, the probability of the obstacle being dynamic and static is changed, and then the type of obstacle is determined.

[0116] For example, the obstacle movement probability is estimated based on the local perception map of the obstacle within a predetermined time period. Specifically, the POMDP (Partially Observable Markov Decision Process) algorithm is used to analyze the obstacle movement trend within a continuous time period, and the obstacle movement trend is predicted and the result statistics are made using particle sampling / selection / expansion / simulation and back propagation methods to determine the type of obstacle, and a detour path can be determined based on the obstacle's movement trajectory.

[0117] In some embodiments, at multiple time points in a preset time period, determining a first confidence that an obstacle is a static obstacle or a second confidence that the obstacle is a dynamic obstacle includes: at a first time point in the preset time period, determining a first initial confidence and a second initial confidence; at a second time point in the preset time period, determining whether the first device can pass through a reference path, the second time point being after the first time point in the time sequence; if the first device can pass through the reference path at the second time point, increasing the first initial confidence by a preset value and decreasing the second initial confidence by a preset value; if the first device cannot pass through the reference path at the second time point, decreasing the first initial confidence by a preset value, increasing the second initial confidence by a preset value, and re-planning the path until multiple time points are traversed.

[0118] In some embodiments, the first device can pass through the reference path at a first point in time and can still pass through the reference path at a second point in time, indicating that the current scene is more likely to be a static scene. The first confidence that the obstacle is a static obstacle is increased, and the second confidence that the obstacle is a dynamic obstacle is reduced, and the process continues to determine whether the reference path can be passed at the next point in time.

[0119] In some embodiments, the first device can pass through the reference path at a first point in time, but cannot pass through the reference path at a second point in time, indicating that the current scene is more likely to be a dynamic scene. In this case, the second confidence that the obstacle is a dynamic obstacle is increased, and the first confidence that the obstacle is a static obstacle is reduced. At the same time, the reference path is replanned for detour.

[0120] In some embodiments, after traversing multiple time points, it is determined whether the first device can pass through the time point on the path of travel of the obstacle, thereby obtaining a first confidence level and a second confidence level. By determining that the first confidence level reaches a first preset threshold or the second confidence level reaches a second preset threshold, it is determined that the type of obstacle is a static obstacle or a dynamic obstacle.

[0121] In some embodiments, the specific method of determining the type of obstacle blocking the initial path can also be determined by a prediction model, wherein the prediction model can be based on historical data to train the initial model, the historical data can be the state of the obstacle, the behavior of the first device, and the reward value, the historical data can include the collected strategies made by the robot when encountering obstacles, and add corresponding reward values ​​for different behaviors, for example, the reward value for pure tracking can be 5, the reward value for stop waiting can be -5, the reward value for static detour can be 2, and the reward value for dynamic interaction can be 1. 250 data are collected for each state on a path to form training data, and the reward value on a path is weighted to obtain the final reward value, and the state with the largest reward value is the final decision. By training the initial model with training data, the prediction model can predict the type of obstacle.

[0122] In the above embodiment, the first device can enable the autonomous navigation function in different scenarios by determining whether it is in the autonomous navigation area, and perform autonomous navigation according to different scenarios, so that the first device can independently decide on the travel path to cope with different situations to reach the destination of the first mobile task, thereby achieving efficient task execution.

[0123] Figure 3 This is a flow chart of a static obstacle path planning method proposed in an embodiment of the present disclosure. Figure 3 right Figure 2 Step 203 in the embodiment is further described as follows: Figure 3 As shown, according to the type, determining the strategy for performing autonomous navigation includes the following steps:

[0124] Step 301, obtaining the blocking ratio of the obstacle to the initial path and the road width of the initial path.

[0125] In some embodiments, when the obstacle is a static obstacle, the position of the obstacle remains unchanged relative to the initial path, that is, when the first device passes through the location of the obstacle, it needs to change the travel path or detour to avoid the obstacle.

[0126] In some embodiments, the blocking ratio is the area ratio of the initial path occupied by the static obstacle, that is, the range of the path blocked by the first device.

[0127] In some embodiments, the road width of the initial path may be the minimum path width when the first device is traveling.

[0128] In some embodiments, the road width of the initial path may be the road width in an actual scenario of the system configuration.

[0129] In some embodiments, the first device may use a sensor to identify the area of ​​the initial path blocked by the obstacle, thereby determining the blocking ratio.

[0130] Step 302: Based on the occlusion ratio and the road width, determine whether the first device can bypass the obstacle without changing the initial path.

[0131] In some embodiments, determining whether the first device can bypass the obstacle without changing the initial path can be that the occlusion ratio is less than the ratio of the difference between the width of the first device and the road width to the initial path, which means that the road width allows the first device to avoid the obstacle by detouring, then it is determined that the first device can bypass the obstacle without changing the initial path.

[0132] In some embodiments, determining whether the first device can bypass the obstacle without changing the initial path can be that the occlusion ratio is greater than or equal to the ratio of the difference between the width of the first device and the road width to the initial path, which means that the road width does not allow the first device to avoid the obstacle by detouring, then it is determined that the first device cannot bypass the obstacle without changing the initial path.

[0133] In the above embodiment, the first device can determine whether it can bypass the obstacle based on the occlusion ratio of the initial path occupied by the static obstacle and the road width, so that the first device determines the bypass path through autonomous decision-making, and further determines an efficient strategy for avoiding obstacles.

[0134] Step 303, when it is determined that the first device can bypass the obstacle without changing the initial path, a bypass path is determined according to the surrounding environment of the obstacle, the bypass is performed according to the bypass path, and after the bypass is passed, the initial path is continued.

[0135] In some embodiments, the surrounding environment of the obstacle may be the space availability of the road around the obstacle, that is, the traversable range around the obstacle.

[0136] In some embodiments, the detour path may be a path along which the first device changes direction to bypass an obstacle.

[0137] For example, the robot may determine a detour path based on the traversable range around the obstacle, and after detouring along the detour path, continue to move along the original path.

[0138] Step 304: If it is determined that the first device cannot bypass the obstacle without changing the initial path, a replanned path is determined and the device moves along the replanned path.

[0139] In some embodiments, the first device cannot bypass the obstacle without changing the initial path, indicating that the road width does not allow the first device to bypass the obstacle, and the first device needs to re-determine the path for performing the first movement task.

[0140] For example, if the robot's initial path is blocked by a static obstacle, and the blocking area is larger than the difference between the robot's width and the road width, the robot cannot bypass the obstacle and pass through the current section of the road, and needs to replan the path to reach the destination.

[0141] In some embodiments, determining the replanned path includes: sending feedback information to the second device, the feedback information is used to notify the first device of at least one of the following: there are obstacles on the initial path and it is impossible to bypass it, and path replanning is required to execute the first mobile task; receiving a replanning indication sent by the second device, the replanning indication is used to instruct the first device to autonomously generate a replanned path; in response to the replanning indication, autonomously generating a replanned path; or receiving a replanned path sent by the second device, the replanned path is a path replanned by the second device for the first device, and the replanned path is generated by the second device based on a multi-directional road map.

[0142] In some embodiments, a multi-directional road map may be Fig.9A As shown, the probabilities of the robot's various driving directions at any point in the multi-directional road map are generally different, and the second device can change the direction of the driving path according to the congestion situation ahead and the current drivable direction.

[0143] Optionally, there are locations in the multi-directional road map where all four directions are feasible, and there are also locations where only one, two, or three directions are feasible. During the re-planning process, the second device may determine the re-planned path for the robot based on the probability of each direction being selectable at each location.

[0144] In the above embodiment, by setting a multi-directional road map, more schemes are provided for the second device to re-plan the path for the first device, thereby avoiding the phenomenon of queuing at the same location when multiple first devices re-plan the paths, causing congestion of the first devices and reducing the working efficiency of the first devices.

[0145] In some embodiments, the first device may send feedback to the second device when there is an obstacle on the initial path that cannot be circumvented. The second device may re-plan the travel path for the first device and send it to the first device, or the first device may receive instructions sent by the second device to autonomously re-plan the travel path.

[0146] In some embodiments, the first device may also encounter other situations that require path re-planning during the execution of the first mobile task. For example, the first device is low on power and needs to reach the destination faster. In this case, feedback is sent to the second device. The second device may instruct the first device to autonomously generate a re-planned path, or the second device may re-plan and send the re-planned path to the first device to achieve the purpose of changing the travel path.

[0147] In the above embodiment, the specific method of the first device autonomously replanning the path may be: sampling the initial path; and determining the replanned path according to the plurality of first sampling points, the plurality of second sampling points, the positions of obstacles and the grid cost map.

[0148] Optionally, a specific method for determining the replanned path may be to use a grid cost map to determine the distance between each of the multiple first sampling points and the multiple second sampling points and the position center point of the obstacle; determine the sampling points whose distance is greater than or equal to a preset distance threshold as valid sampling points; determine the safety cost value of each valid sampling point based on the distance between each valid sampling point and the position center point of the obstacle; and determine the replanned path based on the distance between each valid sampling point and the position center point of the obstacle and the safety cost value.

[0149] Optionally, the specific method for the first device to autonomously re-plan the path may also be other methods, which is not limited in the present disclosure.

[0150] In the above embodiment, when the obstacle blocking the initial path of the first device is a static obstacle, the first device can make an autonomous decision to bypass the obstacle and pass through the blocked section, and can also make an autonomous decision to re-plan the path based on the instructions of the second device when it is impossible to bypass it, thereby realizing the autonomy and efficiency of the first device.

[0151] Figure 4 The flowchart of the path planning method for dynamic obstacles proposed in the embodiment of the present disclosure is applied to the first device. Figure 2 , Figure 3 The embodiment shown, Figure 4 right Figure 2 Step 203 in the embodiment is further described as follows: Figure 4 As shown, according to the type, determining the strategy for performing autonomous navigation includes the following steps:

[0152] Step 401, determining the correlation between the obstacle's moving trajectory and the initial path.

[0153] In some embodiments, the correlation relationships include: traveling in the same direction, traveling in the opposite direction, traveling in a cross direction, and having no correlation.

[0154] In some embodiments, when the obstacle's moving trajectory is in the same direction as the initial path, the correlation relationship is same-direction movement, which means that the first device and the dynamic obstacle have the same moving direction, but the moving speeds may be the same or different.

[0155] In some embodiments, when the first device and the dynamic obstacle are moving in the same direction and at the same speed, for safety reasons, the first device needs to maintain a certain distance from the dynamic obstacle. Then, when the distance between the dynamic obstacle and the first device is less than the safety distance, the dynamic obstacle becomes an obstacle to the first device. The first device can stop and wait until the distance to the dynamic obstacle meets the safety distance, and then maintain the same speed as the dynamic obstacle and move along the initial path, or re-plan the path.

[0156] In some embodiments, when the first device and the dynamic obstacle are moving in the same direction and at the same speed, the dynamic obstacle and the first device maintain the same speed, and the distance between the two is much greater than the safety distance, then the dynamic obstacle will not pose an obstacle to the first device, and it only needs to continue moving along the initial path. The dynamic obstacle is always in an area outside the safety distance in front of the first device and will not hinder the movement of the first device.

[0157] In some embodiments, when the moving trajectory of the obstacle is opposite to the direction of the initial path, the correlation relationship is reverse movement, and reverse movement means that the first device and the dynamic obstacle move in opposite directions.

[0158] In some embodiments, when the moving trajectory of the obstacle intersects with the initial path, the correlation relationship is cross movement.

[0159] In some embodiments, when the trajectory of the obstacle has no correlation with the initial path, it means that the first device cannot determine the trajectory of the obstacle, and the obstacle may be a foreign object with different properties from the first device or a person.

[0160] Step 402: Determine a strategy for executing autonomous navigation based on the correlation.

[0161] The first device can determine different strategies based on different correlations and autonomous navigation functions, including the following solutions:

[0162] Option 1: The correlation is moving in the same direction.

[0163] In some embodiments, based on the correlation, a specific method for determining the strategy for executing autonomous navigation may be: when the correlation is traveling in the same direction, obtaining the travel speed of the obstacle, the occlusion ratio of the obstacle to the initial path, and the road width of the initial path; when the travel speed of the obstacle is greater than or equal to the travel speed of the first device, continuing to travel along the initial path; when the travel speed of the obstacle is less than the travel speed of the first device, based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determining a detour path based on the surrounding environment of the obstacle, performing detour according to the detour path, and continuing to travel along the initial path after passing the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determining a replanned path, and traveling along the replanned path.

[0164] In some embodiments, when the correlation relationship is that of traveling in the same direction, the traveling trajectory of the obstacle is the same as the traveling direction of the initial path of the first device, and the traveling speed of the obstacle is greater than or equal to the traveling speed of the first device, indicating that the obstacle is always traveling in front of the first device, the first device will not collide with the obstacle as long as it continues to travel along the initial path.

[0165] In some embodiments, when the travel speed of the obstacle is less than the travel speed of the first device, it means that the first device may overtake the obstacle. Before that, the first device may collide with the obstacle. The first device then determines whether it can bypass the obstacle without changing the initial path based on the occlusion ratio of the obstacle and the road width.

[0166] Optionally, when it is determined that the first device can bypass the obstacle without changing the initial path, the first device can autonomously plan a bypass path. In some embodiments, the bypass path includes a bypass direction and a bypass distance.

[0167] Optionally, when it is determined that the first device cannot bypass the obstacle without changing the initial path, the first device determines a replanned path and travels along the replanned path.

[0168] In some embodiments, the first device may re-plan the travel path autonomously, or may provide feedback to the second device, and the second device may re-plan the path for the first device and send the re-planned path to the first device.

[0169] In the above embodiment, when the dynamic obstacle is moving in the same direction, the first device determines whether it is possible to bypass or whether it is necessary to replan the path to ensure that it does not collide with the dynamic obstacle.

[0170] Option 2: The correlation moves in the reverse direction.

[0171] In some embodiments, based on the correlation relationship, determining a strategy for executing autonomous navigation includes: when the correlation relationship is reverse travel, obtaining the occlusion ratio of the obstacle to the initial path and the road width of the initial path; based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determining a detour path according to the instructions of the second device, performing detour according to the detour path, and continuing to travel along the initial path after the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determining a re-planned path and traveling along the re-planned path.

[0172] In some embodiments, the first device determines whether the first device can bypass the obstacle without changing the initial path based on the blocking ratio of the obstacle to the initial path and the road width of the initial path. Figure 3 The specific methods described in the embodiments will not be repeated here.

[0173] For example, Fig. 9B As shown, when the robot and the obstacle are moving in opposite directions, the robot can determine whether it can bypass the obstacle without changing the initial path based on the occlusion ratio of the obstacle to the initial path and the road width of the initial path. If it is determined that a detour is necessary, the detour path is determined, and after passing the detour path, the robot continues to move along the initial path.

[0174] In some embodiments, after determining that the first device can bypass an obstacle without changing the initial path, determining a bypass path according to an instruction of the second device includes: determining a first bypass direction and a first bypass distance of the first device; sending a bypass request to the second device, the bypass request including the first bypass direction and the first bypass distance; receiving a bypass instruction sent by the second device, the bypass instruction being used to indicate whether to agree with the first device to perform a bypass according to the first bypass direction and the first bypass distance; if the bypass instruction indicates agreement, determining a bypass path according to the first bypass direction and the first bypass distance; if the bypass instruction indicates disagreement, stopping and waiting, or re-requesting a bypass path from the second device.

[0175] In some embodiments, the first device sends the first detour direction and the first detour distance determined by autonomous decision to the second device. The second device can determine whether to agree to the detour request of the first device based on the movement trajectory of the obstacle and send a detour instruction to the first device.

[0176] Optionally, if the detour instruction indicates that the first detour direction and the first detour distance will not overlap with the travel trajectory of the obstacle, the first device may perform the detour according to the first detour direction and the first detour distance.

[0177] Optionally, if the detour instruction indicates that the first detour direction and the first detour distance do not overlap with the obstacle's travel trajectory, the first device cannot perform the detour according to the first detour direction and the first detour distance, and needs to stop moving and wait, or resend information requesting a detour path to the second device.

[0178] In some embodiments, if the first device disagrees with the detour instruction, stopping and waiting may mean stopping and waiting for the obstacle to pass through the blocked section before continuing to move along the initial path.

[0179] In some embodiments, if the first device disagrees with the detour instruction, it can re-request a detour path from the second device, wherein the second device determines the detour path of the first device based on the initial path of the first device and the trajectory of the obstacle, and the detour path includes a detour direction and a detour distance.

[0180] In some embodiments, after determining that the first device can bypass the obstacle without changing the initial path, determining the bypass path according to the instruction of the second device includes: sending a bypass request to the second device, the bypass request is used to request the second device to determine the bypass direction and bypass distance of the obstacle; obtaining the second bypass direction and second bypass distance of the obstacle sent by the second device; determining the first bypass direction and first bypass distance of the first device according to the second bypass direction and the second bypass distance; determining the bypass path according to the first bypass direction and the first bypass distance.

[0181] In some embodiments, the second detour direction and the second detour distance of the obstacle sent by the second device may be the detour path of the obstacle determined by the second device based on the travel trajectory of the obstacle (including the departure place and the destination), the initial path of the first device, the blocking position, the blocking ratio and the road width, including the second detour direction and the second detour distance.

[0182] In some embodiments, the second device sends the second detour direction and the second detour distance of the obstacle to the first device, so that the first device can determine the detour path of the first device.

[0183] For example, the robot sends a bypass request to the RMS system to request the RMS system to make a bypass plan for the obstacle. The RMS system sends the bypass plan for the obstacle to the robot, and the robot determines its own bypass direction and bypass distance through the autonomous navigation function.

[0184] In some embodiments, after determining that the first device can bypass the obstacle without changing the initial path, determining the bypass path according to the instruction of the second device includes: sending a bypass request to the second device, the bypass request is used to request the second device to send a bypass path; receiving the bypass path sent by the second device, the bypass path includes a first bypass direction and a first bypass distance for the first device to bypass the obstacle.

[0185] In some embodiments, when the first device determines that a detour is possible, the first device sends a detour request to the second device, and the second device determines a detour plan for the first device and the obstacle, and sends it to the first device.

[0186] For example, when the robot determines that it can bypass a dynamic obstacle, it sends a request to the RMS system, and the RMS system determines the bypass plan for the robot and the obstacle based on the robot's initial path, the obstacle's movement trajectory, the obstacle's blocking ratio, and the road width, including the robot's bypass direction and bypass distance, as well as the obstacle's bypass direction and bypass distance.

[0187] In the above embodiment, when the first device is moving in the opposite direction to the dynamic obstacle, it can make an autonomous decision to bypass the obstacle, or request the second device to plan a bypass path for it.

[0188] Option 3: The correlation is cross-movement.

[0189] In some embodiments, based on the correlation relationship, determining a strategy for executing autonomous navigation includes: when the correlation relationship is cross-travel, determining whether the obstacle can pass through the initial path within a preset time period; when it is determined that the obstacle can pass through the initial path within the preset time period, determining a waiting time, stopping and waiting for the obstacle to pass; when it is determined that the obstacle cannot pass through the initial path within the preset time period, determining whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determining a detour path, performing a detour according to the detour path, and continuing to travel along the initial path after the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determining a re-planned path, and traveling according to the re-planned path.

[0190] In some embodiments, when the first device and the obstacle are moving crosswise, indicating that the initial path of the first device intersects with the moving trajectory of the obstacle, the first device may stop and wait for the obstacle to pass through the initial path before continuing to move, wherein the moving directions of the first device and the obstacle may be the same or different.

[0191] In some embodiments, the first device stops waiting by determining the duration of time for the obstacle to pass through the initial path. If the duration is within a preset time period, the first device continues to move along the initial path after the duration has passed. If the duration is not within the preset time period, it means that the obstacle takes too long to pass through the initial path, which will affect the efficiency of the first device in performing the first mobile task. The first device can make a detour decision or request the second device to replan the path.

[0192] In some embodiments, the preset time period is a preset maximum stop waiting time of the first device. The value of the preset time period can be set according to different application scenarios, which is not limited by the present disclosure.

[0193] For example, a robot is traveling on an intersecting path with a dynamic obstacle. If the robot determines that the obstacle can be passed within a preset time threshold based on the surrounding environment, the robot stops and waits. After the obstacle passes, the robot continues to move along the original path. If it is determined that the obstacle cannot be passed within the preset time threshold, the robot determines whether to bypass it based on the surrounding environment. If it is determined that it can be bypassed, the bypass path is determined and executed. If it is determined that it cannot be bypassed, the robot feeds back to the RMS system that the obstacles on the travel path are complex and cannot be bypassed, and requests to re-plan the travel path. After receiving the re-planned travel path issued by the RMS system, the robot executes the new travel path.

[0194] Option 4: There is no correlation.

[0195] In some embodiments, based on the correlation relationship, determining a strategy for executing autonomous navigation includes: when there is no correlation relationship, stopping and waiting, and sending a request message to the second device, the request message is used to request the second device to make a decision; receiving a decision message sent by the second device, the decision message is used to instruct the first device to continue waiting and any one of the first waiting time and resuming travel.

[0196] In some embodiments, when the initial path of the first device has no correlation with the travel trajectory of the obstacle, it may be that there are workers or other movable objects in the environment where the first device is currently located, and the second device cannot control its travel trajectory, so that the first device needs to stop and wait. The second device determines the waiting time of the first device and controls the first device to resume moving.

[0197] In the above embodiment, when the obstacle blocking the robot's path is a dynamic obstacle, the robot can use the autonomous navigation function to determine different strategies based on relevant relationships to pass the current section and continue to perform the first movement task, thereby realizing the function of autonomous decision-making.

[0198] Figure 5FIG. 1 is a flow chart of a path planning method applied to a second device proposed in an embodiment of the present disclosure. Figure 5 As shown, the following steps are included:

[0199] Step 501: Send an autonomous navigation area to a first device.

[0200] In some embodiments, the autonomous navigation area is used by the first device to determine whether an initial path is within the autonomous navigation area. The initial path is the path planned by the second device for the first device to perform a first mobile task. When the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation. The end point of the autonomous navigation is the destination of the first mobile task.

[0201] In some embodiments, the autonomous navigation area is an area range for the first device to perform autonomous navigation determined by the second device based on historical data fed back by the first device, wherein the historical data may include congestion information of the first device.

[0202] In some embodiments, the autonomous navigation area may be that the second device uses a density clustering algorithm to perform congestion thermal identification based on congestion information of multiple first devices in the first area, and determines the congestion probability of multiple sub-areas in the first area; and determines the sub-area whose congestion probability meets a preset threshold as the autonomous navigation area.

[0203] For example, the RMS system uses density clustering to perform congestion thermal identification based on the congestion information feedback of the robot, determines the congestion probability, and determines the area that meets the predetermined threshold as the autonomous decision-making navigation area where the robot can perform autonomous decision-making navigation.

[0204] In some embodiments, the second device may issue the autonomous navigation area while issuing the initial path; or issue the autonomous navigation area in response to the autonomous navigation request sent by the first device.

[0205] In some embodiments, the second device receives an enable request sent by the first device when the initial path is within the autonomous navigation area, the enable request being used to request enabling the autonomous navigation function; and sends an enable indication to the first device, the enable indication being used to instruct the first device to enable the autonomous navigation function.

[0206] In the above embodiment, the RMS system can determine the autonomous navigation area for the robot based on historical congestion data, so that the robot can independently determine whether to turn on the autonomous navigation function when it is needed, or determine whether to request the RMS system to turn on the function, thereby realizing the robot's autonomous decision-making and improving the efficiency of the robot in performing mobile tasks.

[0207] Figure 6A schematic flow chart of a path planning method applied to a second device proposed in an embodiment of the present disclosure.

[0208] based on Figure 5 The embodiment shown, as Figure 6 As shown, the following steps are included:

[0209] Step 601: receiving feedback information sent by a first device.

[0210] In some embodiments, the feedback information is used to notify the first device of at least one of the following: an obstacle exists on the initial path and cannot be circumvented, and path replanning is required to execute the first movement task.

[0211] In some embodiments, the feedback information may be sent when there is a static obstacle on the initial path of the first device, and the occlusion ratio of the static obstacle to the initial path causes the first device to determine that the obstacle cannot be bypassed without changing the initial path, thereby sending feedback information to the second device to inform the second device to re-plan the path.

[0212] In some embodiments, the feedback information may be sent because there is a dynamic obstacle on the initial path of the first device, and the first device determines that the obstacle cannot be bypassed without changing the initial path, thereby sending feedback information to the second device to inform the second device to replan the path.

[0213] Step 602: Determine a reference direction for the first device to perform a first movement task based on a multi-directional road map.

[0214] In some embodiments, the reference direction is different from the initial direction of the initial path.

[0215] In some embodiments, the reference direction is the travel direction re-determined by the second device for the first device based on the initial path. In other words, in this reference direction, the first device can avoid obstacles and continue to perform the first movement task to reach the destination of the first movement task.

[0216] In some embodiments, Fig.9AIn the multi-directional road map shown, the selection probability of each direction by the second device at each position in the multi-directional road map is different. For example, at a position where four directions are all possible in the multi-directional road map, the selection probability of each direction is 25%; at a position where only one direction is possible, the selection probability of that direction is 100%, and the selection probabilities of other directions are 0; at a position where two directions are possible, the selection probability of each direction is 50%; at a position where three directions are possible, the selection probability of each direction is 33.3%. The second device can select a reference direction for the first device based on the selection probability of the driving direction at each position. If the path of the first reference direction determined for the first time to reach the destination still has obstacles or the path is too long, the second device can change to the second reference direction, which can also reach the destination. The second reference direction is different from the initial direction of the initial path.

[0217] In some embodiments, if the first reference direction determined by the second device for the first device overlaps with the travel directions of other devices, in order to avoid the first device waiting in line to pass, the second device can change the reference direction and determine the second reference direction.

[0218] In some embodiments, the second device continuously determines a plurality of continuous reference directions for the first device based on the first movement task, and the plurality of continuous reference directions can form a path from the current location to the destination.

[0219] Step 603: Determine a replanned path for the first device to perform the first movement task based on the reference direction.

[0220] In some embodiments, the second device determines a reference direction for the first device at each travel position, and connects multiple consecutive reference directions in a directed manner to determine a replanned path for the first device to perform the first movement task.

[0221] Step 604: Send the re-planned path to the first device.

[0222] In some embodiments, the second device sends the replanned path determined for the first device to the first device, so that when the first device encounters an obstacle and cannot bypass it, it executes the replanned path to continue to complete the first movement task and reach the destination of the first movement task.

[0223] In the above embodiment, the second device can determine the re-planned path of the first device based on the multi-directional road map, realize more optional paths, avoid the inefficiency of the first device queuing and waiting to pass, and further improve the working efficiency of the first device.

[0224] Figure 7 A schematic diagram of a flow chart of a path planning method applied to a second device proposed in an embodiment of the present disclosure, based on Figure 5 , Figure 6 The embodiment shown, as Figure 7 As shown, the following steps are included:

[0225] Step 701: Receive a detour request sent by the first device when the obstacle is determined to be a dynamic obstacle.

[0226] In some embodiments, a bypass request is received from a first device when the first device determines that an obstacle is a dynamic obstacle, wherein the bypass request includes a first bypass direction and a first bypass distance determined by the first device. The specific decision-making process of the second device is as follows: determine whether the obstacle is a mobile device, and if so, determine a second bypass direction and a second bypass distance of the obstacle based on the first bypass direction and the first bypass distance; send a first bypass instruction to the first device, the first bypass instruction is used to indicate that the first device agrees to perform a bypass according to the first bypass direction and the first bypass distance; send a second bypass instruction to the obstacle, the second bypass instruction is used to instruct the obstacle to perform a bypass according to the second bypass direction and the second bypass distance.

[0227] In the above embodiment, the first device may determine the first detour direction and the first detour distance in the following manner: Figure 4 The specific implementation method shown in the embodiment will not be repeated here.

[0228] In the above embodiment, the second device can determine the bypass plan for the obstacle based on the bypass plan determined by the autonomous decision of the first device, according to the type of obstacle, and send the corresponding bypass plan to the first device and the obstacle respectively, so that the first device and the obstacle can bypass the blocked section and avoid a collision between the first device and the obstacle.

[0229] In some embodiments, a detour request is received from a first device when an obstacle is determined to be a dynamic obstacle, wherein the detour request is used to request a second device to send a detour path; a detour path for the first device is determined based on the position and travel speed of the obstacle, the detour path including a first detour direction and a first detour distance for the first device to detour the obstacle; and the detour path is sent to the first device.

[0230] In the above embodiment, the second device may determine the detour path of the first device based on the request of the first device, so that the second device makes a decision on the detour path to avoid the first device from colliding with an obstacle.

[0231] In some embodiments, a request message is received from the first device when it is determined that the obstacle is a dynamic obstacle and the obstacle has no correlation with the first device, and the request message is used to request the second device to make a decision; if the location of the obstacle cannot be obtained, the first time duration for the first device to continue waiting is determined, and a decision message is sent to the first device, the decision message includes an instruction instructing the first device to continue waiting and the first time duration; a warning instruction is sent, and the warning instruction is used to notify the staff to check and remove the obstacle; after the obstacle is removed, a decision message is sent to the first device, and the decision message includes an instruction instructing the first device to resume moving.

[0232] In the above embodiment, when the second device cannot obtain the position of the obstacle, it can control the waiting time and recovery time of the first device and notify the staff to remove the obstacle, thereby realizing decision control of the first device and avoiding collision between the first device and the obstacle.

[0233] Figure 8 An interactive schematic diagram of a path planning method proposed in an embodiment of the present disclosure, which is applied to a path planning system.

[0234] Step 801: The second device sends an autonomous navigation area to the first device.

[0235] In some embodiments, an optional implementation of step 801 may be as follows: Figure 2 Step 201, Figure 5 The optional implementation method in the embodiment shown in step 501 will not be repeated here.

[0236] Step 802: The first device determines whether the initial path is within the autonomous navigation area.

[0237] In some embodiments, the initial path is a path planned by the second device for the first device to perform the first movement task.

[0238] In some embodiments, an optional implementation of step 802 may be as follows: Figure 2 The optional implementation method in the embodiment shown in step 202 will not be repeated here.

[0239] Step 803: When the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation.

[0240] In some embodiments, the end point of the autonomous navigation is the destination of the first movement task.

[0241] In some embodiments, an optional implementation of step 803 may be as follows: Figure 2 Step 203, Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The optional implementation methods in the illustrated embodiment will not be described in detail here.

[0242] The following is a specific implementation of a path planning method provided by the present disclosure, including the RMS system side and the robot side:

[0243] 1. RMS system side:

[0244] Step 1: Based on the congestion information feedback of the robot, density clustering is used to identify congestion heat, determine the congestion probability, and determine the area that meets the predetermined threshold as the autonomous decision-making navigation area where the robot can make autonomous decision-making navigation. The autonomous decision-making navigation area can be issued when issuing a travel path to the robot, or it can be issued based on the robot's request, and the specific issuance method is not limited.

[0245] Optional, the optional implementation of step 1 can be found in Figure 5 An optional implementation method in an embodiment of .

[0246] Step 2: The RMS system receives the navigation status fed back by the robot for further use in trajectory planning.

[0247] The RMS system is based on Fig.9A The multi-directional road map shown is used for trajectory planning.

[0248] Optional, the optional implementation of step 2 can be found in Figure 6 , Figure 7 An optional implementation method in an embodiment of .

[0249] 2. Robot side:

[0250] Step 1: While the robot is walking, determine whether it is blocked by an obstacle;

[0251] Step 2: If it is determined that the vehicle is blocked by an obstacle, determine whether it is in the autonomous decision-making navigation area;

[0252] Optional, the optional implementation of steps 1 and 2 can be found in Figure 2 An optional implementation method in the embodiment shown in step 202.

[0253] Step 3: If the user is in the autonomous decision-making navigation area, the autonomous navigation function is activated to perform autonomous decision-making navigation.

[0254] If it is not in the autonomous decision-making navigation area, a message is sent to the RMS to start the autonomous decision-making navigation function. After receiving the message sent by the RMS to start the autonomous decision-making navigation function, the autonomous decision-making function is started.

[0255] Furthermore, the autonomous decision-making navigation area is obtained by the RMS system when issuing the walking path to the robot, and the area identifier of the autonomous decision-making navigation area is issued. The autonomous decision-making navigation area changes dynamically, and the RMS system determines it based on the waiting time and position of the queue fed back by the robot.

[0256] Furthermore, the autonomous decision-making navigation area can be issued at the request of the robot, and the specific timing of issuance is not limited.

[0257] Optional, the optional implementation of step 3 can be found in Figure 2 An optional implementation of step 203 in .

[0258] Step 4: Autonomous decision making includes:

[0259] (1) Identify the type of obstacle, whether it is static or dynamic;

[0260] Specifically, the obstacle movement probability is estimated based on the local perception map within a predetermined time period of the obstacle, the POMDP (Partially Observable Markov Decision Process) algorithm is used to analyze the obstacle movement trend within a continuous time period, and the obstacle movement trend is predicted and the result statistics are made using the particle sampling / selection / expansion / simulation and back propagation methods to determine whether the obstacle is considered to be a dynamic type or a static type; and based on the estimation of the motion trajectory, the detour path is determined.

[0261] (2) If it is identified as a static type, then: obtain the occlusion ratio of the obstacle on the travel route and the road width of the travel path; based on the occlusion ratio and the road width, determine whether the robot can bypass the obstacle without changing the travel path; if it is determined that it can, determine the bypass path through the surrounding environment, and execute the bypass according to the bypass path. After bypassing, continue to move along the original path; if it is determined that it cannot be done, feedback to the RMS system that the obstacles on the travel path are complex and cannot be bypassed, and request to re-plan the travel path; receive the re-planned travel path, and execute the new travel path.

[0262] (3) If it is identified as a dynamic type, the moving track of the obstacle is obtained, and a solution for handling the obstacle is determined based on the moving track of the obstacle. The obstacle may be a robot, a maintenance worker, or other moving objects, which is not limited in this solution.

[0263] Wherein, based on the moving track of the obstacle, determining the blocking solution specifically includes: determining whether the obstacle and the robot will travel on the same path based on the moving track of the robot;

[0264] If yes, determine whether the obstacle and the robot are moving in the same direction:

[0265] If the vehicles are traveling in the same direction, the system determines whether they can bypass the route based on the surrounding environment. If the vehicle determines that they can bypass the route, the system decides to wait or provides feedback to the RMS system that the route is blocked by complex obstacles and cannot be bypassed, and requests the system to re-plan the route. The system receives the re-planned route and executes the new route.

[0266] If the vehicle is traveling in the opposite direction, it is determined whether it can bypass the surrounding environment. If it is determined that it can bypass the surrounding environment, the bypass trajectory is determined and executed. Fig. 9B The scene diagram of the detour path shown is that when the robot determines that it can bypass the obstacle without changing the travel path, it determines the detour path through the surrounding environment, and after bypassing the obstacle according to the detour path, it continues to travel along the original path; if it is determined that the detour cannot be passed, it feeds back to the RMS system that the obstacles on the travel path are complex and cannot be bypassed, and requests to re-plan the travel path; receives the re-planned travel path, and executes the new travel path.

[0267] If the vehicle is not traveling on the same path, such as on an intersecting path, the vehicle determines whether to stop and wait for the vehicle to pass based on the surrounding environment:

[0268] If it is determined that it can stop and wait within the predetermined time threshold, the robot will stop and wait, and after the obstacle passes, the robot will continue to move along the original path;

[0269] If it is not possible to stop and wait for passage, determine whether to bypass it based on the surrounding environment: if it is determined that it can bypass it, determine the bypass path and execute the bypass path; if it is determined that it cannot bypass it, feedback to the RMS system that the obstacles on the travel path are complex and cannot be bypassed, and request to re-plan the travel path; receive the re-planned travel path, and execute the new travel path.

[0270] Optional, the optional implementation of step 4 can be found in Figure 3 , Figure 4 Optional implementations of the described embodiments.

[0271] Beneficial effects of this program:

[0272] 1. The robot can make autonomous decisions and navigate based on the surrounding environment, which improves the utilization rate of the robot;

[0273] 2. When it is impossible to pass the roadblock by making independent decisions, the route can be replanned based on the setting of two-way roads to reduce the inefficiency of waiting in line;

[0274] 3. Due to the setting of two-way roads, the map can re-plan the path for the robot based on the robot's congestion situation, without having to re-import the map, reducing maintenance and delivery costs and improving the robot's work efficiency.

[0275] Fig.10 A schematic diagram of the structure of a path planning device 1000 proposed in an embodiment of the present disclosure, which is applied to a first device, such as Fig.10 As shown, the device comprises:

[0276] The receiving unit 1001 is used to receive the autonomous navigation area sent by the second device.

[0277] The determination unit 1002 is used to determine whether an initial path is within the autonomous navigation area, the initial path being a path planned by the second device for the first device to perform the first mobile task.

[0278] The navigation unit 1003 is used to enable the autonomous navigation function and perform autonomous navigation when the initial path is within the autonomous navigation area, and the end point of the autonomous navigation is the destination of the first movement task.

[0279] In some embodiments, the determination unit is further used to determine whether the initial path is blocked by an obstacle; if the initial path is blocked by an obstacle, determine whether the initial path is within the autonomous navigation area.

[0280] In some embodiments, the determination unit is also used to obtain point cloud data from a sensor device in the first device and transform the point cloud data into a grid cost map; project the initial path into the grid cost map to determine whether there is an obstacle area at the first path point on the initial path, the first path point being any path point from the current position of the first device to the end position; if there is a continuous obstacle at the first path point, or if there is an obstacle at the first path point when the first device moves along the initial path to the first path point, determine that the initial path is blocked by the obstacle at the first path point.

[0281] In some embodiments, the navigation unit is also used to automatically turn on the autonomous navigation function and perform autonomous navigation when the initial path is within the autonomous navigation area; or to send a turn-on request to a second device when the initial path is within the autonomous navigation area; and to turn on the autonomous navigation function and perform autonomous navigation in response to the turn-on indication sent by the second device.

[0282] In some embodiments, the navigation unit is also used to determine the type of obstacles that block the initial path, which types include static obstacles and dynamic obstacles; based on the type, a strategy for executing autonomous navigation is determined, which strategy includes at least one of stopping and waiting, waiting time, and an autonomous navigation path. The autonomous navigation path is a path that bypasses obstacles and reaches the end location, and the autonomous navigation path includes at least one of a detour path and a replanned path.

[0283] In some embodiments, the navigation unit is also used to determine a reference path for the first device to bypass the obstacle; at multiple time points in a preset time period, determine a first confidence level that the obstacle is a static obstacle or a second confidence level that the obstacle is a dynamic obstacle; when the first confidence level reaches a first preset threshold, determine that the obstacle is a static obstacle, otherwise, determine that the obstacle is a dynamic obstacle; or when the second confidence level reaches a second preset threshold, determine that the obstacle is a dynamic obstacle, otherwise, determine that the obstacle is a static obstacle.

[0284] In some embodiments, the navigation unit is also used to determine a first initial confidence and a second initial confidence at a first time point in a preset time period; determine whether the first device can pass through a reference path at a second time point in the preset time period, the second time point being located after the first time point in the time sequence; if the first device can pass through the reference path at the second time point, increase the first initial confidence by a preset value and decrease the second initial confidence by a preset value; if the first device cannot pass through the reference path at the second time point, decrease the first initial confidence by a preset value, increase the second initial confidence by a preset value, and re-plan the path until multiple time points are traversed.

[0285] In some embodiments, the navigation unit is also used to obtain the occlusion ratio of the obstacle to the initial path and the road width of the initial path when the obstacle type is a static obstacle; based on the occlusion ratio and the road width, determine whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determine a detour path according to the surrounding environment of the obstacle, perform detour according to the detour path, and continue to move along the initial path after detouring; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determine a re-planned path, and move along the re-planned path.

[0286] In some embodiments, the navigation unit is also used to send feedback information to the second device, and the feedback information is used to notify the first device of at least one of the following: there are obstacles on the initial path and it is impossible to bypass it, and path replanning is required to execute the first moving task; receiving a replanning indication sent by the second device, and the replanning indication is used to instruct the first device to autonomously generate a replanned path; in response to the replanning indication, autonomously generate a replanned path; or receiving a replanned path sent by the second device, and the replanned path is a path replanned by the second device for the first device, and the replanned path is generated by the second device based on a multi-directional road map.

[0287] In some embodiments, the navigation unit is also used to determine the correlation between the obstacle's trajectory and the initial path when the obstacle is a dynamic obstacle, the correlation including: moving in the same direction, moving in the opposite direction, moving in an intersecting direction, and having no correlation; based on the correlation, determine the strategy for executing autonomous navigation.

[0288] In some embodiments, the navigation unit is also used to obtain the travel speed of the obstacle, the occlusion ratio of the obstacle to the initial path, and the road width of the initial path when the relevant relationship is that of traveling in the same direction; when the travel speed of the obstacle is greater than or equal to the travel speed of the first device, based on the occlusion ratio and the road width, determine whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, a detour path is determined according to the surrounding environment of the obstacle, the detour is performed according to the detour path, and after the detour is passed, the initial path is continued to be traveled; if it is determined that the first device cannot bypass the obstacle without changing the initial path, a re-planned path is determined, and travel is carried out according to the re-planned path.

[0289] In some embodiments, the navigation unit is also used to obtain the occlusion ratio of the obstacle to the initial path and the road width of the initial path when the relevant relationship is reverse travel; based on the occlusion ratio and the road width, determine whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determine a detour path according to the instructions of the second device, perform detour according to the detour path, and continue to travel along the initial path after the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determine a re-planned path and travel according to the re-planned path.

[0290] In some embodiments, the navigation unit is also used to determine a first bypass direction and a first bypass distance of the first device; send a bypass request to the second device, the bypass request including the first bypass direction and the first bypass distance; receive a bypass instruction sent by the second device, the bypass instruction is used to indicate whether to agree with the first device to perform a bypass according to the first bypass direction and the first bypass distance; if the bypass instruction indicates agreement, determine a bypass path according to the first bypass direction and the first bypass distance; if the bypass instruction indicates disagreement, stop moving and wait, or re-request a bypass path from the second device.

[0291] In some embodiments, the navigation unit is also used to send a bypass request to the second device, and the bypass request is used to request the second device to determine the bypass direction and bypass distance of the obstacle; obtain the second bypass direction and second bypass distance of the obstacle sent by the second device; determine the first bypass direction and first bypass distance of the first device based on the second bypass direction and the second bypass distance; determine the bypass path based on the first bypass direction and the first bypass distance.

[0292] In some embodiments, the navigation unit is also used to send a detour request to the second device, the detour request is used to request the second device to send a detour path; receive the detour path sent by the second device, the detour path includes a first detour direction and a first detour distance for the first device to bypass the obstacle.

[0293] In some embodiments, the navigation unit is also used to determine whether the obstacle can pass through the initial path within a preset time period when the correlation relationship is cross-travel; when it is determined that the obstacle can pass through the initial path within the preset time period, determine the waiting time, stop and wait for the obstacle to pass; when it is determined that the obstacle cannot pass through the initial path within the preset time period, determine whether the first device can bypass the obstacle without changing the initial path; if it is determined that the first device can bypass the obstacle without changing the initial path, determine a detour path, perform detour according to the detour path, and continue to travel along the initial path after the detour; if it is determined that the first device cannot bypass the obstacle without changing the initial path, determine a re-planned path, and travel according to the re-planned path.

[0294] In some embodiments, the navigation unit is also used to stop moving and waiting when there is no correlation, and send a request message to the second device, the request message is used to request the second device to make a decision; receive a decision message sent by the second device, the decision message is used to instruct the first device to continue waiting and any one of the first waiting time and resuming moving.

[0295] In some embodiments, the navigation unit is further used to receive an autonomous navigation area sent by the second device when sending the initial path; or to send an autonomous navigation request to the second device and receive an autonomous navigation area sent by the second device in response to the autonomous navigation request.

[0296] In the above embodiment, the path planning device applied to the first device receives the autonomous navigation area determined by the second device, and determines whether to turn on the autonomous navigation function based on whether the initial path is in the area, and performs autonomous navigation and autonomous decision-making. Furthermore, when encountering obstacles, it can autonomously determine a detour plan, stop and wait, or re-plan the path, thereby improving the utilization rate and work efficiency of the robot.

[0297] Fig.11A schematic diagram of the structure of a path planning device 1100 proposed in an embodiment of the present disclosure, which is applied to a second device, such as Fig.11 As shown, the device comprises:

[0298] The sending unit 1101 is used to send an autonomous navigation area to the first device. The autonomous navigation area is used by the first device to determine whether an initial path is within the autonomous navigation area. The initial path is a path planned by the second device for the first device to perform a first mobile task. When the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation. The end point of the autonomous navigation is the destination of the first mobile task.

[0299] In some embodiments, the device also includes a determination unit for performing congestion thermal identification based on congestion information of multiple first devices in the first area using a density clustering algorithm to determine the congestion probability of multiple sub-areas in the first area; and determining the sub-area whose congestion probability meets a preset threshold as an autonomous navigation area.

[0300] In some embodiments, the device also includes a receiving unit for receiving a start request sent by the first device when the initial path is within the autonomous navigation area, the start request being used to request to start the autonomous navigation function; the sending unit is also used to send a start indication to the first device, the start indication being used to instruct the first device to start the autonomous navigation function.

[0301] In some embodiments, the receiving unit is also used to receive feedback information sent by the first device, and the feedback information is used to notify the first device of at least one of the following: there are obstacles on the initial path and it is impossible to bypass it, and path replanning is required to execute the first mobile task; the determination unit is also used to determine, based on the multi-directional road map, a reference direction for the first device to execute the first mobile task, and the reference direction is different from the initial direction of the initial path; based on the reference direction, determine the replanned path for the first device to execute the first mobile task; the sending unit is also used to send the replanned path to the first device.

[0302] In some embodiments, the receiving unit is also used to receive a bypass request sent by the first device when it is determined that the obstacle is a dynamic obstacle, the bypass request including a first bypass direction and a first bypass distance determined by the first device; the determination unit is also used to determine whether the obstacle is a mobile device, and if so, determine a second bypass direction and a second bypass distance of the obstacle based on the first bypass direction and the first bypass distance; the sending unit is also used to send a first bypass instruction to the first device, the first bypass instruction is used to indicate that it agrees to allow the first device to perform a bypass according to the first bypass direction and the first bypass distance; and send a second bypass instruction to the obstacle, the second bypass instruction is used to instruct the obstacle to perform a bypass according to the second bypass direction and the second bypass distance.

[0303] In some embodiments, the receiving unit is also used to receive a detour request sent by the first device when it is determined that the obstacle is a dynamic obstacle, and the detour request is used to request the second device to send a detour path; the determination unit is also used to determine the detour path of the first device based on the position and travel speed of the obstacle, and the detour path includes a first detour direction and a first detour distance for the first device to bypass the obstacle; the sending unit is also used to send the detour path to the first device.

[0304] In some embodiments, the receiving unit is also used to receive a request message sent by the first device when it determines that the obstacle is a dynamic obstacle and the obstacle has no correlation with the first device, and the request message is used to request the second device to make a decision; the determination unit is also used to determine the first time duration for the first device to continue waiting if the location of the obstacle cannot be obtained, and send a decision message to the first device, the decision message includes an instruction instructing the first device to continue waiting and the first time duration; the sending unit is also used to send a warning instruction, and the warning instruction is used to notify the staff to check and remove the obstacle; after the obstacle is removed, a decision message is sent to the first device, and the decision message includes an instruction instructing the first device to resume moving.

[0305] In the above embodiment, the path planning device applied to the second device determines the area in which the first device can perform autonomous navigation through the information fed back by the first device, and can plan a path for the first device based on the feedback from the first device and the multi-directional road map, thereby realizing multi-path optional path planning, reducing the inefficiency of the robot having to queue up and wait for passage, and further improving the robot's work efficiency.

[0306] Fig.12 1 is a schematic diagram of a structure of an electronic device 1200 for implementing the above-mentioned path planning method according to an exemplary embodiment. The components of the electronic device 1200 include but are not limited to a memory 1210 and a processor 1220. The processor 1220 is connected to the memory 1210 via a bus 1230, and the database 1250 is used to store data.

[0307] The electronic device 1200 also includes an access device 1240, which enables the electronic device 1200 to communicate via one or more networks 1260. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1240 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0308] In one embodiment of the present disclosure, the above components of the electronic device 1200 and Fig.12 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig.12 The electronic device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0309] The electronic device 1200 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The electronic device 1200 may also be a mobile or stationary server.

[0310] Among them, when the processor 1220 executes the computer instructions, the steps of the path planning method are implemented.

[0311] The above is a schematic scheme of an electronic device of this embodiment. It should be noted that the technical scheme of the electronic device and the technical scheme of the above-mentioned path planning method belong to the same concept, and the details not described in detail in the technical scheme of the computing electronic device can be referred to the description of the technical scheme of the above-mentioned path planning method.

[0312] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the path planning method described in the above embodiments of the present disclosure.

[0313] An embodiment of the present disclosure further provides a computer program product, including a computer program, which executes the path planning method described in the above embodiment of the present disclosure when a processor executes the computer program.

[0314] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0315] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0316] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0317] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0318] The preferred embodiments of the present disclosure disclosed above are only used to help explain the present disclosure. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present disclosure. The present disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, so that those skilled in the art can well understand and use the present disclosure. The present disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A path planning method, characterized in that: Applied to a first device, comprising: receiving an autonomous navigation area sent by a second device; Determining whether an initial path is within the autonomous navigation area, the initial path being a path planned by the second device for the first device to perform a first movement task; When the initial path is within the autonomous navigation area, the autonomous navigation function is turned on and autonomous navigation is performed, and the end point of the autonomous navigation is the destination of the first moving task.

2. The method according to claim 1, characterized in that Determining whether the initial path is within the autonomous navigation area comprises: determining whether the initial path is blocked by an obstacle; In the case that the initial path is blocked by the obstacle, it is determined whether the initial path is within the autonomous navigation area.

3. The method according to claim 2, characterized in that The determining whether the initial path is blocked by an obstacle comprises: Acquire point cloud data from a sensor device in the first device, and transform the point cloud data into a grid cost map; Projecting the initial path into the grid cost map, determining whether there is an obstacle at a first path point on the initial path, where the first path point is any path point from the current position of the first device to the end position; When an obstacle continues to exist at the first path point or when an obstacle exists at the first path point when the first device moves along the initial path to the first path point, it is determined that the initial path is blocked by the obstacle at the first path point.

4. The method according to any one of claims 1 to 3, characterized in that When the initial path is within the autonomous navigation area, enabling the autonomous navigation function and performing autonomous navigation includes: When the initial path is within the autonomous navigation area, automatically starting the autonomous navigation function and performing autonomous navigation; or In a case where the initial path is within the autonomous navigation area, a start request is sent to the second device; in response to the start instruction sent by the second device, the autonomous navigation function is turned on and autonomous navigation is performed.

5. The method according to any one of claims 1 to 3, characterized in that When the initial path is within the autonomous navigation area, enabling the autonomous navigation function and performing autonomous navigation includes: Determining the type of obstacles blocking the initial path, the types including static obstacles and dynamic obstacles; According to the type, a strategy for executing the autonomous navigation is determined, the strategy including at least one of stopping and waiting, waiting time, and an autonomous navigation path, the autonomous navigation path being a path that bypasses the obstacle and reaches the end position, and the autonomous navigation path including at least one of a detour path and a replanned path.

6. The method according to claim 5, characterized in that Determining the type of obstacle blocking the initial path includes: determining a reference path for the first device to bypass the obstacle; At a plurality of time points in a preset time period, determining a first confidence level that the obstacle is the static obstacle or a second confidence level that the obstacle is the dynamic obstacle; When the first confidence reaches a first preset threshold, the obstacle is determined to be the static obstacle, otherwise, the obstacle is determined to be the dynamic obstacle; or, when the second confidence reaches a second preset threshold, the obstacle is determined to be the dynamic obstacle, otherwise, the obstacle is determined to be the static obstacle.

7. The method according to claim 6, characterized in that The determining, at a plurality of time points in a preset time period, of a first confidence level that the obstacle is the static obstacle or a second confidence level that the obstacle is the dynamic obstacle comprises: At a first time point in a preset time period, determining a first initial confidence level and a second initial confidence level; At a second time point in the preset time period, determining whether the first device can pass through the reference path, the second time point being located after the first time point in the time sequence; If the first device can pass through the reference path at the second time point, increase the first initial confidence by a preset value, and decrease the second initial confidence by the preset value; If the first device cannot pass through the reference path at the second time point, the first initial confidence is reduced by a preset value, the second initial confidence is increased by the preset value, and the path planning is re-performed until the multiple time points are traversed.

8. The method according to claim 5, characterized in that Determining, according to the type, a strategy for executing the autonomous navigation includes: In the case where the type is the static obstacle, obtaining the blocking ratio of the obstacle to the initial path and the road width of the initial path; Based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; If it is determined that the first device can bypass the obstacle without changing the initial path, determine the bypass path according to the surrounding environment of the obstacle, perform the bypass according to the bypass path, and continue to move along the initial path after bypassing the obstacle; If it is determined that the first device cannot bypass the obstacle without changing the initial path, the replanned path is determined and the device moves along the replanned path.

9. The method according to claim 8, characterized in that Determining the replanning path includes: Sending feedback information to the second device, where the feedback information is used to notify the first device of at least one of the following: an obstacle exists on the initial path and cannot be bypassed, and path replanning is required to execute the first movement task; receiving a replanning instruction sent by the second device, the replanning instruction being used to instruct the first device to autonomously generate the replanned path; and autonomously generating the replanned path in response to the replanning instruction; or The replanned path sent by the second device is received, where the replanned path is a path replanned by the second device for the first device, and the replanned path is generated by the second device based on a multi-directional road map.

10. The method according to claim 5, characterized in that Determining, according to the type, a strategy for executing the autonomous navigation includes: In the case where the type is the dynamic obstacle, determining the correlation between the moving trajectory of the obstacle and the initial path, the correlation including: moving in the same direction, moving in the opposite direction, moving in a cross direction, and no correlation; According to the correlation, a strategy for executing the autonomous navigation is determined.

11. The method according to claim 10, characterized in that Determining the strategy for executing the autonomous navigation according to the correlation includes: In the case where the correlation relationship is the same-direction travel, obtaining the travel speed of the obstacle, the blocking ratio of the obstacle to the initial path, and the road width of the initial path; When the travel speed of the obstacle is greater than or equal to the travel speed of the first device, continue traveling along the initial path; When the travel speed of the obstacle is less than the travel speed of the first device, determining whether the first device can bypass the obstacle without changing the initial path based on the blocking ratio and the road width; If it is determined that the first device can bypass the obstacle without changing the initial path, determine the bypass path according to the surrounding environment of the obstacle, perform the bypass according to the bypass path, and continue to move along the initial path after bypassing the obstacle; If it is determined that the first device cannot bypass the obstacle without changing the initial path, the replanned path is determined and the device moves along the replanned path.

12. The method according to claim 10, characterized in that Determining the strategy for executing the autonomous navigation according to the correlation includes: When the correlation relationship is the reverse travel, obtaining the blocking ratio of the obstacle to the initial path and the road width of the initial path; Based on the occlusion ratio and the road width, determining whether the first device can bypass the obstacle without changing the initial path; If it is determined that the first device can bypass the obstacle without changing the initial path, determine a bypass path according to the instruction of the second device, perform the bypass according to the bypass path, and continue to move along the initial path after bypassing the obstacle; If it is determined that the first device cannot bypass the obstacle without changing the initial path, the replanned path is determined and the device moves along the replanned path.

13. The method according to claim 12, characterized in that The determining of the detour path according to the instruction of the second device comprises: Determining a first detour direction and a first detour distance of the first device; Sending a detour request to the second device, where the detour request includes the first detour direction and the first detour distance; receiving a detour instruction sent by the second device, where the detour instruction is used to indicate whether to agree that the first device executes detour according to the first detour direction and the first detour distance; If the detour instruction indicates agreement, determining the detour path according to the first detour direction and the first detour distance; If the detour instruction indicates disagreement, the vehicle stops traveling and waits, or requests a detour path from the second device again.

14. The method according to claim 12, characterized in that The determining of the detour path according to the instruction of the second device comprises: Sending a detour request to the second device, wherein the detour request is used to request the second device to determine a detour direction and a detour distance of the obstacle; Acquire a second detour direction and a second detour distance of the obstacle sent by the second device; Determining a first detour direction and a first detour distance of the first device according to the second detour direction and the second detour distance; The detour path is determined according to the first detour direction and the first detour distance.

15. The method according to claim 12, characterized in that The determining of the detour path according to the instruction of the second device comprises: Sending a detour request to the second device, where the detour request is used to request the second device to issue a detour path; A detour path sent by the second device is received, where the detour path includes a first detour direction and a first detour distance for the first device to detour the obstacle.

16. The method according to claim 10, characterized in that Determining the strategy for executing the autonomous navigation according to the correlation includes: In the case where the correlation relationship is the cross travel, determining whether the obstacle can pass through the initial path within a preset time period; If it is determined that the obstacle can pass through the initial path within a preset time period, determine a waiting time, stop and wait for the obstacle to pass; If it is determined that the obstacle cannot pass through the initial path within a preset time period, determining whether the first device can bypass the obstacle without changing the initial path; If it is determined that the first device can bypass the obstacle without changing the initial path, determine a bypass path, perform the bypass according to the bypass path, and continue to move along the initial path after bypassing the obstacle; If it is determined that the first device cannot bypass the obstacle without changing the initial path, the replanned path is determined and the device moves along the replanned path.

17. The method according to claim 10, characterized in that Determining the strategy for executing the autonomous navigation according to the correlation includes: When the correlation is no correlation, stop moving and wait, and send a request message to the second device, where the request message is used to request the second device to make a decision; A decision message sent by the second device is received, where the decision message is used to instruct the first device to continue waiting and wait for a first duration of time, or to resume moving forward.

18. The method according to claim 1, characterized in that The receiving the autonomous navigation area sent by the second device includes: receiving the autonomous navigation area sent by the second device when sending the initial path; or An autonomous navigation request is sent to the second device, and the autonomous navigation area is received by the second device in response to the autonomous navigation request.

19. A path planning method, characterized in that: Applied to the second device, comprising: An autonomous navigation area is sent to a first device, and the autonomous navigation area is used by the first device to determine whether an initial path is within the autonomous navigation area. The initial path is a path planned by the second device for the first device to perform a first mobile task. When the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation. The end point of the autonomous navigation is the destination of the first mobile task.

20. The method according to claim 19, characterized in that The method further comprises: According to the congestion information of the plurality of first devices in the first area, a density clustering algorithm is used to perform congestion thermal identification to determine the congestion probability of the plurality of sub-areas in the first area; The sub-area whose congestion probability meets a preset threshold is determined as the autonomous navigation area.

21. The method according to claim 19, characterized in that The method further comprises: receiving an activation request sent by the first device when the initial path is within the autonomous navigation area, the activation request being used to request activation of the autonomous navigation function; An activation instruction is sent to the first device, where the activation instruction is used to instruct the first device to activate the autonomous navigation function.

22. The method according to claim 19, characterized in that The method further comprises: receiving feedback information sent by the first device, where the feedback information is used to notify the first device of at least one of the following: an obstacle exists on the initial path and cannot be circumvented, and path replanning is required to execute the first movement task; Determining, based on the multidirectional road map, a reference direction for the first device to perform the first movement task, the reference direction being different from an initial direction of the initial path; Based on the reference direction, determining a replanned path for the first device to perform the first movement task; The re-planned path is sent to the first device.

23. The method according to claim 19, characterized in that The method further comprises: receiving a detour request sent by the first device when the obstacle is determined to be a dynamic obstacle, the detour request including a first detour direction and a first detour distance determined by the first device; Determine whether the obstacle is a mobile device, and if so, determine a second detour direction and a second detour distance of the obstacle according to the first detour direction and the first detour distance; Sending a first detour instruction to the first device, where the first detour instruction is used to indicate that the first device is allowed to perform detour according to the first detour direction and the first detour distance; A second bypass instruction is sent to the obstacle, where the second bypass instruction is used to instruct the obstacle to bypass according to the second bypass direction and the second bypass distance.

24. The method according to claim 19, characterized in that The method further comprises: receiving a detour request sent by the first device when the obstacle is determined to be a dynamic obstacle, wherein the detour request is used to request the second device to send a detour path; Determine a detour path of the first device according to the position and travel speed of the obstacle, wherein the detour path includes a first detour direction and a first detour distance of the first device for detour around the obstacle; The detour path is sent to the first device.

25. The method according to claim 19, characterized in that The method further comprises: receiving a request message sent by the first device when it is determined that the obstacle is a dynamic obstacle and the obstacle has no correlation with the first device, wherein the request message is used to request the second device to make a decision; If the position of the obstacle cannot be obtained, determining a first time duration for the first device to continue waiting, and sending a decision message to the first device, the decision message including an instruction instructing the first device to continue waiting and the first time duration; Sending a warning instruction, wherein the warning instruction is used to notify the staff to check and remove the obstacle; After the obstacle is removed, a decision message is sent to the first device, the decision message including an instruction instructing the first device to resume traveling.

26. A path planning device, characterized in that: Applied to a first device, comprising: A receiving unit, configured to receive an autonomous navigation area sent by a second device; a determining unit, configured to determine whether an initial path is within the autonomous navigation area, the initial path being a path planned by the second device for the first device to perform a first mobile task; The navigation unit is used to enable the autonomous navigation function and perform autonomous navigation when the initial path is within the autonomous navigation area, and the end point of the autonomous navigation is the destination of the first movement task.

27. A path planning device, characterized in that: Applied to the second device, comprising: A sending unit is used to send an autonomous navigation area to a first device, wherein the autonomous navigation area is used by the first device to determine whether an initial path is within the autonomous navigation area, and the initial path is a path planned by the second device for the first device to perform a first mobile task. When the initial path is within the autonomous navigation area, the first device turns on the autonomous navigation function and performs autonomous navigation, and the end point of the autonomous navigation is the destination of the first mobile task.

28. A path planning system, characterized in that: include: A first device, configured to perform the method according to any one of claims 1 to 18; A second device, configured to execute the method according to any one of claims 19 to 25.

29. An electronic device comprising: A processor and a memory, wherein the memory is used to store computer executable instructions; The processor is configured to read the instruction from the memory and execute the instruction to implement the method according to any one of claims 1 to 25.

30. A computer-readable storage medium, wherein: The storage medium stores computer program instructions, and when a computer reads the instructions, the method according to any one of claims 1 to 25 is executed.

31. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 25 is implemented.

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