Path planning method and device in business hall and electronic equipment

Abstract

The invention discloses a path planning method and device in a business hall and electronic equipment. The method comprises the following steps: identifying feature points and obstacles in a business hall in a virtual space; acquiring position information corresponding to the feature point and the obstacle; constructing a map model based on the position information; based on a map model, taking the position information as nodes, and constructing a network topology structure; determining a target path planning result of the target object from the initial position to the target position according to the map model and the network topology structure; and controlling the target object to move based on the target path planning result. Through the path planning method and device, the problems of low efficiency and poor real-time performance of path planning of the business hall in the virtual space in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the field of metaverse, and more specifically, to a path planning method, device and electronic equipment in a business hall. Background Art

[0002] In the related art, when performing indoor path planning, an indoor map is constructed, and based on the indoor map, the indoor driving path is determined by performing path planning for a starting position and a target position. However, the path planning efficiency is low and the real-time performance is poor.

[0003] With regard to the problem of low efficiency and poor real-time performance in path planning for business halls in virtual space in related technologies, no effective solution has been proposed so far. Summary of the invention

[0004] The main purpose of this application is to provide a method, device and electronic device for path planning in a business hall, so as to solve the problem of low efficiency and poor real-time performance of path planning for a business hall in a virtual space in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a path planning method in a business hall is provided. The method includes: identifying feature points and obstacles in the business hall in a virtual space; obtaining location information corresponding to the feature points and obstacles respectively; constructing a map model based on the location information; constructing a network topology structure based on the map model and taking the location information as a node; determining a target path planning result of a target object from a starting position to a target position according to the map model and the network topology; and controlling the movement of the target object based on the target path planning result.

[0006] Optionally, after constructing a network topology structure based on a map model using location information as nodes, the method further includes: updating the map model based on the updated location information when a change in the location information of a feature point or obstacle is detected; and updating the network topology structure based on the updated map model.

[0007] Optionally, the method also includes: obtaining the real-time position of the target object in the process of controlling the movement of the target object based on the target path planning result; when an update of the map model and the network topology structure is detected, determining a first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology and the real-time position; and controlling the operation of the target object based on the first path planning result.

[0008] Optionally, when an update to the map model and the network topology is detected, a first path planning result of the target object from the real-time position to the target position is determined based on the updated map model, the updated network topology and the real-time position, including: when an update to the map model and the network topology is detected, detecting whether a new obstacle appears in the target path planning result; when a new obstacle is detected in the target path planning result, determining the first path planning result based on the updated map model, the updated network topology and the real-time position.

[0009] Optionally, identifying feature points and obstacles in a business hall in a virtual space includes: acquiring indoor image information of the business hall; and performing feature recognition on the indoor image information to obtain feature points and obstacles.

[0010] Optionally, the feature points include at least one of the following: entrance, exit, service desk, public facilities, signboard; the obstacles include at least one of the following: physical obstacles, dynamic crowds, equipment, and safe isolation areas.

[0011] Optionally, when obstacles include dynamic crowds, the dynamic crowds are obtained in the following manner: obtaining heat map data in the business hall; analyzing the crowd density in the business hall based on the heat map data; and determining a predetermined area in the business hall where the crowd density is greater than a density threshold as a dynamic crowd.

[0012] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a path planning device in a business hall is provided. The device includes: an identification module for identifying feature points and obstacles in the business hall in a virtual space; an acquisition module for acquiring position information corresponding to feature points and obstacles; a construction module for constructing a map model based on the position information; a network module for constructing a network topology structure based on the map model and taking the position information as a node; a determination module for determining the target path planning result of the target object from the starting position to the target position according to the map model and the network topology; and a control module for controlling the movement of the target object based on the target path planning result.

[0013] Optionally, the device also includes: a first updating submodule, used to update the map model based on the updated location information when a change in the location information of a feature point or obstacle is detected; and a second updating submodule, used to update the network topology structure based on the updated map model.

[0014] Optionally, the device also includes: a first acquisition submodule, used to acquire the real-time position of the target object in the process of controlling the movement of the target object based on the target path planning result; a first determination submodule, used to determine the first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology and the real-time position when an update of the map model and the network topology is detected; and a first control submodule, used to control the operation of the target object based on the first path planning result.

[0015] Optionally, the first determination submodule includes: a first detection submodule, used to detect whether new obstacles appear in the target path planning results when it is detected that the map model and the network topology structure are updated; a second determination submodule, used to determine the first path planning result based on the updated map model, the updated network topology structure and the real-time position when it is detected that a new obstacle appears in the target path planning results.

[0016] Optionally, the recognition module includes: a second acquisition submodule, used to acquire indoor image information of the business hall; and a first recognition submodule, used to perform feature recognition on the indoor image information to obtain feature points and obstacles.

[0017] Optionally, the device includes at least one of the following: an entrance, an exit, a service desk, a public facility, and a sign; the obstacles include at least one of the following: a physical obstacle, a dynamic crowd, equipment, and a safe isolation area.

[0018] Optionally, the device includes: a third acquisition submodule, used to acquire heat map data in the business hall; a first analysis submodule, used to analyze the crowd density in the business hall based on the heat map data; and a third determination submodule, used to determine a predetermined area in the business hall where the crowd density is greater than a density threshold as a dynamic crowd.

[0019] In an embodiment of the present application, by identifying feature points and obstacles in a business hall in a virtual space; obtaining position information corresponding to the feature points and obstacles respectively; constructing a map model based on the position information; constructing a network topology structure based on the map model and taking the position information as a node; determining a target path planning result of the target object from a starting position to a target position according to the map model and the network topology structure; and controlling the movement of the target object based on the target path planning result, the purpose of constructing a network topology structure and planning a path for the business hall in the virtual space in a targeted manner is achieved, thereby achieving the technical effect of improving the real-time and accuracy of path planning for the business hall in the virtual space, and further solving the technical problems of low efficiency and poor real-time performance of path planning for the business hall in the virtual space in the related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 A hardware structure block diagram of a computer terminal for implementing a path planning method in a business hall is shown;

[0022] Figure 2 is a flow chart of a path planning method in a business hall provided according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a path planning device in a business hall provided according to an embodiment of the present application;

[0024] Figure 4 It is a structural block diagram of an electronic device for path planning in a business hall according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following explanations:

[0028] Network topology (NT) refers to the connection mode and layout between various devices in the network (such as computers, routers, switches, etc.). It determines the transmission path and efficiency of data in the network.

[0029] Path Planning (PP) refers to an algorithm or technique used to determine the optimal or feasible path from a starting point to a destination. It is widely used in robotics, autonomous vehicles, drones, and other fields to ensure safe and efficient navigation in complex environments. Path planning algorithms need to consider multiple factors, such as obstacles, terrain, and traffic rules, to generate a path that avoids obstacles and complies with the rules.

[0030] Heatmap (HTM) is a data visualization technique used to show the strength or density of the relationship between variables in a data set. It represents the size or density of data by changing the color. Usually, the darker the color, the larger or more concentrated the data value. Heatmaps are widely used in various fields, such as market analysis, social network analysis, gene expression analysis, etc., to help users intuitively identify patterns and trends in data.

[0031] It should be noted that the collected information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data are in compliance with relevant laws, regulations and standards, necessary confidentiality measures are taken, and public order and good customs are not violated, and corresponding operation entrances are provided for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions to provide users with corresponding operation entrances for users to choose to agree or refuse the results of automated decision-making; if the user chooses to refuse, the expert decision-making process will be entered.

[0032] Example 1

[0033] According to an embodiment of the present application, an embodiment of a method for path planning in a business hall is also provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal (or mobile device) for implementing a path planning method in a business hall is shown. Figure 1As shown, the computer terminal 10 (or mobile device) may include one or more (102a, 102b, ..., 102n are used to illustrate) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0035] It should be noted that the one or more processors 102 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0036] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the path planning method in the business hall in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the path planning method in the business hall described above is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0037] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0038] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 (or mobile device).

[0039] Under the above operating environment, this application provides Figure 2 The path planning method in the business hall is shown. Figure 2 It is a flowchart of the path planning method in the business hall according to Example 1 of the present application.

[0040] Step S200, identifying feature points and obstacles in the business hall in the virtual space;

[0041] Optionally, the business hall can be a financial heterogeneous business hall. Step S200 of the present application is the basis for path planning in the business hall. Technical means (such as sensors, cameras, image recognition, etc.) can be used to locate and identify important location points (feature points) in the business hall and any entities (obstacles) that may hinder path planning in the virtual space (i.e., digital or computational models). This recognition process can be performed automatically. For example, artificially marked or naturally formed feature points, as well as fixed or dynamic obstacles in the business hall can be accurately identified through visual recognition, signal analysis, machine learning and other technologies. By identifying feature points, a digital map model of the business hall can be established more efficiently. Feature points, as key nodes in the map, help to quickly locate and plan paths, avoid blind scanning and calculation of all spatial positions, and reduce the time required for path planning.

[0042] In an optional embodiment, the feature points include at least one of the following: an entrance, an exit, a service desk, a public facility, and a sign; the obstacles include at least one of the following: a physical obstacle, a dynamic crowd, equipment, and a safe isolation area.

[0043] Optionally, the entrance and exit of the business hall are important feature points because they are the starting point and end point of the path; there will be multiple service desks or windows in the business hall, and the location and number of these service desks can also be used as feature points; the location of public facilities (such as toilets, rest areas, ATMs, etc.) is also an important feature point; signs and signs, such as signs, billboards, financial institution signs, etc., can be used as reference points to help determine the location.

[0044] Optionally, physical obstacles, such as counters, partitions, walls, etc., need to be avoided when planning the path. In the business hall, customers and employees are dynamic, forming a dynamic crowd, and the path and speed of their movement need to be considered. The dynamic crowd can be determined based on the density of people flow within the predetermined area (rather than a single person, because a single person can be bypassed). Equipment can be fixed equipment such as chairs, tables, and display screens. Although they are not obstacles, they will affect path planning, so they should be taken into consideration. If there are safe isolation areas or specific areas that require special attention (such as high-value item display areas), these should also be considered as obstacles or areas that require special treatment.

[0045] In this embodiment, by setting feature points including entrances, exits, service desks, public facilities, signboards, etc., and setting obstacles including physical obstacles, dynamic crowds, equipment, and safety isolation zones, it is clear that the scope of the identification object needs to be considered when constructing the map model, and the factors considered are more comprehensive; by clarifying the identification object, the key positions and elements in the business hall can be more comprehensively covered, providing a richer path planning basis and enhancing the practicality of navigation. It should be noted that when identifying feature points and obstacles, this embodiment not only takes into account fixed settings such as entrances, exits, service desks, public facilities, signboards, and equipment, but also temporary and dynamically changing obstacle factors such as physical obstacles, dynamic crowds, and temporarily set safety isolation zones, which can timely and accurately identify and locate feature points and obstacles, thereby improving the accuracy of map model construction.

[0046] In an optional embodiment, identifying feature points and obstacles in a business hall in a virtual space includes: acquiring indoor image information of the business hall; and performing feature recognition on the indoor image information to obtain feature points and obstacles.

[0047] Optionally, the image or video stream of the indoor environment is captured by a camera or other imaging device deployed in the business hall. The camera can be a high-definition camera to capture clearer details, or it can be a special type of camera such as infrared, depth, etc. to obtain more dimensional environmental information. Next, computer vision and image processing technology will be used to analyze the acquired indoor image information to identify feature points (such as service desks, entrances and exits, public facilities) and obstacles (such as physical obstacles, temporarily closed areas, dynamic crowds) in the image. This recognition process can be achieved through, but is not limited to, any of the following technologies: image preprocessing (such as denoising, enhancement), target detection (such as using edge detection, feature matching, machine learning models), classification, and positioning. On the basis of target detection, the detected targets are further classified to determine whether they are feature points or obstacles, and corresponding attributes and identifiers are assigned according to their properties (such as shape, position, size), providing basic data for the subsequent construction of map models and network topology structures.

[0048] In the above methods, through image recognition technology, feature points and obstacles can be detected and located with high accuracy, providing more accurate environmental information for subsequent path planning. The camera can capture environmental changes in the business hall in real time, such as dynamic changes in crowd density, the emergence of temporary obstacles, etc., and can quickly update feature points and obstacle information to adapt to environmental changes. The use of cameras and other equipment to collect image information has less impact on the operation of the business hall than other monitoring methods (such as sensor networks) and does not interfere with normal service processes. In summary, image recognition can provide more intuitive and detailed information to more accurately identify and locate feature points and obstacles, thereby improving the accuracy of map construction.

[0049] In an optional embodiment, when the obstacles include a dynamic crowd, the dynamic crowd is obtained in the following manner: obtaining heat map data in the business hall; analyzing the crowd density in the business hall based on the heat map data; and determining a predetermined area in the business hall where the crowd density is greater than a density threshold as a dynamic crowd.

[0050] Optionally, considering the particularity of dynamic crowds, when identifying dynamic crowds, the density of people in the business hall can be analyzed through heat map data, and high-density areas can be defined as dynamic crowds. This can effectively identify areas with dense crowds, provide more accurate dynamic obstacle information for path planning, avoid congestion or collision of target objects in high-flow areas, and improve navigation efficiency and safety.

[0051] Step S202, obtaining the position information corresponding to the feature points and obstacles respectively;

[0052] In step S202 of the present application, the specific location data of feature points and obstacles inside the business hall can be collected through various technical means (such as sensors, video surveillance, Wi-Fi signals, Bluetooth beacons, etc.). This location information can be a numerical value in a coordinate system, such as X, Y, and Z coordinates in a two-dimensional or three-dimensional space, or a parameter associated with other environmental information, such as the distance or angle from a specific reference point. The technology for obtaining location information may include but is not limited to:

[0053] Indoor positioning technologies (such as Wi-Fi positioning, Bluetooth positioning, ultrasonic positioning, infrared positioning, etc.) are used to determine the precise locations of static feature points and obstacles.

[0054] Visual positioning technology (such as cameras and image recognition software) is combined with feature recognition algorithms to locate and track the position and movement trajectory of dynamic obstacles (such as crowds).

[0055] Sensor network data processing integrates signals from multiple sensors and improves the accuracy and reliability of location information through data fusion algorithms.

[0056] It should be noted that having accurate location information can more accurately represent the layout of the business hall, thereby generating more reasonable and feasible path planning results. This can ensure that the target object can move efficiently and safely along the planned path. Accurate location information can help the system identify dangerous areas or obstacles that need to be avoided, such as safety isolation areas, construction areas, etc., so as to plan safe paths that avoid these areas and ensure the safety of personnel. By identifying and recording the locations of specific feature points (such as service desks and ATMs), more efficient use of business hall resources can be achieved. For example, guiding customers to quickly find the service windows they need, reducing waiting time and improving service efficiency.

[0057] Optionally, the positioning data in the business hall can be collected by using, but not limited to, sensor technology (such as infrared sensors, ultrasonic sensors) or video cameras and other devices. The collected raw positioning data is preprocessed, such as noise filtering, data cleaning, etc., to ensure the accuracy and reliability of the data. There may be various electromagnetic interferences and noises in the indoor environment of the business hall, which will affect the accuracy of the sensor readings. Therefore, sensors with strong anti-interference capabilities can be used, effective signal filtering and noise reduction algorithms can be implemented, and sensor fusion technology can be used to improve data reliability. When the raw positioning data is acquired, the indoor positioning system may be affected by factors such as multipath effects, obstructions, and signal reflections, resulting in a decrease in positioning accuracy. Solutions include using multiple positioning technologies (such as Wi-Fi fingerprints, Bluetooth beacons, inertial navigation, etc.) for fusion positioning to improve positioning accuracy and stability.

[0058] Step S204, constructing a map model based on the location information;

[0059] In step S204 of the present application, a digital business hall layout model (i.e., map model) is generated based on the acquired location data of feature points and obstacles. Based on the location information of feature points and obstacles, the spatial information can be converted into a data structure that can be processed by a computer, such as a two-dimensional or three-dimensional grid, point cloud, vector map, or raster map. At this stage, a structured map is created using the location information, in which feature points and obstacles are marked as specific coordinates or position elements, and paths are represented as connections between them. The constructed map model can provide a visual layout for the business hall, so that the map model can accurately represent the locations of feature points and obstacles, as well as the relationship between them, provide detailed spatial information for path planning, and help generate more accurate path planning results.

[0060] Optionally, a map model of the business hall in the virtual scene may be constructed using a mapping tool or software based on the location information of feature points and obstacles.

[0061] Step S206, based on the map model, using the location information as nodes, constructing a network topology structure;

[0062] In step S206 of the present application, based on the constructed business hall map model, the spatial information is further abstracted and simplified, and the structure in the business hall is represented in a form that is easy to calculate and process. Specifically, the feature points (such as service desks, entrances and exits, facility locations) and obstacles (such as walls, fixed equipment, and safe isolation areas) in the map model are regarded as nodes in the network, and the feasible paths between these nodes are regarded as edges in the network. The network topology structure not only includes nodes, but also considers the connection mode and relationship between nodes, such as the distance, direction, width and capacity of the passage between nodes. This network topology can be better understood and processed by the path planning algorithm, thereby achieving more efficient path calculation. By converting the physical space into a network structure, the path planning algorithm can calculate the shortest path or optimal path between nodes more quickly. The network topology structure converts complex spatial problems into mathematical problems of nodes and edges, thereby reducing the amount of calculation and increasing the speed of path planning.

[0063] In an optional embodiment, after constructing a network topology structure based on a map model using location information as nodes, the method further includes: updating the map model based on the updated location information when a change in the location information of a feature point or obstacle is detected; and updating the network topology structure based on the updated map model.

[0064] Optionally, through the dynamic update mechanism of the map model and network topology, that is, when the location information of the feature points or obstacles changes, the map model and network topology can be updated in time. This dynamic update mechanism can adapt to changes in the environment within the business hall, such as temporary service points or the movement of obstacles, thereby avoiding the failure of path planning and improving the stability and safety of navigation.

[0065] Optionally, during the actual navigation and path planning process, feature points and obstacles may be periodically detected to determine whether the obstacles and feature points have changed; if so, the network topology needs to be updated.

[0066] Step S208, determining a target path planning result of the target object from the starting position to the target position according to the map model and the network topology structure;

[0067] In step S208 of the present application, the map model and network topology constructed in the previous steps can be combined to use a path planning algorithm to calculate and determine the best or optimal path for the target object (such as a service robot, navigation equipment, personnel, etc.) from the current position (starting position) to the destination (target position). In this process, the nodes and edges in the network topology can be analyzed, and various factors (such as distance, time, obstacles, traffic capacity, etc.) can be considered to determine one or more feasible paths, of which the most optimized path will be selected as the final target path planning result.

[0068] By integrating the information of the map model and the network topology, the path planning algorithm can quickly find the shortest or optimal path from the starting location to the target location, which can significantly improve the efficiency of the target object's movement and reduce the movement time. The network topology contains information about obstacles and high-risk areas, and the path planning results can effectively avoid these areas to ensure that the target object's movement path is safe and unobstructed.

[0069] Step S210: Control the movement of the target object based on the target path planning result.

[0070] In step S210 of the present application, once the path planning result from the starting position to the target position is determined, the movement of the target object will be guided or controlled based on this result. The target object can be a person, a service robot, an intelligent navigation device, etc. The target path planning result can ensure that the target object avoids known obstacles and potential dangerous areas, such as crowded areas, construction areas, etc., thereby reducing safety risks such as collisions and detention. Precise control under the guidance of the path planning results can ensure that the target object reaches the destination quickly and accurately via the optimal or shortest path, reducing ineffective movement and time consumption. In addition, for personnel, clear navigation guidance and intelligent path planning can enhance their mobility experience in the business hall, reduce getting lost and waiting time, and provide more convenient services.

[0071] Optionally, the target object can be a robot. After determining the target path planning result, the navigation control system will control the movement of the robot according to the results of the path planning and position return. During the movement, it will involve adjusting the speed and steering of the robot. During the movement, in order to ensure that the robot or personnel can accurately move along the predetermined path, the robot can be tracked and positioned in real time. The real-time positioning of the robot can be performed using, but is not limited to, devices such as an inertial measurement unit (IMU), a wheel speed sensor, and a GPS. During the navigation process, feedback information from sensors and positioning systems will be continuously received, and path planning and navigation control will be adjusted in real time based on this information to ensure the accuracy and stability of navigation.

[0072] Optionally, the control process of the target object's movement can be achieved in the following ways, but not limited to: generating a series of movement instructions based on the target path planning results, which can include but are not limited to the movement direction, speed, turning point, obstacle avoidance strategy, etc., and then directly transmitting them to the target object through wireless communication, wired connection or embedded system. During the movement of the target object, its actual position and environmental changes are continuously monitored. If a new obstacle is detected or the target object deviates from the planned path, the movement instructions will be adjusted in real time to ensure that the target object can reach the destination safely and accurately. For automated equipment such as robots, their energy consumption can also be optimized according to the path planning results. For example, by adjusting the moving speed and path, unnecessary energy waste can be reduced and the working time of the equipment can be extended. There may be multiple target objects moving simultaneously in the business hall. According to the path planning results of each target object, their movements can be coordinated to reduce collisions and traffic congestion, thereby improving the operational efficiency of the business hall.

[0073] In an optional embodiment, the method also includes: obtaining the real-time position of the target object in the process of controlling the movement of the target object based on the target path planning result; when it is detected that the map model and the network topology structure are updated, determining the first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology and the real-time position; and controlling the operation of the target object based on the first path planning result.

[0074] Optionally, the real-time location information of the target object is continuously obtained while the target object moves along the target path planning result. This can be achieved by, but is not limited to, positioning technologies such as built-in GPS, Wi-Fi positioning, Bluetooth beacons, inertial measurement units (IMUs) or visual positioning (such as simultaneous localization and mapping (SLAM) technology). Real-time location information is essential for dynamic adjustment of the path and accurate navigation of the target object. Further detection of environmental changes in the business hall can include, but is not limited to, the movement of feature points, the appearance or disappearance of obstacles, etc. This detection can be periodic or based on real-time updates of sensor feedback. Once a change in the map model or network topology is detected, action will be taken immediately to ensure the accuracy of the path planning. When an environmental change is detected and the real-time location of the target object is obtained, the first path planning result from the real-time location of the target object to the final target location is recalculated based on the updated map model and network topology. This path planning result will take into account all the latest environmental information, including newly added obstacles, changes in feature points, and accurate information about the current location of the target object. Further, based on the recalculated first path planning result, the target object's movement instructions and strategies are adjusted to ensure that it can move safely and efficiently along the new optimal path until it reaches the target location. This dynamic adjustment capability is extremely important for handling emergencies (such as emergency evacuation, temporary closure of channels) or changing environments in the business hall. By acquiring and processing updated information of the local map model and network topology in real time, it can quickly respond to environmental changes, avoid collisions between the target object and newly appearing or moving obstacles, and ensure smooth and safe navigation.

[0075] In an optional embodiment, when an update of the map model and the network topology is detected, a first path planning result of the target object from the real-time position to the target position is determined based on the updated map model, the updated network topology and the real-time position, including: when an update of the map model and the network topology is detected, detecting whether a new obstacle appears in the target path planning result; when a new obstacle is detected in the target path planning result, determining the first path planning result based on the updated map model, the updated network topology and the real-time position.

[0076] Optionally, the environmental changes in the business hall are continuously monitored, including but not limited to the movement, addition or removal of physical obstacles, and the appearance or disappearance of dynamic obstacles (crowds, temporarily closed areas, etc.). This monitoring can be achieved through, but not limited to, multi-source information such as sensors, cameras, and user feedback. Once a change in the map model or network topology is detected, immediately check whether the path planning result of the current target object is affected by these changes, especially whether new obstacles have appeared. This check can be achieved by comparing the network topology before and after the update, analyzing whether the nodes and edges on the path have changed, etc. If a new obstacle is detected in the current path planning result, the first path planning result from the current location of the target object to the target location is immediately recalculated based on the updated map model and network topology, as well as the real-time location information of the target object. If there is no association between the newly added obstacle and the target path planning result, that is, the newly added obstacle will not affect the movement of the target object, then there is no need to re-plan the path for the target object. The above method can avoid the target object from moving blindly when encountering unforeseen obstacles, and improve the flexibility and reliability of path planning.

[0077] Optionally, considering that after the network topology changes, the paths associated with the changed obstacles and / or feature points in the network topology will be affected, and the relevant historical paths may no longer be applicable; at this time, the historical paths associated with the changed obstacles and / or feature points will be cleared; when passing the corresponding position again, the path planning needs to be re-performed. The above method can not only improve the efficiency of obtaining the best path, but also avoid the misidentification of the path due to the network topology.

[0078] The path planning method in the business hall provided in the embodiment of the present application solves the problem of low efficiency and poor real-time performance of path planning for the business hall in the virtual space in the related art by identifying feature points and obstacles in the business hall in the virtual space; obtaining the position information corresponding to the feature points and obstacles respectively; constructing a map model based on the position information; constructing a network topology structure based on the map model and the position information as a node; determining the target path planning result from the starting position to the target position of the target object according to the map model and the network topology; and controlling the movement of the target object based on the target path planning result. This solves the problem of low efficiency and poor real-time performance of path planning for the business hall in the virtual space in the related art. This achieves the effect of improving the real-time performance and accuracy of path planning for the business hall in the virtual space.

[0079] Based on the above embodiments and optional embodiments, this paper proposes an optional implementation method of path planning in a business hall, which includes:

[0080] S1, data collection and processing, including:

[0081] S11, uses sensor technology (such as infrared sensor, ultrasonic sensor) or video camera and other equipment to collect positioning data in the business hall.

[0082] S12, preprocessing the collected raw positioning data, such as noise filtering, data cleaning, etc., to ensure the accuracy and reliability of the data.

[0083] There may be various electromagnetic interferences and noises in the indoor environment of the business hall, which may affect the accuracy of sensor readings. Therefore, sensors with strong anti-interference capabilities can be used, effective signal filtering and noise reduction algorithms can be implemented, and sensor fusion technology can be used to improve data reliability.

[0084] When acquiring raw positioning data, the indoor positioning system may be affected by factors such as multipath effects, obstructions, and signal reflections, resulting in reduced positioning accuracy. Solutions include using multiple positioning technologies (such as Wi-Fi fingerprints, Bluetooth beacons, inertial navigation, etc.) for fusion positioning to improve positioning accuracy and stability.

[0085] S2, feature point and obstacle recognition, including:

[0086] S21, feature points may include but are not limited to entrances, exits, service counters, public facilities, and signboards, where:

[0087] The entrance and exit of the business hall are important feature points because they are the starting point and end point of the path; there will be multiple service desks or windows in the business hall, and the location and number of these service desks can also be used as feature points; the location of public facilities (such as toilets, rest areas, ATMs, etc.) is also an important feature point; signs and signs, such as signs, billboards, financial institution signs, etc., can be used as reference points to help determine the location.

[0088] S22, obstacles may include but are not limited to physical obstacles, dynamic crowds, equipment, and safety isolation areas, among which:

[0089] Physical obstacles, such as counters, partitions, walls, etc., need to be avoided when planning the path; in the business hall, customers and employees are dynamic, thus forming a dynamic crowd, and their moving paths and speeds need to be considered, where the dynamic crowd can be determined based on the density of people flow within the predetermined area (rather than a single person, because a single person can be bypassed). Equipment can be fixed equipment such as chairs, tables, and display screens. Although they are not obstacles, they will affect path planning, so they should be taken into consideration. If there are safe isolation areas or specific areas that require special attention (such as high-value item display areas), these should also be considered as obstacles or areas that require special treatment.

[0090] By analyzing the heat map data, you can understand the distribution of people flow and hot spots in the hall and determine the dynamic crowd.

[0091] S3, map construction and modeling, including:

[0092] Map construction: Based on the location information of feature points and obstacles, use mapping tools or software to build a map model of the business hall in the virtual scene.

[0093] Topological modeling: Based on the map model, design the network topology structure, including the relationship between nodes (feature points and obstacles) and edges.

[0094] S4, path planning and navigation design, including:

[0095] S41, Path Planning: Based on the network topology and map model, a path planning algorithm is used to generate a feasible path from the starting point to the end point. The path planning algorithm selects the optimal path based on factors such as obstacles in the environment, path length, direction, etc., to ensure that the terminal device can reach the target location accurately and efficiently.

[0096] S42, Position return: When a position needs to be returned, the system will calculate the best path based on the current position and the target position, and guide the robot or person to move along the path. Specifically include:

[0097] Detect whether there is a historical path from the current location to the target location. If a historical path is detected, directly use the historical path as the best path, thereby improving the efficiency of obtaining the best path.

[0098] S5, dynamic update of network topology, including:

[0099] During the actual operation, periodic detection of feature points and obstacles is also performed to determine whether the obstacles and feature points have changed; if they have changed, the network topology needs to be updated; and planning from the current position to the target position is performed based on the updated network topology.

[0100] When the network topology changes, the paths associated with the changed obstacles and / or feature points in the network topology will be affected, and the related historical paths may no longer be applicable. At this time, the historical paths associated with the changed obstacles and / or feature points will be cleared. When passing the corresponding position again, the path planning needs to be re-performed. The above method can not only improve the efficiency of obtaining the best path, but also avoid the misidentification of the path caused by the network topology.

[0101] S6, real-time obstacle avoidance, including:

[0102] During the movement, real-time obstacle avoidance can be performed to prevent collision with obstacles. Real-time obstacle avoidance can be performed in the following ways, but is not limited to:

[0103] S61, Navigation control: The navigation control system will control the movement of the robot based on the results of path planning and position return. The movement process will involve adjusting the robot's speed, steering, etc.

[0104] S62, real-time positioning: In the process of movement, in order to ensure that the robot or personnel can accurately move along the predetermined path, real-time position tracking and positioning are required. The real-time positioning of the robot can be performed using, but is not limited to, devices such as an inertial measurement unit (IMU), wheel speed sensor, GPS, etc.

[0105] S63, Feedback and Adjustment: During the navigation process, the system will continuously receive feedback information from sensors and positioning systems, and make real-time adjustments to path planning and navigation control based on this information to ensure navigation accuracy and stability.

[0106] S7, system integration and testing, including:

[0107] Integrate modules such as feature points, obstacles, maps, and path planning into the entire system, and conduct system testing to verify the accuracy and effectiveness of network topology modeling and path planning.

[0108] S8, optimization and adjustment, including:

[0109] S81, optimize and adjust the network topology modeling based on the test results and actual usage.

[0110] S82, continuously update the location information of feature points and obstacles to ensure the real-time and accuracy of the model.

[0111] Through the above methods, the characteristic points and obstacles in the business hall can be effectively identified, and the network topology can be constructed. In practical applications, appropriate technologies and tools can be selected according to specific circumstances to complete this process.

[0112] This embodiment carries out targeted construction and dynamic real-time update of the network topology structure for the business hall; it can not only carry out path planning based on the real-time updated network topology structure, but also has the function of path finding. If the previous path finding already exists, the previously found path can be directly reused, which has high path planning efficiency and real-time performance.

[0113] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0114] Example 2

[0115] The embodiment of the present application also provides a path planning device in a business hall. It should be noted that the path planning device in the business hall of the embodiment of the present application can be used to execute the path planning method for the business hall provided in the embodiment of the present application. The path planning device in the business hall provided in the embodiment of the present application is introduced below.

[0116] According to an embodiment of the present application, a device for implementing the above-mentioned path planning method in a business hall is also provided, such as Figure 3 As shown, the device includes: an identification module 300, used to identify feature points and obstacles in a business hall in a virtual space; an acquisition module 302, connected to the identification module 300, used to obtain position information corresponding to the feature points and obstacles respectively; a construction module 304, connected to the acquisition module 302, used to construct a map model based on the position information; a network module 306, connected to the construction module 304, used to construct a network topology structure based on the map model and the position information as a node; a determination module 308, connected to the network module 306, used to determine a target path planning result of the target object from the starting position to the target position according to the map model and the network topology; a control module 310, connected to the determination module 308, used to control the movement of the target object based on the target path planning result.

[0117] The path planning device in the business hall provided by the embodiment of the present application is provided with an identification module 300 for identifying feature points and obstacles in the business hall in the virtual space; an acquisition module 302 for acquiring the position information corresponding to the feature points and obstacles; a construction module 304 for constructing a map model based on the position information; a network module 306 for constructing a network topology structure based on the map model and taking the position information as a node; a determination module 308 for determining the target path planning result from the starting position to the target position of the target object according to the map model and the network topology; and a control module 310 for controlling the movement of the target object based on the target path planning result, thereby solving the problem of low efficiency and poor real-time performance of path planning for the business hall in the virtual space in the related art. Thus, the real-time performance and accuracy of the path planning for the business hall in the virtual space are improved.

[0118] Optionally, in the path planning device for the business hall provided in the embodiment of the present application, the device also includes: a first updating sub-module, for updating the map model based on the updated position information when it is detected that the position information of a feature point or obstacle has changed; and a second updating sub-module, for updating the network topology structure based on the updated map model.

[0119] Optionally, in the path planning device in the business hall provided in the embodiment of the present application, the device also includes: a first acquisition sub-module, used to obtain the real-time position of the target object in the process of controlling the movement of the target object based on the target path planning result; a first determination sub-module, used to determine the first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology and the real-time position when an update of the map model and the network topology is detected; and a first control sub-module, used to control the operation of the target object based on the first path planning result.

[0120] Optionally, in the path planning device in the business hall provided in the embodiment of the present application, the first determination submodule includes: a first detection submodule, used to detect whether a new obstacle appears in the target path planning result when it is detected that the map model and the network topology structure are updated; a second determination submodule, used to determine the first path planning result based on the updated map model, the updated network topology structure and the real-time position when it is detected that a new obstacle appears in the target path planning result.

[0121] Optionally, in the path planning device in the business hall provided in the embodiment of the present application, the recognition module includes: a second acquisition submodule, used to acquire indoor image information of the business hall; and a first recognition submodule, used to perform feature recognition on the indoor image information to obtain feature points and obstacles.

[0122] Optionally, in the path planning device in the business hall provided in the embodiment of the present application, the device includes at least one of the following: entrance, exit, service desk, public facilities, signboard; obstacles include at least one of the following: physical obstacles, dynamic crowds, equipment, and safe isolation areas.

[0123] Optionally, in the path planning device in the business hall provided in the embodiment of the present application, the device includes: a third acquisition sub-module, used to acquire heat map data in the business hall; a first analysis sub-module, used to analyze the crowd density in the business hall based on the heat map data; and a third determination sub-module, used to determine a predetermined area in the business hall where the crowd density is greater than a density threshold as a dynamic crowd.

[0124] It should be noted that the identification module 300, acquisition module 302, construction module 304, network module 306, determination module 308, and control module 310 correspond to steps S200 to S210 in Example 1, and the two modules and the corresponding steps implement the same examples and application scenarios, but are not limited to the contents disclosed in the above-mentioned Example 1. It should be noted that the above-mentioned modules or units can be hardware components or software components stored in a memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n), and the above-mentioned modules can also be part of the device and can be run in the computer terminal 10 provided in Example 1.

[0125] Example 3

[0126] An embodiment of the present application may provide an electronic device, Figure 4 is a structural block diagram of an electronic device according to an embodiment of the present application. Figure 4 As shown, the electronic device may include: one or more ( Figure 4 (only one is shown) processor 1002, memory 1004, storage controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0127] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the methods and devices in the embodiments of the present application, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0128] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: identify the feature points and obstacles in the business hall in the virtual space; obtain the position information corresponding to the feature points and obstacles respectively; build a map model based on the position information; build a network topology structure based on the map model and the position information as a node; determine the target path planning result of the target object from the starting position to the target position according to the map model and the network topology; and control the movement of the target object based on the target path planning result.

[0129] The processor can also call the information and applications stored in the memory through the transmission device to perform the following steps: when it is detected that the location information of the feature point or obstacle has changed, update the map model based on the updated location information; based on the updated map model, update the network topology structure.

[0130] The processor can also call the information and application programs stored in the memory through the transmission device to perform the following steps: obtaining the real-time position of the target object in the process of controlling the movement of the target object based on the target path planning result; when an update of the map model and the network topology structure is detected, determining the first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology structure and the real-time position; and controlling the operation of the target object based on the first path planning result.

[0131] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: when it is detected that the map model and the network topology structure are updated, detect whether new obstacles appear in the target path planning results; when it is detected that new obstacles appear in the target path planning results, determine the first path planning result based on the updated map model, the updated network topology structure and the real-time position.

[0132] The processor can call the information and application programs stored in the memory through the transmission device to execute the following steps: obtaining the indoor image information of the business hall; performing feature recognition on the indoor image information to obtain feature points and obstacles.

[0133] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: obtain the thermal map data in the business hall; analyze the crowd density in the business hall based on the thermal map data; and determine the predetermined area in the business hall where the crowd density is greater than the density threshold as a dynamic crowd.

[0134] By adopting the embodiment of the present application, a solution for path planning in a business hall is provided. By identifying feature points and obstacles in the business hall in the virtual space; obtaining the location information corresponding to the feature points and obstacles respectively; constructing a map model based on the location information; constructing a network topology structure based on the map model and taking the location information as a node; determining the target path planning result of the target object from the starting position to the target position according to the map model and the network topology structure; and controlling the movement of the target object based on the target path planning result, the purpose of constructing a network topology structure and path planning in a targeted manner for the business hall in the virtual space is achieved, thereby achieving the technical effect of improving the real-time and accuracy of path planning in the business hall in the virtual space, and further solving the technical problem of low efficiency and poor real-time performance of path planning caused by the determination of indoor driving paths by path planning for the starting position and the target position based only on the indoor map of the business hall in the related technology.

[0135] It can be understood by those skilled in the art that Figure 4 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 4 The structure of the electronic device is not limited. Figure 4 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 4 Different configurations shown.

[0136] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0137] Example 4

[0138] The embodiment of the present application further provides a storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the path planning method in the business hall provided in the first embodiment.

[0139] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0140] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the program steps of the path planning method in a business hall.

[0141] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0142] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0147] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A path planning method in a business hall, characterized in that: include: Identify feature points and obstacles in the business hall in the virtual space; Obtaining position information corresponding to the feature point and the obstacle respectively; Based on the location information, construct a map model; Based on the map model, the network topology structure is constructed using the location information as nodes; Determine a target path planning result of a target object from a starting position to a target position according to the map model and the network topology structure; Based on the target path planning result, the movement of the target object is controlled.

2. The method according to claim 1, characterized in that After constructing a network topology structure based on the map model and taking the location information as a node, the method further includes: When it is detected that the position information of the feature point or the obstacle changes, updating the map model based on the updated position information; Based on the updated map model, the network topology structure is updated.

3. The method according to claim 1, characterized in that The method further comprises: In the process of controlling the movement of the target object based on the target path planning result, obtaining the real-time position of the target object; In the case where it is detected that the map model and the network topology structure are updated, determining a first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology structure and the real-time position; The target object is controlled to run based on the first path planning result.

4. The method according to claim 3, characterized in that The step of determining, when detecting that the map model and the network topology are updated, a first path planning result of the target object from the real-time position to the target position based on the updated map model, the updated network topology, and the real-time position, comprises: When it is detected that the map model and the network topology structure are updated, detecting whether a new obstacle appears in the target path planning result; When a new obstacle is detected in the target path planning result, the first path planning result is determined based on the updated map model, the updated network topology and the real-time position.

5. The method according to claim 1, characterized in that The identifying of feature points and obstacles in the business hall in the virtual space includes: Acquire indoor image information of the business hall; Perform feature recognition on the indoor image information to obtain the feature points and the obstacles.

6. The method according to any one of claims 1 to 5, characterized in that The characteristic points include at least one of the following: entrance, exit, service desk, public facilities, signboard; The obstacle includes at least one of the following: a physical obstacle, a dynamic crowd, equipment, and a safety isolation area.

7. The method according to claim 6, characterized in that In the case where the obstacle includes the dynamic crowd, the dynamic crowd is obtained in the following manner: Obtaining thermal map data in the business hall; Analyzing the density of people flow in the business hall based on the heat map data; A predetermined area in the business hall where the crowd density is greater than a density threshold is determined as the dynamic crowd.

8. A path planning device in a business hall, characterized in that: include: A recognition module, used to identify feature points and obstacles in the business hall in the virtual space; An acquisition module is used to obtain the position information corresponding to the feature points and obstacles respectively; A construction module is used to construct a map model based on location information; The network module is used to build a network topology structure based on the map model and using location information as nodes; A determination module, used to determine a target path planning result of a target object from a starting position to a target position according to a map model and a network topology structure; The control module is used to control the movement of the target object based on the target path planning result.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the path planning method in the business hall as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

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