CN114363360A - Map synchronization method and related device - Google Patents
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Abstract
The embodiment of the application discloses a map synchronization method and related equipment, which are used for improving the acquisition efficiency of a robot map. The method in the embodiment of the application comprises the following steps: searching whether a cloud map of a target scene exists in the cloud platform; if the cloud platform has a cloud map of the target scene, acquiring a cloud map list of the target scene from the cloud platform, wherein the cloud map list comprises cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number; searching whether a local map exists locally; if the local map does not exist locally, determining the cloud map with the latest cloud end version number in the cloud map list as the cloud map to be downloaded; and downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a map synchronization method and related equipment.
Background
In recent years, catering service personnel face serious shortage while the catering industry is continuously expanded in scale, and a food delivery robot is in force. Compared with an attendant, the meal delivery robot has higher meal delivery efficiency and lower long-term use cost.
At present, a meal delivery robot uses a map and can only push a meal delivery track which is taken once by the robot, and then different service points are created in a computer by using a map building tool. However, maps between two meal delivery robots cannot be mutually transmitted, so that even maps in the same area need to be separately mapped. And the shop purchasing and delivering robots are usually purchased in batches, and each robot needs to perform drawing establishing operation, so that the operation is complicated and wastes manpower.
Disclosure of Invention
The embodiment of the application provides a map synchronization method and related equipment.
A first aspect of embodiments of the present application provides a robot, including a memory and a processor connected to the memory, where the memory stores executable program code, and the processor is configured to implement the following steps when executing readable instructions in the memory:
searching whether a cloud map of a target scene exists in the cloud platform;
if the cloud platform has a cloud map of the target scene, acquiring a cloud map list of the target scene from the cloud platform, wherein the cloud map list comprises cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
searching whether a local map exists locally;
if the local map does not exist locally, determining the cloud map with the latest cloud end version number in the cloud map list as the cloud map to be downloaded;
and downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
In one specific implementation, the processor is further configured to implement the following steps when executing the readable instructions in the memory:
if the cloud platform does not have the cloud map of the target scene and the local map exists locally, a local map list is obtained locally, the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining the local map with the latest local version number in the local map list as a map to be uploaded;
and uploading the corresponding local map to a cloud platform according to the local version number of the map to be uploaded.
In one specific implementation, the processor is further configured to implement the following steps when executing the readable instructions in the memory:
if a local map exists locally, a local map list is obtained locally, wherein the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining a cloud map with the latest cloud version number in the cloud map list as a target cloud map, wherein the cloud version number of the target cloud map is a target cloud version number;
determining that the local map with the latest local version number in the local map list is a target local map, wherein the local version number of the target local map is a target local version number;
if the target cloud version number is newer than the target local version number, determining a cloud map corresponding to the target cloud version number as a cloud map to be downloaded;
downloading the cloud map to be downloaded to the local according to the target cloud version number;
if the target local version number is newer than the target cloud version number, determining that a local map corresponding to the target local version number is a local map to be uploaded;
and uploading the local map to be uploaded to the cloud platform according to the target local version number.
In one specific implementation, the processor is further configured to implement the following steps when executing the readable instructions in the memory:
before the cloud map of the target scene exists on the cloud searching platform, acquiring a scene identifier of the target scene;
when the step of searching whether the cloud end map of the target scene exists on the cloud platform is implemented, the processor is specifically configured to:
and searching whether the cloud platform has a cloud map of the target scene according to the scene identification.
In a specific implementation manner, when the step of obtaining the scene identifier of the target scene is implemented, the processor is specifically configured to: responding to a scene identification input by a user, and determining the scene identification selected by the user as the scene identification of the target scene;
or the like, or, alternatively,
sending a scene identification acquisition request in a local area network;
and receiving the scene identification sent by other robots in the local area network.
In one specific implementation, the processor is further configured to implement the following steps when executing the readable instructions in the memory:
before the cloud map of the target scene exists on the cloud searching platform, the store IP of the target scene is obtained;
when the step of searching whether the cloud end map of the target scene exists on the cloud platform is implemented, the processor is specifically configured to: and searching whether a cloud map of the target scene exists in a cloud platform according to the store IP of the target scene.
A second aspect of the embodiments of the present application provides a map synchronization apparatus, including:
the searching unit is used for searching whether the cloud platform has a cloud map of a target scene;
an obtaining unit, configured to obtain a cloud map list of the target scene from the cloud platform if the cloud platform has a cloud map of the target scene, where the cloud map list includes cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
the searching unit is also used for searching whether a local map exists locally;
the determining unit is used for determining that the cloud map with the latest cloud end version number in the cloud map list is the cloud map to be downloaded if a local map does not exist locally;
and the downloading unit is used for downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
In a specific implementation manner, the obtaining unit is further configured to obtain a local map list from a local area if the cloud platform does not have a cloud map of the target scene and the local area has the local map, where the local map list includes local map names and local version numbers, each local map name indicates a local map, and each local map has a corresponding local version number;
the determining unit is further configured to determine that the local map with the latest local version number in the local map list is the map to be uploaded;
the map synchronization device further includes: and the uploading unit is used for uploading the corresponding local map to the cloud platform according to the local version number of the map to be uploaded.
In a specific implementation manner, the obtaining unit is further configured to obtain a local map list from a local area if the local area has a local map, where the local map list includes local map names and local version numbers, each local map name indicates a local map, and each local map has a corresponding local version number;
the determining unit is further configured to determine that a cloud map with a latest cloud version number in the cloud map list is a target cloud map, and the cloud version number of the target cloud map is a target cloud version number;
the determining unit is further configured to determine that the local map with the latest local version number in the local map list is a target local map, and the local version number of the target local map is a target local version number;
the determining unit is further configured to determine that the cloud map corresponding to the target cloud version number is the cloud map to be downloaded if the target cloud version number is newer than the target local version number;
the downloading unit is further used for downloading the cloud map to be downloaded to the local according to the target cloud version number;
the determining unit is further configured to determine that the local map corresponding to the target local version number is a local map to be uploaded if the target local version number is newer than the target cloud version number;
the uploading unit is further configured to upload the local map to be uploaded to the cloud platform according to the target local version number.
In a specific implementation manner, the obtaining unit is further configured to obtain a scene identifier of the target scene;
the searching unit is specifically configured to search whether the cloud platform has the cloud map of the target scene according to the scene identifier.
In a specific implementation manner, the obtaining unit is specifically configured to determine, in response to a scene identifier input by a user, that the scene identifier selected by the user is a scene identifier of the target scene;
or the like, or, alternatively,
sending a scene identification acquisition request in a local area network;
and receiving the scene identification sent by other robots in the local area network.
In a specific implementation manner, the obtaining unit is further configured to obtain a store IP of the target scene;
the searching unit is specifically used for searching whether a cloud map of the target scene exists in a cloud platform according to the store IP of the target scene.
A third aspect of the embodiments of the present application provides a map synchronization method, where the map synchronization method includes:
searching whether a cloud map of a target scene exists in the cloud platform;
if the cloud platform has a cloud map of the target scene, acquiring a cloud map list of the target scene from the cloud platform, wherein the cloud map list comprises cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
searching whether a local map exists locally;
if the local map does not exist locally, determining the cloud map with the latest cloud end version number in the cloud map list as the cloud map to be downloaded;
and downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
In a specific implementation, the method further includes: if the cloud platform does not have the cloud map of the target scene and the local map exists locally, a local map list is obtained locally, the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining the local map with the latest local version number in the local map list as a map to be uploaded;
and uploading the corresponding local map to a cloud platform according to the local version number of the map to be uploaded.
In a specific implementation, the method further includes: if a local map exists locally, a local map list is obtained locally, wherein the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining a cloud map with the latest cloud version number in the cloud map list as a target cloud map, wherein the cloud version number of the target cloud map is a target cloud version number;
determining that the local map with the latest local version number in the local map list is a target local map, wherein the local version number of the target local map is a target local version number;
if the target cloud version number is newer than the target local version number, determining a cloud map corresponding to the target cloud version number as a cloud map to be downloaded;
downloading the cloud map to be downloaded to the local according to the target cloud version number;
if the target local version number is newer than the target cloud version number, determining that a local map corresponding to the target local version number is a local map to be uploaded;
and uploading the local map to be uploaded to the cloud platform according to the target local version number.
In a specific implementation, the method further includes: before the cloud map of the target scene exists on the cloud searching platform, acquiring a scene identifier of the target scene;
whether the cloud end map of the target scene exists in the cloud platform is searched for, and the method comprises the following steps:
and searching whether the cloud platform has a cloud map of the target scene according to the scene identification.
In a specific implementation manner, the obtaining the scene identifier of the target scene includes: responding to a scene identification input by a user, and determining the scene identification selected by the user as the scene identification of the target scene;
or the like, or, alternatively,
sending a scene identification acquisition request in a local area network;
and receiving the scene identification sent by other robots in the local area network.
In a specific implementation manner, before the searching whether the cloud platform has the cloud map of the target scene, the method further includes: obtaining a shop IP of the target scene;
whether the cloud end map of the target scene exists in the cloud platform is searched for, and the method comprises the following steps: and searching whether a cloud map of the target scene exists in a cloud platform according to the store IP of the target scene.
A fourth aspect of embodiments of the present application provides a computer storage medium having instructions stored therein, which when executed on a computer, cause the computer to perform the method according to the third aspect.
According to the technical scheme, the embodiment of the application has the following advantages: when a local map does not exist locally, whether a cloud map of a target scene exists or not can be inquired from the cloud platform. If the cloud platform has the cloud map of the target scene, the image building process does not need to be executed again, and the cloud map with the latest cloud end version number in the cloud map list of the target scene can be downloaded from the cloud platform.
Drawings
FIG. 1 is a flowchart illustrating a map synchronization method according to an embodiment of the present disclosure;
FIG. 2 is another flowchart of a map synchronization method according to an embodiment of the present application;
FIG. 3 is a block diagram of a map synchronization apparatus according to an embodiment of the present application;
fig. 4 is another structural diagram of a map synchronization apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a map synchronization method and related equipment, which are used for improving the acquisition efficiency of a robot map.
Referring to fig. 1 and 4, an embodiment of the present application provides a robot, the robot 400 includes a memory 405 and a processor 401, the memory 405 stores executable program codes, and the processor 401 can be configured to execute readable instructions in the memory 405 to implement the following steps:
101. and searching whether the cloud platform has a cloud map of the target scene.
Before map downloading, the cloud platform needs to be queried whether a cloud map of a target scene exists, and if yes, step 102 is executed. Optionally, the cloud map is stored on a cloud disk, a cloud server, or a cloud database.
In some embodiments, before step 101, the method further includes: acquiring a scene identifier of a target scene; and searching whether the cloud platform has a cloud map of the target scene according to the scene identification. The scene identification may be a shop name of the target scene or a shop IP of the target scene.
Specifically, the target scene is a scene in which the robot needs to work, and may be a store, a mall, an office building, or the like, which is not limited herein.
Specifically, a scene identifier of a target scene input by a user may be obtained, and then the scene identifier input by the user is used as the scene identifier of the target scene; or if there are other robots in the local area network, the request for acquiring the scene identifier may be broadcast in the local area network, and then the scene identifier sent by other robots in the local area network is received. The input may be a click selection or a keyboard input, which is not limited herein. It can be known that, besides the two methods for obtaining the scene identifier of the target scene, there are other methods, which are not described herein again.
102. If the cloud platform has the cloud map of the target scene, a cloud map list of the target scene is obtained from the cloud platform, the cloud map list comprises cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number.
When a map needs to be acquired from the cloud end, whether a cloud end map exists in a target scene where the robot is located or not needs to be determined, and if the cloud platform has the map of the target scene, a cloud end map list of the target scene is acquired from the cloud end. The cloud map list comprises at least one cloud map name and cloud version numbers corresponding to the cloud map names, each cloud map name represents one cloud map, and each cloud map has one-to-one cloud version number.
103. And searching whether a local map exists locally.
Before downloading the map with the cloud, it is further required to determine whether a local map exists locally, optionally, the local map is stored in the body of the robot 40, and may be specifically stored in the memory of the robot 40, and if the local map does not exist locally, step 104 is executed.
104. And if the local map does not exist locally, determining the cloud map with the latest cloud end version number in the cloud map list as the cloud map to be downloaded.
If no local map exists locally, determining that the cloud map with the latest cloud end version number in the cloud map list is the cloud map to be downloaded according to the cloud map list acquired in the step 102.
Namely, a cloud map with the latest cloud version number is determined from the cloud map list, namely the cloud map with the latest or highest cloud version number is used as the cloud map to be downloaded.
105. And downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
And downloading the cloud map corresponding to the cloud version number of the cloud map to be downloaded to the cloud according to the cloud version number of the cloud map to be downloaded determined in the step 104, namely downloading the cloud map to be downloaded to the local.
In the embodiment of the application, when the local map does not exist locally, whether the cloud map of the target scene exists or not can be inquired from the cloud platform. If the cloud platform has the cloud map of the target scene, the image building process does not need to be executed again, and the cloud map with the latest cloud end version number in the cloud map list of the target scene can be downloaded from the cloud platform.
On the basis of the foregoing steps 101 to 105, the map synchronization method according to the embodiment of the present application further includes the following steps:
if the local map exists locally, a local map list is obtained from the local, the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number; determining a cloud map with the latest cloud version number in the cloud map list as a target cloud map, and determining the cloud version number of the target cloud map as the target cloud version number; determining a local map with the latest local version number in the local map list as a target local map, wherein the local version number of the target local map is a target local version number; if the target cloud version number is newer than the target local version number, determining the cloud map corresponding to the target cloud version number as the cloud map to be downloaded; downloading a cloud map to be downloaded to the local according to the target cloud version number; if the target local version number is newer than the target cloud version number, determining that the local map corresponding to the target local version number is the local map to be uploaded; and uploading the local map to be uploaded to the cloud platform according to the target local version number.
Specifically, if a local map exists locally, a local map list is obtained locally, and the local map list comprises local map names and corresponding local version numbers and is used for comparing with the cloud map list.
And traversing all the cloud maps in the cloud map list and the cloud version number of each cloud map, and determining that one cloud map with the latest cloud version number is a target cloud map, and the cloud version number of the target cloud map is the target cloud version number.
In an alternative embodiment, a newer version number indicates a higher version of the corresponding map. In an optional embodiment, the cloud version number of the cloud map and the local version number of the local map are version numbers of the same rule, and in some embodiments, the version numbers may specifically be composed of a robot model number + a map type + a creation date, for example, BOT-LASER-20211223.
In an optional embodiment, which version number is updated can be determined by comparing the version numbers, for example, if the version number of the cloud map a is BOT-LASER-20210504, and the version number of the cloud map B is BOT-LASER-20210607, then the version number of the cloud map B is newer than the version number of the cloud map a. Similarly, the comparison between the cloud map and the local map, and the comparison between the local map and the local map may also be performed, which is not limited herein.
In other embodiments, the version number may be created by other rules, which are not limited herein.
In other embodiments, the actual number size of the version number is not considered, but the version number is updated or higher by the new and old identifiers, and in one embodiment, the creation date and the specific time, minute and second can be used as the new and old identifiers, which is not limited herein.
And traversing all the local maps in the local map list and the local version number of each local map, and determining that the local map with the latest local version number is a target local map, wherein the local version number of the target local map is the target local version number.
And comparing the target cloud version number with the target local version number, and if the target cloud version number is newer than the target local version number, determining the cloud map with the cloud version number newer than the target local version number in the cloud map list as the cloud map to be downloaded. Wherein, the version number is newer than the version number.
And downloading and using the cloud map with the cloud version number which is newer than the target local version number in the cloud map list.
In other embodiments, if the target local version number is newer than the target cloud version number, the local map corresponding to the target local version number is determined to be the local map to be uploaded, and then the corresponding local map is uploaded to the cloud platform according to the local version number of the map to be uploaded.
In other scenarios, the robot may be deployed for the first time in a new target scenario, so that the robot may build a map to obtain a local map, and the cloud platform does not have a cloud map. Therefore, if the cloud platform does not have a cloud map of a target scene and the local map exists locally, a local map list can be obtained locally, the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number; then determining the local map with the latest local version number in the local map list as a map to be uploaded; and uploading the corresponding local map to the cloud platform according to the local version number of the map to be uploaded, namely uploading the map to be uploaded to the corresponding cloud platform. Specifically, the target scene corresponding to the cloud platform may be uploaded according to the acquired scene identifier.
In the embodiment of the application, when the local map exists locally, the cloud platform can still synchronize the cloud map of the local map with the latest local version number in the local map list from the cloud version number, so that the robot can update the local map in time, and the user experience is improved.
In a specific embodiment, the foregoing map synchronization method is specifically implemented in the following manner, which is described below with reference to fig. 3. Fig. 2 is a flowchart of a map synchronization method according to an embodiment of the present application.
First, the robot is started, and when the robot is started, the app, which is software for controlling the operation of the robot, is also started. After starting, firstly judging whether the robot is activated or not, and if not, turning to an activation page for activation; if the map is activated, the algorithm self-checking can be carried out next step, if the algorithm self-checking is successful, whether a local map exists is judged, and if the algorithm self-checking is failed, an error is reported. If the bound map exists, the map acquisition is not carried out; if the new map does not exist or the new map is still required to be obtained even if the new map exists, the target scene map can be created or synchronized by clicking a cloud platform through opening an air-ground map interface.
In practical application, if the cloud platform does not have the cloud map, the step of building a new map needs to be carried out, and if the cloud platform does not have the cloud map, the cloud map can be downloaded. Specifically, whether the robot has the map or not can be judged according to the map name through the acquired cloud map list and the local map list, and if yes, whether uploading or downloading is needed or not is judged according to version number data of the map. And if the creation date is later, downloading. And if the local map is lower than the cloud map version or the robot does not have a certain cloud map, downloading the map to a local robot hard disk through the Ali cloud OSS or the Tencent cloud OSS. It can be known that, in practice, the downloading action may be triggered automatically or triggered manually by an operator, and if the downloading action is triggered manually by the operator, the operator selects any cloud map for downloading after acquiring the cloud map list, and the specific location is not limited.
After the map data is downloaded to the temporary directory of the robot, validity judgment is performed on all maps in the temporary directory. If the map is illegal, the illegal temporary directory file can be deleted, if the map is legal, all files in the temporary directory are copied to the appointed map folder, the downloaded map is automatically analyzed through an algorithm, and all maps are loaded into the memory. And after the map loading is finished, automatically selecting one map in the robot through an algorithm. Specifically, the map is a packed compressed file, the UI layer downloads the map, the SDK layer decompresses the map, decompresses the Atlas file, stores the topological path and the point locations of the elements of the map, and finally the robot knows the coordinates to be reached through the point locations.
After the map is selected, the robot receives the map name designated by an operator through the UI layer or automatically acquires the name of the first-order local map in the local map list, and starts to use the designated map to position the map for use. In practice, after the operator enters the use interface, the user may also reselect another map for use, which is not limited herein.
In the embodiment of the application, a method for specifically realizing downloading of the cloud map is provided, and the realizability of the scheme is improved.
The embodiment of the application provides a map synchronizer, including:
the searching unit 301 is configured to search whether a cloud platform has a cloud map of a target scene;
the obtaining unit 302 is configured to obtain a cloud map list of the target scene from the cloud platform if the cloud platform has a cloud map of the target scene, where the cloud map list includes cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
the searching unit 301 is further configured to search whether a local map exists locally;
the determining unit 303 is configured to determine, if a local map does not exist locally, that the cloud map with the latest cloud end version number in the cloud map list is the cloud map to be downloaded;
the downloading unit 304 is configured to download the corresponding cloud map to the local area according to the cloud version number of the cloud map to be downloaded.
In a specific implementation manner, the obtaining unit 302 is further configured to obtain a local map list from a local area if the cloud platform does not have a cloud map of the target scene and the local area has a local map, where the local map list includes local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
the determining unit 303 is further configured to determine that the local map with the latest local version number in the local map list is the map to be uploaded;
the map synchronization device further includes: and the uploading unit is used for uploading the corresponding local map to the cloud platform according to the local version number of the map to be uploaded.
In a specific implementation manner, the obtaining unit 302 is further configured to obtain a local map list from a local area if the local area has a local map, where the local map list includes local map names and local version numbers, each local map name indicates a local map, and each local map has a corresponding local version number;
the determining unit 303 is further configured to determine that a cloud map with a latest cloud version number in the cloud map list is a target cloud map, and the cloud version number of the target cloud map is a target cloud version number;
the determining unit 303 is further configured to determine that the local map with the latest local version number in the local map list is the target local map, and the local version number of the target local map is the target local version number;
the determining unit 303 is further configured to determine, if the target cloud version number is newer than the target local version number, that the cloud map corresponding to the target cloud version number is the cloud map to be downloaded;
the downloading unit 304 is further configured to download the cloud map to be downloaded to the local according to the target cloud version number;
the determining unit 303 is further configured to determine that the local map corresponding to the target local version number is the local map to be uploaded if the target local version number is newer than the target cloud version number;
and the uploading unit is also used for uploading the local map to be uploaded to the cloud platform according to the target local version number.
In a specific implementation manner, the obtaining unit 302 is further configured to obtain a scene identifier of the target scene;
the searching unit 301 is specifically configured to search whether a cloud map of a target scene exists on the cloud platform according to the scene identifier.
In a specific implementation manner, the obtaining unit 302 is specifically configured to respond to a scene identifier input by a user, and determine that a scene identifier selected by the user is a scene identifier of a target scene;
or the like, or, alternatively,
sending a scene identification acquisition request in a local area network;
and receiving scene identifications sent by other robots in the local area network.
In a specific implementation manner, the obtaining unit 302 is further configured to obtain a store IP of a target scene;
the searching unit 301 is specifically configured to search whether a cloud map of the target scene exists on the cloud platform according to the store IP of the target scene.
In this embodiment of the application, when a local map does not exist locally, the query unit 301 may query the cloud platform whether a cloud map of a target scene exists. If the cloud platform has the cloud map of the target scene, the robot does not need to execute the mapping process again, and the downloading unit 304 may download the cloud map with the latest cloud end version number in the cloud map list of the target scene from the cloud platform.
Fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present disclosure, where the robot 400 may include one or more Central Processing Units (CPUs) 401 and a memory 405, and the memory 405 stores one or more application programs or data.
The map synchronization apparatus 400 may also include one or more power supplies 402, one or more wired or wireless network interfaces 403, one or more input-output interfaces 404, and/or one or more operating systems, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The central processing unit 401 can perform the operations performed by the map synchronization apparatus in the embodiments shown in fig. 1 to fig. 3, and details thereof are not repeated herein.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (10)
1. A robot comprising a memory and a processor coupled to the memory, the memory having stored executable program code, the processor being configured to perform the following steps when executing instructions readable in the memory:
searching whether a cloud map of a target scene exists in the cloud platform;
if the cloud platform has a cloud map of the target scene, acquiring a cloud map list of the target scene from the cloud platform, wherein the cloud map list comprises cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
searching whether a local map exists locally;
if the local map does not exist locally, determining the cloud map with the latest cloud end version number in the cloud map list as the cloud map to be downloaded;
and downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
2. The robot of claim 1, wherein the processor is further configured to perform the following steps when executing the readable instructions in the memory:
if the cloud platform does not have the cloud map of the target scene and the local map exists locally, a local map list is obtained locally, the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining the local map with the latest local version number in the local map list as a map to be uploaded;
and uploading the corresponding local map to a cloud platform according to the local version number of the map to be uploaded.
3. The robot of claim 1, wherein the processor is further configured to perform the following steps when executing the readable instructions in the memory:
if a local map exists locally, a local map list is obtained locally, wherein the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining a cloud map with the latest cloud version number in the cloud map list as a target cloud map, wherein the cloud version number of the target cloud map is a target cloud version number;
determining that the local map with the latest local version number in the local map list is a target local map, wherein the local version number of the target local map is a target local version number;
if the target cloud version number is newer than the target local version number, determining a cloud map corresponding to the target cloud version number as a cloud map to be downloaded;
downloading the cloud map to be downloaded to the local according to the target cloud version number;
if the target local version number is newer than the target cloud version number, determining that a local map corresponding to the target local version number is a local map to be uploaded;
and uploading the local map to be uploaded to the cloud platform according to the target local version number.
4. The robot of claim 1, wherein the processor is further configured to perform the following steps when executing the readable instructions in the memory:
before the cloud map of the target scene exists on the cloud searching platform, acquiring a scene identifier of the target scene;
when the step of searching whether the cloud end map of the target scene exists on the cloud platform is implemented, the processor is specifically configured to:
and searching whether the cloud platform has a cloud map of the target scene according to the scene identification.
5. The robot of claim 4, wherein in implementing the step of obtaining the scene identification of the target scene, the processor is specifically configured to:
responding to a scene identification input by a user, and determining the scene identification selected by the user as the scene identification of the target scene;
or the like, or, alternatively,
sending a scene identification acquisition request in a local area network;
and receiving the scene identification sent by other robots in the local area network.
6. The robot of claim 1, wherein the processor is further configured to perform the following steps when executing the readable instructions in the memory:
before the cloud map of the target scene exists on the cloud searching platform, the store IP of the target scene is obtained;
when the step of searching whether the cloud end map of the target scene exists on the cloud platform is implemented, the processor is specifically configured to: and searching whether a cloud map of the target scene exists in a cloud platform according to the store IP of the target scene.
7. A map synchronization apparatus, comprising:
the searching unit is used for searching whether the cloud platform has a cloud map of a target scene;
an obtaining unit, configured to obtain a cloud map list of the target scene from the cloud platform if the cloud platform has a cloud map of the target scene, where the cloud map list includes cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
the searching unit is also used for searching whether a local map exists locally;
the determining unit is used for determining that the cloud map with the latest cloud end version number in the cloud map list is the cloud map to be downloaded if a local map does not exist locally;
and the downloading unit is used for downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
8. A map synchronization method, characterized in that the map synchronization method comprises:
searching whether a cloud map of a target scene exists in the cloud platform;
if the cloud platform has a cloud map of the target scene, acquiring a cloud map list of the target scene from the cloud platform, wherein the cloud map list comprises cloud map names and cloud version numbers, each cloud map name indicates a cloud map, and each cloud map has a corresponding cloud version number;
searching whether a local map exists locally;
if the local map does not exist locally, determining the cloud map with the latest cloud end version number in the cloud map list as the cloud map to be downloaded;
and downloading the corresponding cloud map to the local according to the cloud version number of the cloud map to be downloaded.
9. The method of claim 8, wherein the map synchronization method further comprises:
if the cloud platform does not have the cloud map of the target scene and the local map exists locally, a local map list is obtained locally, the local map list comprises local map names and local version numbers, each local map name indicates one local map, and each local map has a corresponding local version number;
determining the local map with the latest local version number in the local map list as a map to be uploaded;
and uploading the corresponding local map to a cloud platform according to the local version number of the map to be uploaded.
10. A computer storage medium having stored therein instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 8 to 9.
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