WO2023151548A1

WO2023151548A1 - Navigation method and apparatus, and program and computer-readable storage medium

Info

Publication number: WO2023151548A1
Application number: PCT/CN2023/074716
Authority: WO
Inventors: 黄晓庆; 张站朝; 高军强; 马世奎
Original assignee: 达闼机器人股份有限公司
Priority date: 2022-02-08
Filing date: 2023-02-07
Publication date: 2023-08-17
Also published as: CN114485621A

Abstract

Provided are a navigation method and apparatus, and a computer program and a computer-readable storage medium, which relate to the field of electronic devices. The navigation method is used for navigating an electronic device, and comprises: displaying a simulation map of the current environment where an electronic device is located (S101); displaying, in the simulation map, a digital twin corresponding to the electronic device (S102), wherein the display position of the digital twin in the simulation map is the same as the actual position of the electronic device in the current environment; receiving a click operation of a user, and determining at least one click position of the click operation of the user in the simulation map (S103); constructing an auxiliary navigation route according to the current position of the digital twin and the at least one click position (S104); and controlling the electronic device to move along the auxiliary navigation route (S105). Compared with the prior art, the navigation method and apparatus and the computer-readable storage medium have the advantages of improving the operation efficiency of an electronic device.

Description

Navigation method, device, program and computer-readable storage medium

This application is based on the Chinese patent application with the application number "202210118951.3" and the filing date is February 8, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference Apply.

technical field

The present application relates to the field of navigation, in particular to a navigation method, device, program and computer-readable storage medium.

Background technique

When electronic devices, such as service robots and model airplanes, are used in actual service scenarios, due to the complexity and dynamic changes of the environment, electronic devices may not be able to avoid various obstacles as intelligently as humans, and at the same time complete target tasks efficiently. Positioning is lost, or when electronic equipment encounters static or dynamic obstacles due to dynamic changes in the environment, it cannot autonomously, immediately, and flexibly navigate and plan a new path to reach the target point to complete the service content. These problems directly lead to the work efficiency of electronic equipment low.

technical solution

The purpose of the embodiments of the present application is to provide a navigation method, device, program, and computer-readable storage medium, which can reduce the time spent by an electronic device in constructing a navigation route, and improve the work efficiency of the electronic device.

In order to solve the above technical problems, the embodiments of the present application provide a navigation method for electronic device Navigation of the device, including: displaying a simulation map of the environment where the electronic device is currently located; displaying a digital twin body corresponding to the electronic device in the simulation map, and displaying the position and location of the digital twin body in the simulation map The actual position of the electronic device is the same; receiving the user's click operation, determining the click position of the user's click operation in the simulated map; constructing an auxiliary system according to the current position of the digital twin and the click position A navigation route, controlling the electronic device to move along the auxiliary navigation route.

The embodiment of the present application also provides a navigation device, including: at least one processor; and a memory connected in communication with the at least one processor; wherein, the memory stores information that can be executed by the at least one processor. instructions, the instructions are executed by the at least one processor, so that the at least one processor can execute the aforementioned navigation method.

The embodiment of the present application also provides a computer program, which implements the above-mentioned navigation method when the computer program is executed by a processor.

An embodiment of the present application also provides a computer-readable storage medium storing a computer program, wherein the computer program implements the aforementioned navigation method when executed by a processor.

The navigation method provided by this application displays in advance the simulated map of the environment where the electronic device is located, and displays the digital twin corresponding to the electronic device on the simulated map. Since the display position of the digital twin on the simulated map and the electronic The actual location of the device is the same, and the user can directly know the current location of the electronic device according to the displayed simulation map and digital twin. When the electronic device is moving, the user can click on the simulation map to plan the route for the electronic device , after receiving the user's click operation, the navigation device first determines the click position of the user's click operation on the simulated map, and then obtains the navigation system constructed by the user for the electronic device according to the current position of the electronic device and the user's click position. route, thereby reducing the time spent by electronic devices to construct navigation routes, and improving the performance of electronic devices work efficiency.

In addition, before receiving the user's multiple click operations, it also includes: constructing an initial navigation route using a preset path planning algorithm according to the starting position and target position of the electronic device, and controlling the electronic device to follow the initial navigation route. The route moves and detects the current position of the electronic device in real time; when it is detected that the electronic device stops moving for a preset period of time, an auxiliary navigation reminder is issued. During the travel of the electronic device, firstly, the navigation route is automatically constructed according to the preset path planning algorithm, which can reduce the need for manual assistance. Send auxiliary navigation reminders to users. When users receive the reminders, they can perform auxiliary navigation according to the displayed simulation map and digital twins, avoiding the occurrence of long-term stoppage of electronic devices due to loss of navigation routes. In addition, electronic If the device stops moving for a long time, it means that the electronic device cannot automatically build a navigation route according to the preset path planning algorithm, or it takes a long time to build a navigation route and requires a large amount of calculation. If you continue to use the automatic navigation of the electronic device, the electronic device The computing power and other performance requirements of the electronic device are relatively high. By sending out the auxiliary navigation reminder and receiving the user's auxiliary navigation, the requirements for the computing power and other performance of the electronic device can be reduced.

In addition, after controlling the electronic device to move along the auxiliary navigation route, it also includes: acquiring the current location of the electronic device in real time, and according to the current location of the electronic device and the target of the electronic device, Positioning, using a preset path planning algorithm to construct a revised navigation route, and controlling the electronic device to move along the modified navigation route. Since the auxiliary navigation route constructed by manual assistance is not necessarily the optimal route, during the movement of the electronic device along the auxiliary navigation route, in real time, according to the current position of the electronic device and the target position of the electronic device, the preset The path planning algorithm constructs the optimal corrected navigation route. When the corrected navigation route is constructed successfully, switching the electronic device to move along the corrected navigation route can optimize the moving route of the electronic device and further improve the working efficiency of the electronic device.

In addition, the controlling the electronic device to move along the revised navigation route includes: issuing a route switching request; and controlling the electronic device to move along the modified navigation route when receiving a route switching instruction. In addition, after displaying the simulated map of the environment where the electronic device is currently located, it also includes: detecting whether the obstacle moves, and updating the simulation map according to the moved position of the obstacle when it is detected that the obstacle moves. The location of each obstacle on the map. Updating the simulation map when an obstacle is detected to move can avoid the problem that the auxiliary navigation route is not feasible due to the wrong display of the obstacle position during the manual auxiliary navigation process, and further improve the effect of the auxiliary navigation.

In addition, after controlling the electronic device to move along the auxiliary navigation route, it also includes: acquiring the end position of the auxiliary navigation route and the target position of the electronic device; judging whether the preset path planning algorithm can construct the An automatic navigation route between the end position and the target position; if the preset path planning algorithm can construct an automatic navigation route between the end position and the target position, when controlling the electronic device along the auxiliary After the navigation route moves to the end position, control the electronic device to move along the automatic navigation route; if the preset path planning algorithm cannot construct an automatic navigation route between the end position and the target position, Controlling the electronic device to issue an auxiliary navigation reminder when moving along the auxiliary navigation route to the end position.

In addition, after controlling the electronic device to move along the auxiliary navigation route, it further includes: controlling the digital twin to move synchronously with the electronic device in the simulated map. Control the digital twin to move synchronously with the electronic equipment in the simulation map, so that the user can directly observe the current movement of the electronic equipment in real time, which is convenient for the user to adjust the movement route of the electronic equipment in a timely manner.

In addition, after constructing the auxiliary navigation route according to the current position of the digital twin and the clicked position, it also includes: controlling the digital twin to follow the auxiliary navigation route at a preset speed in the simulation map. The route moves, and the preset speed is greater than the moving speed of the electronic device. Control the digital twin The body moves along the auxiliary navigation route at a preset speed greater than the moving speed of the electronic device in the simulation map, that is, the digital twin can travel the entire auxiliary navigation route before the electronic device, and the digital twin moves along the auxiliary navigation route. It can be used as a preview of the electronic device along the auxiliary navigation route, so that it can judge whether the auxiliary navigation route is feasible according to the movement process of the digital twin, and avoid the electronic device from bumping into obstacles or being trapped by obstacles while moving along the auxiliary navigation route. the occurrence of the situation.

Description of drawings

FIG. 1 is a schematic flowchart of a navigation method provided in the first embodiment of the present application;

FIG. 2 is a schematic flowchart of a navigation method provided by a second embodiment of the present application;

FIG. 3 is a schematic flowchart of a navigation method provided by a third embodiment of the present application;

FIG. 4 is a schematic flowchart of a navigation method provided by a fourth embodiment of the present application;

FIG. 5 is a schematic flowchart of a navigation method provided by a fifth embodiment of the present application;

Fig. 6 is a schematic structural diagram of a navigation device provided by a sixth embodiment of the present application.

Embodiments of the present invention

In order to make the purpose, technical solution and advantages of the present application clearer, various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the application, many technical details are provided for readers to better understand the application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can also be realized.

The first embodiment of the present application relates to a navigation method for navigating an electronic device, the electronic device Examples are delivery robots, food delivery robots, handling robots, self-driving cars, small aircraft, model airplanes, etc. The specific flow of the navigation method is shown in Figure 1, including the following steps.

Step S101: displaying a simulated map of the current environment where the electronic device is located.

In this embodiment, before the electronic device moves, a third-view three-dimensional simulation map of the current environment of the electronic device may be constructed by using a panoramic bird's-eye view of the current environment of the electronic device, a topographic map, and the like. Environmental factors such as terrain, obstacles, etc. can be displayed in the simulation map.

It can be understood that the foregoing is only an example of a method for constructing and displaying a simulated map of the current environment of an electronic device provided by one embodiment of the present application, and does not constitute a limitation. In other embodiments of the present application, also It can be obtained by scanning the overall environment of the electronic device to obtain the scanning result. The scanning result can include information such as the size and shape of the preset area, the obstacle position, the obstacle size, and the obstacle shape. The third-view 3D simulation map of the environment where the device is currently located. Alternatively, a simulation map of the angle of view of the electronic device can be constructed by means of detection equipment such as photography, infrared detection, and ultrasonic detection carried by the electronic device. The simulation map can be flexibly selected according to actual needs, and will not be listed here.

In addition, it is also possible to superimpose and apply multiple simulation maps, such as constructing a three-dimensional simulation map from the third perspective of the environment where the robot is located, and a simulation map from the perspective of electronic equipment to construct a simulation map. When there are multiple electronic equipment , you can switch to the simulation map of the perspective of the electronic device by selecting the specific electronic device that needs to be operated in the 3D simulation map of the third perspective.

In addition, after the simulation map is constructed and displayed, it is also possible to detect whether obstacles in the environment where the electronic device is currently located move. The photographic camera equipment and sensors carried by the device detect whether the obstacle moves, and the specific detection method can be flexibly set according to actual needs; When it is detected that the obstacle in the environment where the electronic device is currently located moves, the simulation map can be updated to adapt to the position of the new obstacle, so as to avoid affecting the movement process of the electronic device after the position of the obstacle moves.

Step S102: displaying a digital twin corresponding to the electronic device on the simulation map.

In this embodiment, the relative position of the current position of the electronic device in the actual area included in the entire simulation map can be obtained, and a digital twin corresponding to the electronic device is constructed in the simulation map according to this relative position. That is, the display position of the digital twin on the simulation map is the same as the actual position of the electronic device in the current environment. Users (for example: assistant navigators) can intuitively know the current location and environment of the electronic device directly through the simulated map and digital twin.

Step S103: receiving the user's click operation, and determining the click position of the user's click operation on the simulated map.

In this embodiment, the click operation of the user (for example: assistant navigator) is received in real time. This click operation can be a click performed by a peripheral device such as a mouse, or a click performed directly on a touch screen by a finger. , remote control device, and VR comes with a handle, which can be set according to the interaction mode of the display device. Then determine the user's click position according to the detected user's click operation, and after excluding the user's click position outside the simulated map, determine the user's click position in the simulated map, which is used to guide the electronic device to reach the terminal target position.

In addition, in an embodiment of the present application, valid click areas and invalid click areas can also be set in the simulated map, for example, the area where there is no obstacle is set as the effective click area, and the area where the obstacle is located is set as the invalid click area. area, after determining the click position of the user in the simulated map, the effective click position of the user in the simulated map can be further excluded. Valid click positions, that is, click positions within the valid click area, excluding user click positions within the invalid click area. due to obstacles The electronic device cannot pass through the invalid click area, and excluding the user's click position in the invalid click area can reduce the possibility of collision between the electronic device and the obstacle.

Step S104: Construct an auxiliary navigation route according to the current location of the digital twin and the clicked location. In this embodiment, the current position of the digital twin and the clicked position of the user may be directly connected sequentially according to the click sequence of the user to form an auxiliary navigation route. It can be understood that the foregoing is only an illustration of a specific method for constructing an auxiliary navigation route in one embodiment of the present application, and does not constitute a limitation. In other embodiments of the present application, it may also be the traversal of the current location of the digital twin. The position of the user and the click position of the user, and other methods such as selecting the optimal connection mode among all the connection modes as the auxiliary navigation route, etc., can be flexibly set according to actual needs.

In addition, in an embodiment of the present application, in the process of forming the auxiliary navigation route, it can also be judged whether the distance between each click position and the obstacle is smaller than the distance that the electronic device can pass without colliding with the obstacle. When the distance between the position and the obstacle is less than the distance that the electronic device can pass without colliding with the obstacle, it means that the electronic device may collide with the obstacle when operating along the clicked position. At this time, you can select a certain range around the clicked position and not The point that caused the electronic device to collide with the obstacle is used as an alternate location, and the alternate location is used instead of the original click location. For example, any point whose distance from the clicked position is less than a preset distance from the clicked position can be selected as an alternative position outside a circle with the clicked position as the center and the minimum distance not to collide with obstacles as the radius.

Step S105: Control the electronic device to move along the auxiliary navigation route.

In the navigation method provided in the first embodiment of the present application, the simulated map of the environment where the electronic device is located is displayed in advance, and the digital twin corresponding to the electronic device is displayed on the simulated map. Since the digital twin is on the simulated map The displayed position on the computer is the same as the actual position of the electronic device, and the user can directly know the current position of the electronic device and the current location of the electronic device based on the displayed simulation map and digital twin. In the environment where the electronic device is moving, the user can click on the simulated map to plan a route for the electronic device. After receiving the user's click operation, the navigation device first determines that the user's click operation is on the simulated map. The click position in the electronic device, and then according to the current position of the electronic device and the click position of the user, the navigation route constructed by the user for the electronic device can be obtained, thereby reducing the time spent on constructing the navigation route by the electronic device and improving the work efficiency of the electronic device.

The second embodiment of the present application relates to a navigation method, the specific steps are shown in Figure 2, including:

Step S201: Displaying a simulated map of the current environment where the electronic device is located.

Step S202: displaying a digital twin corresponding to the electronic device on the simulation map.

Step S203: Construct an initial navigation route according to the starting position and the target position of the electronic device, using a preset route planning algorithm.

In this embodiment, the path planning algorithm is an algorithm for obstacle avoidance and moving path planning in the automatic navigation process of electronic equipment, which can automatically construct the automatic path planning algorithm of electronic equipment according to the location of obstacles and the parameters of the size and shape of obstacles. The shortest path from the starting position to the target position without colliding with obstacles is used as the initial navigation route. The preset path planning algorithm can be a neural network algorithm, a random tree algorithm, etc., which can be flexibly set according to actual needs.

Step S204: Control the electronic device to move along the initial navigation route and detect the current location of the electronic device in real time.

Step S205: sending out an auxiliary navigation reminder when it is detected that the electronic device stops moving for a preset period of time.

In this embodiment, it is detected that the electronic device has stopped moving for a preset duration, that is, it is detected that the position of the electronic device has not changed for a period of time exceeding the preset duration, indicating that the electronic device has encountered a situation that cannot be automatically avoided at this time. Obstacles, or problems such as loss of positioning of the electronic device, at this time, an auxiliary navigation reminder can be issued to remind the user (for example: auxiliary navigation personnel) to perform auxiliary navigation and help the electronic device Quickly re-plan the course of action.

Step S206: Receive the user's click operation, and determine the click position of the user's click operation on the simulated map.

Step S207: Construct an auxiliary navigation route according to the current location of the digital twin and the clicked location. Step S208: Control the electronic device to move along the auxiliary navigation route.

It can be understood that step S201, step S202, and step S206 to step S208 mentioned in the second embodiment of the present application are substantially the same as step S101 to step S105 in the first embodiment, and will not be repeated here. Reference may be made to the specific descriptions of the foregoing embodiments.

In the navigation method provided in the second embodiment of the present application, when the electronic device starts to move, the initial navigation route is constructed according to the preset path planning algorithm and the electronic device is controlled to move along the initial navigation route. When the electronic device moves along the initial navigation route When a problem occurs in the computer, causing the electronic device to stop moving for a period of time exceeding the preset time period, the auxiliary navigation reminder is issued to remind the user to perform auxiliary navigation, thereby reducing the need for manual auxiliary navigation, improving the work efficiency of electronic equipment, and reducing the need for navigation. Human cost needs. In addition, in this embodiment, the terminal position of the auxiliary navigation route and the target position of the electronic device are also acquired; whether the preset route planning algorithm can construct an automatic navigation route between the terminal position and the target position; if the preset route planning algorithm An automatic navigation route between the terminal position and the target position can be constructed, and after the electronic device is controlled to move to the terminal position along the auxiliary navigation route, the electronic device is controlled to move along the automatic navigation route; if the preset path planning algorithm cannot construct the terminal position and the target position An automatic navigation route between positions, when the control electronic device moves to the end position along the auxiliary navigation route, an auxiliary navigation reminder is issued. When the preset path planning algorithm can construct an automatic navigation route between the terminal position and the target position, after the electronic device is controlled to move to the terminal position along the auxiliary navigation route, the electronic device is controlled to move along the automatic navigation route, which can effectively reduce the need for human labor. The need for auxiliary navigation, thereby reducing the need for manual labor; if The preset path planning algorithm cannot construct an automatic navigation route between the end position and the target position. When the electronic device is controlled to move to the end position along the auxiliary navigation route, an auxiliary navigation reminder is issued, thereby preventing the electronic device from staying at the end position of the auxiliary navigation route for a long time Waiting for manual assisted navigation to further improve the work efficiency of electronic equipment.

The third embodiment of the present application relates to a navigation method, the specific steps are shown in Figure 3, including:

Step S301: Displaying a simulated map of the current environment where the electronic device is located.

Step S302: displaying a digital twin corresponding to the electronic device on the simulation map.

Step S303: receiving the user's click operation, and determining the click position of the user's click operation on the simulated map.

Step S304: Construct an auxiliary navigation route according to the current location of the digital twin and the clicked location. Step S305: Control the electronic device to move along the auxiliary navigation route.

It can be understood that the steps S301 to S305 mentioned in the third embodiment of the present application are substantially the same as the steps S101 to S105 in the first embodiment, and will not be repeated here. For details, please refer to the specific illustrate.

Step S306: Obtain the current location of the electronic device in real time, construct a revised navigation route using a preset path planning algorithm according to the current location of the electronic device and the target location of the electronic device, and control the electronic device to move along the revised navigation route.

In this embodiment, in the process of controlling the electronic device to move along the auxiliary navigation route, the location of the electronic device is obtained in real time, and the shortest distance between the current location of the electronic device and the target location is planned according to the preset path planning algorithm. The optimal route (for example: the shortest route) is used as the revised navigation route. When the preset route planning algorithm can complete the planning of the revised navigation route, the electronic device is controlled to switch to move along the revised navigation route.

In addition, in some embodiments of the present application, before controlling the electronic device to switch to move along the revised navigation route, the revised navigation route is also displayed on the simulated map, and a route switching application is sent to the user. When the command is switched, the electronic control device is switched to move along the revised navigation route. In the navigation method provided by the third embodiment of the present application, in the process of controlling the movement of the electronic device along the auxiliary navigation route, the optimal revised navigation route is constructed in real time through the preset path planning algorithm, and when the corrected navigation route is successfully constructed, the control Switching the electronic device to move along the revised navigation route can optimize the moving path of the electronic device during the entire moving process, thereby further improving the working efficiency of the electronic device.

The fourth embodiment of the present application relates to a navigation method. The specific steps are shown in FIG. 4, including:

Step S401: Displaying a simulated map of the current environment where the electronic device is located.

Step S402: Displaying a digital twin corresponding to the electronic device on the simulation map.

Step S403: Receive the user's click operation, and determine the click position of the user's click operation on the simulated map.

Step S404: Construct an auxiliary navigation route according to the current location of the digital twin and the clicked location.

Step S405: Control the electronic device to move along the auxiliary navigation route.

It can be understood that the steps S401 to S405 mentioned in the third embodiment of the present application are substantially the same as the steps S101 to S105 in the first embodiment, and will not be repeated here. For details, please refer to the specific illustrate.

Step S406: Controlling the digital twin to move synchronously with the electronic device in the simulated map.

In this embodiment, when the electronic device moves along the auxiliary navigation route, the digital twin is controlled to move synchronously with the electronic device on the simulated map, that is, the moving speed and path of the digital twin on the simulated map are the same as those of the electronic device in the actual environment. The movement speed in is the same as the movement path. It can be understood that the moving speed of the digital twin mentioned in this embodiment is the same as the moving speed of the electronic device, which is an index It takes the same time for the word twin to move in the simulation map and the same area as the electronic device moves in the actual environment. For example, if there are areas A and B in the actual environment, there is also an area A' corresponding to area A in the simulation map. The B' area corresponding to the B area, at this time, the time-consuming time for the electronic device to move from the A area to the B area is the same as the time-consuming time for the digital twin to move from the A' area to the B' area.

In the navigation method provided by the fourth embodiment of the present application, controlling the digital twin to move synchronously with the electronic device on the simulated map can facilitate the user to obtain the current location and action route of the electronic device in real time. The fifth embodiment of the present application relates to a navigation method. The specific steps are shown in FIG. 5, including:

Step S501: Displaying a simulated map of the current environment where the electronic device is located.

Step S502: Displaying a digital twin corresponding to the electronic device on the simulation map.

Step S503: receiving the user's click operation, and determining the click position of the user's click operation on the simulated map.

Step S504: Construct an auxiliary navigation route according to the current location of the digital twin and the clicked location.

Step S505: Control the electronic device to move along the auxiliary navigation route.

It can be understood that the steps S501 to S505 mentioned in the third embodiment of the present application are substantially the same as the steps S101 to S105 in the first embodiment, and will not be repeated here. For details, please refer to the specific illustrate.

Step S506: Controlling the digital twin to move along the auxiliary navigation route at a preset speed on the simulated map, the preset speed being greater than the moving speed of the electronic device.

In this embodiment, the preset speed is greater than the moving speed of the electronic device means: the time-consuming time for the digital twin to move in the simulated map is less than the time-consuming time for the electronic device to move in the same area in the actual environment, for example, there are In area A and area B, there is also area A' corresponding to area A and area B' corresponding to area B in the simulation map. At this time, the digital twin moves from area A' to area B' The time-consuming time for the domain is shorter than the time-consuming time for the electronic device to move from area A to area B.

In the navigation method provided by the fifth embodiment of the present application, the digital twin is controlled to move along the auxiliary navigation route at a preset speed greater than the moving speed of the electronic device in the simulated map, that is, the digital twin can travel a complete auxiliary navigation route before the electronic device. Navigation route, and the digital twin can be used as a preview of the electronic device along the auxiliary navigation route in the process of moving along the auxiliary navigation route, so that it can be judged whether the auxiliary navigation route is feasible according to the movement process of the digital twin, and avoid electronic devices along the auxiliary navigation route. Hitting an obstacle or being trapped by an obstacle while moving.

The division of the steps of the above methods is only for the sake of clarity of description. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they contain the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of the algorithm and process are all within the scope of protection of this patent.

The sixth embodiment of the present application relates to a navigation device, as shown in FIG. 6 , including: at least one processor 601; and a memory 602 communicatively connected to at least one processor 601; Instructions executed by the processor 601, the instructions are executed by at least one processor 601, so that the at least one processor 601 can execute the communication method as described above.

Wherein, the memory 602 and the processor 601 are connected by a bus, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 601 and various circuits of the memory 602 together. The bus may also connect together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein. The bus interface provides an interface between the bus and the transceivers. A transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing means for communicating with various other devices over a transmission medium. The data processed by the processor 601 is transmitted on the wireless medium through the antenna, Further, the antenna also receives data and transmits the data to the processor 601 .

Processor 601 is responsible for managing the bus and general processing, and may also provide various functions including timing, peripheral interface, voltage regulation, power management, and other control functions. And the memory 602 may be used to store data used by the processor 601 when performing operations.

The seventh embodiment of the present application relates to a computer program. When the computer program is executed by a processor, the navigation method described in any one of the above method embodiments is implemented.

The seventh embodiment of the present application relates to a computer-readable storage medium storing a computer program. The above-mentioned navigation method is realized when the computer program is executed by the processor.

Those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing related hardware through a program. The program is stored in a storage medium and includes several instructions to make a device (which can be a single-chip , chip, etc.) or a processor (processor) executes all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. . Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific embodiments for realizing the present application, and in practical applications, various changes can be made to it in form and details without departing from the spirit and spirit of the present application. scope.

Claims

A navigation method for navigating an electronic device, comprising:

Display a simulated map of the environment where the electronic device is currently located;

Displaying a digital twin corresponding to the electronic device in the simulation map, the display position of the digital twin in the simulation map is the same as the actual position of the electronic device in the current environment;

receiving a user's click operation, and determining at least one click position of the user's click operation in the simulated map;

An auxiliary navigation route is constructed according to the current position of the digital twin and the click position, and the electronic device is controlled to move along the auxiliary navigation route.
The navigation method according to claim 1, wherein, before receiving multiple click operations of the user, further comprising:

Constructing an initial navigation route using a preset path planning algorithm according to the starting position and target position of the electronic device, controlling the electronic device to move along the initial navigation route and detecting the current position of the electronic device in real time;

When it is detected that the electronic device stops moving for a preset period of time, an auxiliary navigation reminder is issued.
The navigation method according to any one of claims 1 to 2, wherein, after controlling the electronic device to move along the auxiliary navigation route, further comprising:

Obtaining the current location of the electronic device in real time, constructing a revised navigation route using a preset path planning algorithm according to the current location of the electronic device and the target location of the electronic device, and controlling the electronic device to follow the Fixed nav route movement.
The navigation method according to claim 3, wherein the controlling the electronic device to move along the revised navigation route comprises:

issue a route switching request;

When a route switching instruction is received, the electronic device is controlled to move along the revised navigation route.
The navigation method according to any one of claims 1 to 4, wherein, after displaying the simulated map of the environment where the electronic device is currently located, further comprising:

Detect whether the obstacle moves, and update the position of each obstacle in the simulation map according to the moved position of the obstacle when it is detected that the obstacle moves.
The navigation method according to any one of claims 1 to 5, wherein, after controlling the electronic device to move along the auxiliary navigation route, further comprising:

Acquiring an end position of the auxiliary navigation route and a target position of the electronic device;

Judging whether the preset path planning algorithm can construct an automatic navigation route between the end position and the target position;

If the preset path planning algorithm can construct an automatic navigation route between the end position and the target position, after controlling the electronic device to move to the end position along the auxiliary navigation route, control the electronic device to the device moves along the automated navigation route;

If the preset path planning algorithm cannot construct an automatic navigation route between the end point and the target position, an auxiliary navigation reminder is issued when the electronic device is controlled to move along the auxiliary navigation route to the end point.
The navigation method according to any one of claims 1 to 6, wherein after controlling the electronic device to move along the auxiliary navigation route, further comprising:

The digital twin is controlled to move synchronously with the electronic device in the simulation map.
The navigation method according to any one of claims 1 to 7, wherein, after constructing the auxiliary navigation route according to the current position of the digital twin and the at least one click position, further comprising:

The digital twin is controlled to move along the auxiliary navigation route at a preset speed in the simulated map, and the preset speed is greater than the moving speed of the electronic device.
A navigation device comprising:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory is stored with instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one processor can perform any one of claims 1 to 8 navigation method.
A computer program, which implements the navigation method according to any one of claims 1 to 8 when the computer program is executed by a processor.
A computer-readable storage medium storing a computer program, and implementing the navigation method according to any one of claims 1 to 8 when the computer program is executed by a processor.