CN205430459U - Regional image information of control updates system - Google Patents
Regional image information of control updates system Download PDFInfo
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- CN205430459U CN205430459U CN201520540946.7U CN201520540946U CN205430459U CN 205430459 U CN205430459 U CN 205430459U CN 201520540946 U CN201520540946 U CN 201520540946U CN 205430459 U CN205430459 U CN 205430459U
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Abstract
The utility model discloses a regional image information of control updates system, it includes that image data collection subsystem, image information update subsystem, image processing subsystem, memory and image and present the subsystem, image information updates the subsystem and includes counter and central processing unit, the image data collection subsystem includes acquisition controller and removes camera device. The technical scheme of the utility model have the collection mode nimble controllable, can support to the simultaneous working of multiple target, the investigation of image acquisition demand and the advantage that the analysis is intelligent, systemic degree is high.
Description
Technical field
This utility model relates to monitoring field, and a kind of image information monitoring region updates system.
Background technology
Carry out in the system that image information is collected and gathered more existing for certain specific region, image acquisition work is typically by manually having shot, this shooting process, time-consuming long, cost is high, limited greatly by spot for photography geographical environment, the most also cause the demand that the image information on a large scale of certain locality is collected and develop the slowest.
Patent documentation CN104050177A discloses a kind of streetscape on the 17th in JIUYUE in 2014 and generates method and server, and described method includes: receive the scene photo that camera terminal sends, and obtains positional information when described camera terminal shoots described scene photo；The threedimensional model of corresponding scene is generated according to the scene photo received；Positional information according to described camera terminal obtains the projected position of described threedimensional model；According to described projected position, described threedimensional model is projected in the street view image of electronic chart as computer identifiable marker.
Inventor of the present utility model finds, existing large-scale image information works, and is often based upon the rule fixed or random factor carrys out work, effectively can not process for some special circumstances.There may be such situation in reality, such as under streetscape map environment, users hear and street corner quick flashing performance will occur in certain place, and therefore causing numerous user to understand this place by clicking on streetscape map, fact how actually.But owing to the frequency acquisition of streetscape map is the highest, so user clicks on this map and may also can only see the photo that prestores gathered long before, and the hot information that distance current time point is had a contest cannot be known.
For another example, for pastoral area is gone on patrol, system discovery is at the protection network generation alert event of specific region, even if now operator clicks on the supervision scene of pastoral area patrol, due to picture not Real-time Collection, operator can only see and gathered the photo prestored before, it is difficult to learn image immediate with current time point.
Patent documentation CN101261766A discloses a kind of city traffic signalization real time 3-D image monitoring platform on the 10th in JIUYUE in 2008, can monitor urban traffic conditions in real time.Real time 3-D image monitoring platform for city traffic signals relates to the management of urban transportation Based Intelligent Control, the detection data of monitor supervision platform take from the road traffic control machine at each crossing, road traffic control machine is to there being respective process database server, installing Netcom of wireless office communication interface on road traffic control machine additional, display terminal and road traffic signal controller constitute monitoring network;Display terminal is built upon the computer system in operating system, stores DETECTION OF TRAFFIC PARAMETERS software protocol bag in system.Road traffic signal controller, by the detector detection traffic parameter on machine, passes to respective process database server by data communications equipment, completes data and process and the establishment of dynamic scene under display programme-control.
In conventional art, demand is known for this real-time image, it is common that solve by arranging fixing camera, but this mode, and cost is high, installation site is dumb, and can not realize all standing for bigger environment.
Utility model content
This utility model provides a kind of low cost, can promote the image information renewal system in the monitoring region paying close attention to place real-time.
The purpose of this utility model is achieved through the following technical solutions:
A kind of image information monitoring region updates system, including image data acquiring subsystem, image letter
Breath updates subsystem, image processing subsystem, memorizer and image and presents subsystem；Image information updates subsystem and includes enumerator and central processing unit；Described image data acquiring subsystem includes acquisition controller and Mobile photographic device；
User's attention rate of described counters count monitoring various places, region point, is sent to central processing unit, and user's attention rate is compared by central processing unit with threshold value；When user's attention rate is more than or equal to threshold value, send acquisition instructions to described acquisition controller, acquisition controller controls Mobile photographic device and gathers image to corresponding location, the image gathered remains to memorizer after being processed by image processing subsystem, and image presents subsystem and carries out display process according to user's request reading respective image from memorizer.
Further, described image presents subsystem and includes that respective image, according to the request of terminal presentation facility, is sent to terminal presentation facility by display server, described display server.
Further, described user's attention rate includes paying close attention to frequency；Described enumerator includes that frequency counter, described frequency counter statistics are paid close attention to frequency, be sent to central processing unit.
Further, described user's attention rate includes paying close attention to number of times summation；Described enumerator includes that accumulator register, described accumulator register statistics are paid close attention to number of times summation, be sent to central processing unit.
Further, described user's attention rate includes the renewal time；Described enumerator includes time counter, the described time counter statistical updating time, is sent to central processing unit.
Further, described central processing unit includes priority processing unit；Priority processing unit distributes the shooting priority in each place to be updated, and shooting order is sent to acquisition controller.
Further, described image information renewal system also includes human-machine interaction subsystem；Described human-machine interaction subsystem controls subsystem, memorizer, image update subsystems couple with described image processing subsystem, image data acquiring respectively；Image update subsystem presents subsystems couple with memorizer and image the most respectively.
Further, described human-machine interaction subsystem includes control station.
Further, described human-machine interaction subsystem includes instructing processing server, and described commander server is for receiving the operational order of client input device.
Further, described Mobile photographic device includes unmanned plane.
Along with the development of technology, the intelligent acquisition of image is possibly realized.Especially with the development of mobile phone technique, the cost of some subminiature electronic devices and components and volume obtain tremendous expansion, also make the Mobile photographic devices such as many rotary aircraft initially enter consumer level market.Such as, many rotary aircraft with four-axle aircraft as representative, its volume and weight is greatly controlled, yarage is the highest, and in conjunction with the flight-line design technology of GPS module and some automatizatioies, have been able to realization and utilize many rotary aircraft (claiming unmanned plane afterwards) to complete the work of some intelligentized image acquisition.But existing image acquisition works, main or to take photo by plane, to monitor, the purpose such as metering.The present utility model people notices that above-mentioned real time imaging knows demand, creative application unmanned plane, and its gatherer process and mode are carried out intelligentized design, thus obtains this utility model scheme.This utility model utilizes the hot zones judging to monitor region based on user's attention rate, for the place that user's attention rate is high, controls Mobile photographic device and goes to shooting, improve the real-time of image.And monitoring most of region in region, user's attention rate is relatively low, and user is the highest to its requirement of real-time, even if maintaining the statusquo, the experience on user affects the least.Therefore, this utility model need not arrange photographic head in monitoring all places, region, a small amount of Mobile photographic device is only needed to go to hot zones to shoot, the real-time that user just can be greatly improved is experienced, solve large-scale image information data and gather real time problems, effectively manage mode and frequency that image information collecting updates, allowed image information data gatherer process closer to real-time data feedback.The technical solution of the utility model has learning functionality, it is possible to present the information that user wants to understand timely, and system seems more intelligent, it is possible to guess the demand of user, and is made that the renewal of view data in advance, and the experience of user is greatly improved.The technical solution of the utility model has that acquisition mode is the most controlled, can support for multiobject working simultaneously, the investigation of image acquisition demand and analyze the advantage that degree intelligent, systemic is high.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that this utility model embodiment one monitors the image information renewal system in region；
Fig. 2 is the schematic diagram that this utility model embodiment two monitors the image information renewal system in region；
Fig. 3 is the schematic diagram of this utility model embodiment three streetscape map updating system.
Wherein: 10, image update subsystem；11, enumerator；111, frequency counter；112, accumulator register；113, time counter；13, priority processing unit；12, central processing unit；121, priority processing unit；20, image data acquiring controls subsystem；21, acquisition controller；22, Mobile photographic device；30, memorizer；40, image processing subsystem；50/73, human-machine interaction subsystem；51, instruction processing server；60, image presents subsystem；61, display server；70, street view image data acquisition control subsystem；71, streetscape map rejuvenation subsystem；711, family clicking rate statistic unit；712, focus streetscape map rejuvenation unit；713, priority allocation unit；72, streetscape map image storage subsystem；73, streetscape map image processing subsystem；75, streetscape map presents subsystem.
Detailed description of the invention
The utility model is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
Embodiment one
As it is shown in figure 1, the image information in present embodiment disclosed monitoring region updates system includes that image data acquiring subsystem 20, image information update subsystem 10, image processing subsystem 40, memorizer 30 and image and present subsystem 60；Image information updates subsystem 10 and includes enumerator 11 and central processing unit 12；Described image data acquiring subsystem 20 includes acquisition controller 21 and Mobile photographic device 22；User's attention rate in each place, described enumerator 11 Statistical monitor region, is sent to central processing unit 12, and user's attention rate is compared by central processing unit 12 with threshold value；When user's attention rate is more than or equal to threshold value, sending acquisition instructions and gather image to corresponding location to described acquisition controller 21, acquisition controller control Mobile photographic device 22, Mobile photographic device is independently positioned by sensor；The image gathered remains to memorizer 30 after being processed by image processing subsystem 40, and image presents subsystem 60 and carries out display process according to user's request reading respective image from memorizer 30.
Along with the development of technology, the intelligent acquisition of image is possibly realized.Especially with the development of mobile phone technique, the cost of some subminiature electronic devices and components and volume obtain tremendous expansion, also make the Mobile photographic devices such as many rotary aircraft initially enter consumer level market.Such as, many rotary aircraft with four-axle aircraft as representative, its volume and weight is greatly controlled, yarage is the highest, and in conjunction with the flight-line design technology of GPS module and some automatizatioies, have been able to realization and utilize many rotary aircraft (claiming unmanned plane afterwards) to complete the work of some intelligentized image acquisition.But existing image acquisition works, main or to take photo by plane, to monitor, the purpose such as metering.The present utility model people notices that above-mentioned real time imaging knows demand, creative application unmanned plane, and its gatherer process and mode are carried out intelligentized design, thus obtains this utility model scheme.This utility model utilizes the hot zones judging to monitor region based on user's attention rate, for the place that user's attention rate is high, controls Mobile photographic device and goes to shooting, improve the real-time of image.And monitoring most of region in region, user's attention rate is relatively low, and user is the highest to its requirement of real-time, even if maintaining the statusquo, the experience on user affects the least.Therefore, this utility model need not arrange photographic head in monitoring all places, region, a small amount of Mobile photographic device is only needed to go to hot zones to shoot, the real-time that user just can be greatly improved is experienced, solve large-scale image information data and gather real time problems, effectively manage mode and frequency that image information collecting updates, allowed image information data gatherer process closer to real-time data feedback.The technical solution of the utility model has learning functionality, it is possible to present the information that user wants to understand timely, and system seems more intelligent, it is possible to guess the demand of user, and is made that the renewal of view data in advance, and the experience of user is greatly improved.The technical solution of the utility model has that acquisition mode is the most controlled, can support for multiobject working simultaneously, the investigation of image acquisition demand and analyze the advantage that degree intelligent, systemic is high.
Embodiment two
As in figure 2 it is shown, image information disclosed in present embodiment updates system includes that image update subsystem 10, image data acquiring control subsystem 20 and memorizer 30.Image information updates system and also includes that image processing subsystem 40, human-machine interaction subsystem 50 and image present subsystem 60；Image processing subsystem 40 and image data acquiring control subsystem 20 and couple with human-machine interaction subsystem 50 respectively, image processing subsystem 40 receives image data acquiring and controls the view data of subsystem 20, after processing, storage is to memorizer 30, and memorizer 30 instructs according to the input of human-machine interaction subsystem 50 and image information is sent to image presents subsystem 60 and show；User's attention rate data of image update subsystem 10 statistics store memorizer 30, and instruct according to the input of human-machine interaction subsystem 50 and be sent to image and present subsystem 60 and show.
Human-machine interaction subsystem 50 can use instruction processing server 51, and commander server is for receiving the operational order of client input device, such as computer, mobile phone, flat board etc..For the monitoring of zonule, such as application scenarios such as pasture monitoring, human-machine interaction subsystem is also without commander server, directly with control station.
Image presents subsystem 60 and display server, described display server can be used according to the request of terminal presentation facility, respective image to be sent to terminal presentation facility.For the monitoring of zonule, such as application scenarios such as pasture monitoring, image presents subsystem without server, directly with display screen.
In present embodiment, family attention rate includes paying close attention to frequency, paying close attention to number of times summation and renewal time, and accordingly, enumerator includes frequency counter 111, accumulator register 112 and time counter 113.Frequency counter statistics pays close attention to frequency, and described accumulator register statistics pays close attention to number of times summation, time counter statistical updating time.Statistical result is the most all sent to central processing unit 12.
Central processing unit 12 includes priority processing unit 121；Priority processing unit 121 distributes the shooting priority in each place to be updated, and shooting order is sent to acquisition controller 21.When the place exceeding threshold value has multiple, by priority processing unit distribution shooting order.
The employing various counting device of present embodiment carrys out counting user attention rate；, user's attention rate is split into concern frequency, pays close attention to the parameter such as number of times summation and renewal time, monitor with different hardware cells, judge respectively.Accordingly, threshold value is divided into the first threshold value, the second threshold value and the 3rd threshold value.The logic of image update can include following several situation:
If concern frequency is more than the first threshold value, distribute the priority in place to be updated, issue image acquisition task, control unmanned plane during flying and gather view data to appointed place；The view data of collection is stored in data base, updates the image data acquiring time in corresponding place；
If paying close attention to frequency to be less than the first threshold value, and when paying close attention to number of times summation less than the second threshold value, stop the image update task in corresponding place；
If pay close attention to frequency less than the first threshold value, pay close attention to number of times summation more than the second threshold value, and the renewal time more than three threshold values time, control unmanned plane during flying gather view data to appointed place；The view data of collection is stored in data base, updates the image data acquiring time in corresponding place；
If paying close attention to frequency less than the first threshold value, concern number of times summation more than the second threshold value, but when the time of renewal is less than three threshold values, stop the image update task in corresponding place；
Unmanned plane preferentially performs the image update task paying close attention to frequency more than the place of the first threshold value.
Certainly, the attention rate of this practicality can be to pay close attention to frequency, concern number of times summation and arbitrary one or two in the renewal time to be combined, and the priority of each parameter can be adjusted flexibly according to actual application scenarios.
Embodiment three
The present embodiment is as a example by streetscape map rejuvenation, and " image " that produce inventive concept of the present utility model, i.e. present embodiment further refers in particular to streetscape, streetscape map, streetscape video recording etc..
As it is shown on figure 3, the open a kind of streetscape map updating system of present embodiment, it includes street view image data acquisition control subsystem 70, streetscape map rejuvenation subsystem 71 and streetscape map image storage subsystem 72.Streetscape map information updating system also includes that streetscape map image processing subsystem 73, human-machine interaction subsystem 74 and streetscape map present subsystem 75；Streetscape map image processing subsystem 73 and streetscape data acquisition control subsystem 70 couple with human-machine interaction subsystem 74 respectively, streetscape map image processing subsystem 73 receives image data acquiring and controls the streetscape map datum of subsystem 70, after processing, storage is to streetscape map image storage subsystem 72, and streetscape map image storage subsystem 72 instructs according to the input of human-machine interaction subsystem and streetscape cartographic information is sent to streetscape map presents subsystem 75 and show；User's attention rate data of streetscape map rejuvenation subsystem statistics store streetscape map image storage subsystem 72, and instruct according to the input of human-machine interaction subsystem and be sent to streetscape map and present subsystem and show.
Streetscape map rejuvenation subsystem, image data acquiring control subsystem and streetscape map image processing subsystem is respectively adopted different servers, and image data acquiring controls subsystem and is provided with the wireless signal transmitting device coupled with Mobile photographic device signal.Certainly, if data processing amount is less, streetscape map rejuvenation subsystem, street view image data acquisition control subsystem and the function of streetscape map data collecting image processing subsystem can also be realized by distributing different hardware capability regions in a station server.
Human-machine interaction subsystem 73 can use instruction processing server, and commander server is for receiving the operational order of client input device, such as computer, mobile phone, flat board etc..For the monitoring of zonule, such as application scenarios such as pasture monitoring, human-machine interaction subsystem is also without commander server, directly with control station.
Streetscape map presents subsystem 75 and display server, described display server can be used according to the request of terminal presentation facility, respective image to be sent to terminal presentation facility.For the monitoring of zonule, such as application scenarios such as pasture monitoring, image presents subsystem without server, directly with display screen.
Streetscape map rejuvenation subsystem includes user's clicking rate statistic unit 711 of the user's attention rate for Nei Ge place, Statistical monitor region, couple with family clicking rate statistic unit 711, for judging whether user's attention rate exceedes the focus streetscape map rejuvenation unit 712 of threshold value, and couple with focus streetscape map rejuvenation unit 712 device, for distributing the priority allocation unit 713 of the shooting priority in each place to be updated.Priority allocation unit 713 can distribute shooting order when the attention rate in multiple places is above threshold value.
This utility model implement process for streetscape map rejuvenation be described in detail below:
Streetscape map rejuvenation subsystem pays close attention to frequency for pre-setting the user of some particular location in region, carrys out the image acquisition task that real-time release is up-to-date.Such as, the upper secondary data paying close attention to frequency and/or this particular location according to user updates the time, judges whether the present position streetscape map datum that upgrades in time.
Such as: system supports user click location on electronic chart provides the streetscape map datum of this position, simultaneity factor is also adding up different user and/or the same user situation for total number of clicks of certain particular location, when such as reaching more than 1000 times within the unit interval, it is considered as creating an obvious image acquisition demand for this particular location, again or system gather simultaneously this particular location upper secondary data update the time, when finding that upper secondary data updates the time according to the situation alreading more than now 3 days, then it is judged as improving the demand levels implementing image acquisition action for this particular location further；
For another example: use mode similar to the above, system can also be added up different user and/or same user and be called demand for the streetscape map of certain particular location, clicking rate per minute, when reaching more than 30 times in the unit interval, starts the view data for this particular location in time and upgrades demand.The demand of map rejuvenation is divided into 4 grades the most from high to low, and the demand of priority 1 can process, by that analogy by override；Same priority level, the time arrived as desired, sequential processing.
For practical situation, this situation, it could mean that in this electronic chart particular locations, some concerned events will occur, is therefore excited substantial amounts of user and pays close attention to this event, and attempt to be will appreciate that by streetscape map system the up-to-date situation of this event.If streetscape map system is capable of a certain degree of upgrading in time, and provides suitable information, then preeminent Consumer's Experience will be obtained.
Specifically, such as 5 o'clock of user comes off duty, recognized by Internet news in 4 thirty, there is big traffic congestion in somewhere, user thinks to understand the degree blocked up greatly at this in real time, therefore clicks on streetscape at this by streetscape map, finds that this streetscape information is to update before 4 hours, display wagon flow is unobstructed, can not reflect present case.
But owing to other users of similar demand are more, system start-up automatically updates mechanism, therefore when this user has again tapped at this unblocking vehicle situation after half an hour, the traffic information just gathered when can see system 5.For this user, what system showed has learning functionality, it is possible to present the information that user wants to understand timely.
For other users, although certain user is to click on this position display streetscape information for the first time at 5 o'clock, but this information has been up-to-date.For these users, they are experienced as, and system seems more intelligent, it is possible to guesses the demand of user, and is made that the renewal of view data in advance.
For giving one example again, such as spread on network message, there is focus incident in certain public arena, similar recreation floor, now, the geographical location information in this place paid close attention to by possible a large amount of vermicellis, scheme according to the present embodiment, map system can feed back the streetscape map in this geographical position rapidly, major part vermicelli is allowed all to feel, the feedback completing real-time street view image data for large quantities of clients of system intelligent, thus give the cartographic information service experience that user expects beyond it.
Additionally, the data acquisition for certain particular location is not limited to streetscape synthesising picture, also include realtime video transmission data, it addition, the frequency range of image acquisition, the time span of real-time video transmission, all can dynamically set.
Although the present embodiment is the explanation carried out as a example by the data of streetscape map update, but this utility model can essentially applied for like the system of existence continuous print image data acquiring on a large scale or process, include but not limited to that power-line patrolling, pasture patrol, security protection patrol, site of activity are found a view shooting etc..
Such as utilize unmanned plane image acquisition mode to for realizing the system of pasture patrol, be equally utilize unmanned plane to carry out image acquisition passback, and for system user reference.One skilled system operator for the Frequent Accidents area in pasture by micro-judgment, therefore, usual individual system manager, or multiple system operators, in the case of possible, Multiple through then out system can call some region being concerned about, carry out security monitoring.When system detects the frequency of the image acquisition in some region apparently higher than other regions, system also can automatically raise the picture-taken frequency to this region, so the image of whole system can be allowed to present effect more intelligent.
Above content is to combine concrete preferred implementation further detailed description of the utility model, it is impossible to assert that of the present utility model being embodied as is confined to these explanations.For this utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection domain of the present utility model.
Claims (10)
1. the image information monitoring region updates system, it is characterised in that include that image data acquiring subsystem, image information update subsystem, image processing subsystem, memorizer and image and present subsystem；Image information updates subsystem and includes enumerator and central processing unit；Described image data acquiring subsystem includes acquisition controller and Mobile photographic device；
User's attention rate of described counters count monitoring various places, region point, is sent to central processing unit, and user's attention rate is compared by central processing unit with threshold value；When user's attention rate is more than or equal to threshold value, sending acquisition instructions and gather image to corresponding location to described acquisition controller, acquisition controller control Mobile photographic device, Mobile photographic device is independently positioned by sensor；The image gathered remains to memorizer after being processed by image processing subsystem, and image presents subsystem and carries out display process according to user's request reading respective image from memorizer.
2. the image information in monitoring region as claimed in claim 1 updates system, it is characterised in that described image presents subsystem and includes that respective image, according to the request of terminal presentation facility, is sent to terminal presentation facility by display server, described display server.
3. the image information in monitoring region as claimed in claim 1 updates system, it is characterised in that described user's attention rate includes paying close attention to frequency；Described enumerator includes that frequency counter, described frequency counter statistics are paid close attention to frequency, be sent to central processing unit.
4. the image information in monitoring region as claimed in claim 1 updates system, it is characterised in that described user's attention rate includes paying close attention to number of times summation；Described enumerator includes that accumulator register, described accumulator register statistics are paid close attention to number of times summation, be sent to central processing unit.
5. the image information in monitoring region as claimed in claim 1 updates system, it is characterised in that described user's attention rate includes the renewal time；Described enumerator includes time counter, the described time counter statistical updating time, is sent to central processing unit.
6. the image information in monitoring region as claimed in claim 1 updates system, it is characterised in that described central processing unit includes priority processing unit；Priority processing unit distributes the shooting priority in each place to be updated, and shooting order is sent to acquisition controller.
7. the image information in the monitoring region as described in claim 1-6 is arbitrary updates system, it is characterised in that described image information updates system and also includes human-machine interaction subsystem；Described human-machine interaction subsystem controls subsystem, memorizer, image update subsystems couple with described image processing subsystem, image data acquiring respectively；Image update subsystem presents subsystems couple with memorizer and image the most respectively.
8. the image information in monitoring region as claimed in claim 7 updates system, it is characterised in that described human-machine interaction subsystem includes control station.
9. the image information in monitoring region as claimed in claim 7 updates system, it is characterised in that described human-machine interaction subsystem includes instructing processing server, and described commander server is for receiving the operational order of terminal presentation facility.
10. the image information in monitoring region as claimed in claim 1 updates system, it is characterised in that described Mobile photographic device includes unmanned plane.
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| CN201520540946.7U CN205430459U (en) | 2015-07-23 | 2015-07-23 | Regional image information of control updates system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109073399A (en) * | 2018-07-20 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | Map updating method, device, terminal and computer readable storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109073399A (en) * | 2018-07-20 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | Map updating method, device, terminal and computer readable storage medium |
| WO2020014940A1 (en) * | 2018-07-20 | 2020-01-23 | 深圳前海达闼云端智能科技有限公司 | Method and device for updating map, terminal, and computer readable storage medium |
| CN109073399B (en) * | 2018-07-20 | 2020-07-03 | 深圳前海达闼云端智能科技有限公司 | Map updating method, device, terminal and computer readable storage medium |
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