CN117891656A - Robot map backup method, chip, robot and system - Google Patents
Robot map backup method, chip, robot and system Download PDFInfo
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- CN117891656A CN117891656A CN202410064167.8A CN202410064167A CN117891656A CN 117891656 A CN117891656 A CN 117891656A CN 202410064167 A CN202410064167 A CN 202410064167A CN 117891656 A CN117891656 A CN 117891656A
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Abstract
The application discloses a robot map backup method, a chip, a robot and a system. The robot map backup method comprises the following steps: when the robot receives the map backup instruction, the backup map label is updated to point to the map file pointed by the current map label. According to the map file backup method and device, the backup map label and the current map label are set, so that when the robot executes map backup, the map file can be backed up only by updating the map file pointed by the backup map label, the same map file can be used as the current map and the backup map, the map file is not required to be copied, and the occupation of the backup map to the memory space is reduced.
Description
Technical Field
The application relates to the technical field of map backup, in particular to a robot map backup method, a chip robot and a system.
Background
The robot utilizes an instant positioning and map construction technology (SLAM, simultaneous Localization And Mapping) to construct an environment map, and positioning navigation of the robot is realized based on the constructed environment map. At present, a robot generally updates an internal map file based on environment change in a mobile working process based on SLAM technology, but the map file may be updated incorrectly or damaged due to update, so in order to enable the map file to be recovered after update failure, a map file is generally backed up. In the prior art, the map file is usually copied in a mode of copying the whole map file, and the map file is large, so that the backup process needs to consume a long time for copying, the response timeliness of the robot to the map backup instruction is affected, the user experience is poor, and the map file is copied and backed up, so that more robot storage space is occupied, and the utilization rate of the memory space of the robot is affected.
Disclosure of Invention
The application provides a robot map backup method, a chip, a robot and a system, and the specific technical scheme is as follows:
the robot map backup method specifically comprises the following steps: when the robot receives the map backup instruction, the backup map label is updated to point to the map file pointed to 7 pointed to by the current map label.
Further, the robot map backup method further includes: when the robot receives the map backup instruction, judging whether a backup map label exists, and if not, establishing the backup map label.
Further, before updating the backup map label to point to the map file pointed to by the current map label, the robot map backup method further includes: judging whether the map file pointed by the backup map label and the map file pointed by the current map label are the same map file or not; if the map file pointed by the backup map label and the map file pointed by the current map label are the same map file, the map backup is ended.
Further, the robot map backup method further includes: if the map file pointed by the backup map label is not the same map file as the map file pointed by the current map label, deleting the map file pointed by the backup map label, and updating the backup map label to point to the map file pointed by the current map label.
Further, the method for establishing the backup map label specifically includes: a new file is created, the file name is "backup map label", and the address of the map file pointed to by the backup map label is recorded in the file.
Further, the robot map backup method further includes: when the robot updates the backup map label to point to the map file pointed by the current map label, the robot sends a device feedback map backup completion signal to the map backup command.
The application also discloses a chip internally storing a computer program, which when being run by a processor, executes the robot map backup method according to any one of the previous claims.
The application also discloses a robot, include: the map backup control module is used for sending a map backup instruction to the map backup operation module; the map backup operation module is used for controlling the map label pointing module to update the map file pointed by the backup map label based on the received map backup instruction; and the map label pointing module is used for establishing a backup map label and a current map label and updating the map file pointed by the backup map label.
Further, the robot further includes: the map file generation module is used for constructing a map file; the map file control module is used for controlling the map file generation module to construct a map file, controlling the map file storage module to delete the stored map file and controlling the map file storage module to cache the map file constructed by the map file generation module; and the map file storage module is used for caching the map files constructed by the map file generation module under the control of the map file control module and deleting the stored map files under the control of the map file control module.
The application also discloses a robot map backup system, specifically includes: the robot is used for being controlled by the map backup instruction transmitted by the user terminal and executing the map backup method of the robot according to any one of the above; and the user terminal is used for being controlled by a user to send a map backup instruction to the robot.
According to the robot map backup method, the chip, the robot and the system, by setting the backup map label and the current map label, when the robot executes map backup, the map files can be backed up only by updating the map files pointed by the backup map label, and the same map file can be used as the current map and the backup map without copying the map files, so that the occupation of the backup map to the memory space is reduced.
Drawings
Fig. 1 is a flow chart of a robot map backup method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of label pointing before map backup of a robot according to an embodiment of the present application.
Fig. 3 is a schematic diagram of label pointing after robot map backup according to an embodiment of the present application.
Description of the embodiments
Embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the following description of specific embodiments is intended to be illustrative of the present application and is not intended to be limiting.
In the prior art, the map file is usually copied in a mode of copying the whole map file, and the map file is large, so that the backup process needs to consume a long time for copying, the response timeliness of the robot to the map backup instruction is affected, the user experience is poor, and the map file is copied and backed up, so that more robot storage space is occupied, and the utilization rate of the memory space of the robot is affected.
The application provides a robot map backup method, which aims to solve the problems that in the prior art, copying and backup of map files are long in time consumption and occupy memory space. Specifically, as shown in fig. 1, the robot map backup method includes: when the robot receives the map backup instruction, the backup map label is updated to point to the map file pointed by the current map label.
Specifically, the backup map label is used for pointing to a map file serving as a backup map; the current map tag is used for pointing to a map file used as the current navigation and positioning of the robot; the backup map label and the current map label may point to the same map file. The way in which the backup map label and the current map label point to one map file may be, but is not limited to, pointing based on the unique authentication information recorded for each map file; the unique authentication information of each map file may be, but is not limited to, a storage address of the map file, a name of the map file, and the like. According to the embodiment, by setting the backup map label and the current map label, when the robot executes map backup, the map files can be backed up only by updating the map files pointed by the backup map label, and the same map file can be used as the current map and the backup map without copying the map files, so that the occupation of the backup map to the memory space is reduced, and the map backup efficiency of the robot is effectively improved.
As a preferred embodiment of the present application, the robot map backup method further includes: when the robot receives the map backup instruction, judging whether a backup map label exists, and if not, establishing the backup map label. Specifically, when there is no backup map label, the robot needs to establish a backup map label to point to the map file based on the backup map label to realize map backup. The situation that the backup map label does not exist may be that when the first map construction is completed after the robot is started, the robot has not performed map backup at this time, and therefore, the backup map label does not exist, or the backup map label is accidentally deleted in the running process of the robot, and the like. In the embodiment, when the control robot receives the map backup instruction, the backup map label existence judgment is executed, so that the situation that the robot updates the pointing direction of the backup map label due to the fact that the backup map label does not exist is avoided.
As a preferred embodiment of the present application, before updating the backup map label to point to the map file pointed to by the current map label, the robotic map backup method further includes: judging whether the map file pointed by the backup map label and the map file pointed by the current map label are the same map file or not; if the map file pointed by the backup map label and the map file pointed by the current map label are the same map file, the map backup is ended.
Specifically, the method for determining whether the map file pointed to by the backup map tag and the map file pointed to by the current map tag are the same may be, but not limited to, determining whether the authentication information of the map files recorded by the backup map tag and the current map tag are the same, for example: whether the storage addresses of the recorded map files are the same or whether the names of the recorded map files are the same, or the like. It should be noted that, the map backup instruction is used to instruct the robot to backup the map currently used by the robot so as to realize that the current map is backed up as a backup map, so when the map file pointed by the backup map label and the map file pointed by the current map label are the same map file, the map backup instruction is equivalent to that the current map is backed up as the backup map, so that the robot is controlled to end the map backup without executing the backup map label updating operation again, the map backup flow of the robot is optimized, and the map backup efficiency of the robot is improved.
As a preferred embodiment of the present application, the robot map backup method further includes: if the map file pointed by the backup map label is not the same map file as the map file pointed by the current map label, deleting the map file pointed by the backup map label, and updating the backup map label to point to the map file pointed by the current map label.
Specifically, when the map file pointed to by the backup map tag is not the same map file as the map file pointed to by the current map tag, the robot needs to update the backup map tag to point to the map file pointed to by the current map tag in order to backup the current map as the backup map, which will result in that there is no backup map tag or the current map tag points to the map file pointed to by the backup map tag originally, and the map file is empty. As shown in fig. 2, the backup map label points to the map file 1, the current map label points to the map file 2, when the robot receives the map backup instruction, it is judged that the map files pointed to by the backup map label and the current map label are not the same map file, the map file 1 is deleted first, and then the backup map label points to the map file 2, so that as shown in fig. 3, the backup map label and the current map label both point to the map file 2, so that the storage space originally occupied by the map file 1 can be released in time and utilized by the robot. In order to improve the effective utilization rate of the storage space in the robot, the embodiment controls the robot to delete the map file originally pointed by the backup map label before updating the backup map label to be pointed to by the current map label, so that the storage of unnecessary map files in the robot is reduced.
Preferably, the deleting operation of the map file to which the backup map label is originally pointed may be performed after updating the backup map label to point to the map file to which the current map label is pointed. Namely the robot map backup method further comprises the following steps: and traversing to judge whether each map file is pointed by at least one map label, if the map file does not have the map label pointed by the map label, determining that the map file is empty, and controlling the robot to delete the controlled map file. Wherein the map label may be, but is not limited to, a backup map label, a current map label, etc. for pointing to a map file. According to the embodiment, whether the map file is pointed by the map label or not is checked by controlling the robot, so that the empty map file is deleted, unnecessary map files in the storage space inside the robot are deleted, and the effective utilization rate of the storage space of the robot is improved.
As a preferred embodiment of the present application, the method for creating a backup map label specifically includes: a new file is created, the file name is "backup map label", and the address of the map file pointed to by the backup map label is recorded in the file. In this embodiment, the mode of pointing the backup map label to the map file is limited to the address where the map file is stored in the robot, and since the storage address of each map file is unique, the backup map label realizes the map uniqueness of the backup map label and the map file by recording the address of the map file, so that the robot can find the corresponding unique map file based on the address recorded in the backup map label.
As a preferred embodiment of the present application, the robot map backup method further includes: when the robot updates the backup map label to point to the map file pointed by the current map label, the robot sends a device feedback map backup completion signal to the map backup command. After the update of the map label is completed, the control robot feeds back a map backup completion signal to the map backup instruction sending device so as to inform the map backup instruction sending device that the map backup instruction sent by the map backup instruction sending device is responded and executed.
As a preferred embodiment of the present application, a chip is provided, in which a computer program is stored. The robot map backup method according to any of the previous embodiments is performed when a computer program stored inside a chip is run by a processor. In the present embodiment, the robot map backup method is stored in the chip in the form of a computer program, and the chip is disposed on the robot, so that the robot map backup method can be executed by different robots.
As a preferred embodiment of the present application, there is provided a robot including: the system comprises a map backup control module, a map backup operation module and a map label pointing module. Wherein,
the map backup control module is used for sending a map backup instruction to the map backup operation module; specifically, the triggering condition of the map backup control module sending the map backup instruction may be, but not limited to, manual triggering by a user who controls the robot, or triggering when the robot does not store the backup map inside and the robot completes the construction of the environment map.
The map backup operation module is used for controlling the map label pointing module to update the map file pointed by the backup map label based on the received map backup instruction; specifically, the method for controlling the map label pointing module to update the map file pointed by the backup map label by the map backup operation module includes: the control map label pointing module updates the backup map label to point to the map file pointed to by the current map label.
The map label pointing module is used for establishing a backup map label and a current map label and updating a map file pointed by the backup map label. Specifically, the map label pointing module may establish a backup map label in a manner that is, but not limited to: a file is created, the file name is "backup map label", and the address of the map file pointed to by the backup map label is recorded in the file. The map tag pointing module establishes the current map tag in a manner that may be, but is not limited to: a file is created, the file name is 'current map label', and the address of the map file pointed by the current map label is recorded in the file. The method for updating the map file pointed by the backup map label by the map label pointing module is based on the updating rule, and can be, but not limited to, updating the map file pointed by the backup map label to the map file pointed by the current map label. The robot provided by the embodiment realizes map backup operation through updating the map file pointed by the backup map label, does not need to copy and backup the map, effectively shortens the time consumption required by map backup, and optimizes the user experience.
As a preferred embodiment of the present application, the robot further includes: the system comprises a map file generation module, a map file control module and a map file storage module. Wherein,
the map file generation module is used for constructing a map file; specifically, the method of constructing the map file by the map file generating module may be, but not limited to, constructing the environment map by using an immediate positioning and mapping technology SLAM, which may be, but not limited to, a visual SLAM, a laser SLAM, a visual and laser fusion SLAM, or the like.
The map file control module is used for controlling the map file generation module to construct a map file, controlling the map file storage module to delete the stored map file and controlling the map file storage module to cache the map file constructed by the map file generation module; specifically, the method for controlling the map file storage module to delete the stored map file by the map file control module may be, but is not limited to: and traversing to judge whether each map file is pointed by at least one map label, if the map file is not pointed by the map label, determining that the map file is empty, and controlling the map file storage module to delete the map file determined to be empty by the map file control module. Or, before updating the backup map label to point to the map file pointed by the current map label, deleting the map file pointed by the backup map label originally.
The map file storage module is used for caching the map files constructed by the map file generation module under the control of the map file control module and deleting the stored map files under the control of the map file control module. Specifically, each map file stored in the map file storage module is provided with a unique corresponding storage address, so that the map label can be pointed through the storage address of the map file.
As a preferred embodiment of the present application, a robot map backup system is provided, specifically including: the robot is controlled by the map backup instruction transmitted by the user terminal, and executes the map backup method of the robot according to any one of the previous embodiments; and the user terminal is used for being controlled by a user to send a map backup instruction to the robot. According to the map backup system for the robot, the robot is controlled by the user to execute map backup operation, so that the user can automatically screen the map with optimal use experience for the robot to apply, the autonomy of the user to the map file used by the robot is improved, and the use experience of the user is effectively optimized.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. The robot map backup method is characterized by comprising the following steps of: when the robot receives the map backup instruction, the backup map label is updated to point to the map file pointed by the current map label.
2. The robot map backup method of claim 1, further comprising: when the robot receives the map backup instruction, judging whether a backup map label exists, and if not, establishing the backup map label.
3. The robotic map backup method of claim 2, wherein the robotic map backup method, prior to updating the backup map label to point to the map file to which the current map label points, further comprises:
judging whether the map file pointed by the backup map label and the map file pointed by the current map label are the same map file or not;
if the map file pointed by the backup map label and the map file pointed by the current map label are the same map file, the map backup is ended.
4. The robot map backup method of claim 3, further comprising:
if the map file pointed by the backup map label is not the same map file as the map file pointed by the current map label, deleting the map file pointed by the backup map label, and updating the backup map label to point to the map file pointed by the current map label.
5. The robot map backup method according to claim 2, wherein the method for creating the backup map label specifically comprises: a new file is created, the file name is "backup map label", and the address of the map file pointed to by the backup map label is recorded in the file.
6. The robot map backup method of claim 1, further comprising:
when the robot updates the backup map label to point to the map file pointed by the current map label, the robot sends a device feedback map backup completion signal to the map backup command.
7. A chip having a computer program stored therein, wherein the computer program stored therein is executed by a processor to perform the robot map backup method according to any one of claims 1 to 6.
8. A robot, the robot comprising:
the map backup control module is used for sending a map backup instruction to the map backup operation module;
the map backup operation module is used for controlling the map label pointing module to update the map file pointed by the backup map label based on the received map backup instruction;
and the map label pointing module is used for establishing a backup map label and a current map label and updating the map file pointed by the backup map label.
9. The robot of claim 8, further comprising:
the map file generation module is used for constructing a map file;
the map file control module is used for controlling the map file generation module to construct a map file, controlling the map file storage module to delete the stored map file and controlling the map file storage module to cache the map file constructed by the map file generation module;
and the map file storage module is used for caching the map files constructed by the map file generation module under the control of the map file control module and deleting the stored map files under the control of the map file control module.
10. The robot map backup system is characterized by comprising the following specific components:
a robot for performing the robot map backup method according to any one of claims 1 to 6 under control of a map backup instruction transmitted from a user terminal;
and the user terminal is used for being controlled by a user to send a map backup instruction to the robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410064167.8A CN117891656A (en) | 2024-01-17 | 2024-01-17 | Robot map backup method, chip, robot and system |
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| CN202410064167.8A CN117891656A (en) | 2024-01-17 | 2024-01-17 | Robot map backup method, chip, robot and system |
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| CN202410064167.8A Pending CN117891656A (en) | 2024-01-17 | 2024-01-17 | Robot map backup method, chip, robot and system |
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