Abstract: A path fusing and planning method for a passing region, a robot, and a chip. The robot searches for candidate paths for fusion in a narrow channel having many obstacles distributed therein in advance, and then uses a path fusing and planning method to fuse a heuristic search algorithm and the candidate routes satisfying a search condition, so as to plan an overall navigation path.

Abstract: Disclosed in the embodiments of the present disclosure are a navigation method of a robot, a chip and a robot. In the navigation method, when the position of the robot is not communicated with a preset known grid area constructed before relocalization, and grids allowing the robot to pass are marked within a detectable distance of a sensor of the robot, so as to plan a navigation path for enabling the robot to actually walk into the preset known grid area.

Abstract: A method for managing a task in a terminal device is provided. The method includes displaying a multi-task interface. The multi-task interface includes one or more task interfaces, where at least one of the task interfaces includes a task presenting area and a task operation area, and the task operation area includes an operating element for performing a function of the task. The method may further include, based on a user selection of the operating element in the task operation area, running an application corresponding to the task and executing an operation corresponding to the operating element.

Abstract: A method as well as new intermediates for preparing Ulipristal acetate (a compound I) and a method for preparing the new intermediates are provided. The intermediate in a constitutional formula IV is conductive to reacting with methyl lithium or methyl Grignard reagent, a protective group is easy to be removed after a reaction, side reactions are few, a mid-term treatment is simple, the reagents used are cheap, costs are low and a yield is high, if a compound in a constitutional formula V is obtained by the reaction of a compound in a constitutional formula III and the intermediate in the constitutional formula IV, the yield of a two-step reaction is 75%, a purity is above 98%. wherein R is defined in the specification.

Abstract: A method as well as new intermediates for preparing Ulipristal acetate (a compound I) and a method for preparing the new intermediates are provided. The intermediate in a constitutional formula IV is conductive to reacting with methyl lithium or methyl Grignard reagent, a protective group is easy to be removed after a reaction, side reactions are few, a mid-term treatment is simple, the reagents used are cheap, costs are low and a yield is high, if a compound in a constitutional formula V is obtained by the reaction of a compound in a constitutional formula III and the intermediate in the constitutional formula IV, the yield of a two-step reaction is 75%, a purity is above 98%. wherein R is defined in the specification.