CN108270817A - High in the clouds map map updating method and system - Google Patents
High in the clouds map map updating method and system Download PDFInfo
- Publication number
- CN108270817A CN108270817A CN201611263663.8A CN201611263663A CN108270817A CN 108270817 A CN108270817 A CN 108270817A CN 201611263663 A CN201611263663 A CN 201611263663A CN 108270817 A CN108270817 A CN 108270817A
- Authority
- CN
- China
- Prior art keywords
- current location
- cloud
- point information
- information
- cloud point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Navigation (AREA)
Abstract
The embodiment of the present invention provides a kind of high in the clouds map map updating method and system, belongs to computer realm.The high in the clouds map updating method includes：Obtain the current location of the movable equipment；The cloud point information of the current location is obtained via the capture device in the movable equipment；And send the current location and the cloud point information of the current location.Through the above technical solutions, it may be such that the cartographic information that cloud server is stored obtains faster and more fully updating.
Description
Technical field
The present invention relates to computer realms, and in particular, to a kind of high in the clouds map map updating method and system.
Background technology
With the continuous development of automatic Pilot technology, more and more automatic Pilot services initially enter people’s lives
Circle.Unmanned vehicle positioning is one of key technology of automatic Pilot, and accurate positioning is for unpiloted environment sensing and path
The tasks such as planning are most important.But in urban environment, the GPS signal blocked is carried for the localization method based on global satellite
New challenge is gone out.In addition researcher proposes to carry out pose estimation using the method for laser odometer or visual odometry
Method, but complicated traffic environment, numerous dynamic/static-obstacle things cause the stability of this kind of method to drop significantly
It is low.The it is proposed of high-precision map proposes new strategy for the positioning method of unmanned vehicle in urban environment, passes through partial points cloud
(being obtained by unmanned vehicle laser) and high-precision map carry out real-time matching and realize high-precision positioning result, according to the skill of Google
Art is reported, can reach a centimetre rank using the precision of this localization method.On the one hand using for high-precision map can cause
Unmanned vehicle system breaks away from the dependence to high-resolution laser equipment, on the other hand can also obtain and stablize effective positioning, environment
The result of perception.
Present inventor has found in the implementation of the present invention, high-precision map there are one fatal problem be exactly map without
Method carries out the costly of online updating.The acquisition of high-precision map is typically to be driven by someone of outfit high-resolution laser equipment
Vehicle is sailed, by gathered data and takes huge offline fusion acquisition.And real-life environmental information is often with ring
Border, the change in season and constantly change, and this update can not carry out on map in real time.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of high in the clouds map updating method and system, can be directed to above-mentioned background skill
One or more problems mentioned in art provide solution, realize high in the clouds map rejuvenation.
To achieve these goals, one embodiment of the invention provides a kind of high in the clouds map rejuvenation performed by movable equipment
Method, this method include：Obtain the current location of the movable equipment；It is obtained via the capture device in the movable equipment
Take the cloud point information of the current location；And send the current location and the cloud point information of the current location.
Optionally, this method includes：The local map point cloud sent for the current location is asked；It receives in response to institute
State the local map point cloud information of local map point cloud request；And by the local map point cloud information and the capture device institute
The cloud point information for obtaining the current location is compared, and sends the current location and the current location according to comparison result
Cloud point information.
Optionally, in the cloud point information of the current location acquired in the local map point cloud information and the capture device
Difference be more than a threshold value in the case of, send the current location and the cloud point information of the current location.
Optionally, the cloud point information of the current location and the current location is sent out via GPRS network or Wifi networks
It send.
Correspondingly, one embodiment of the invention provides a kind of high in the clouds map updating method performed by cloud server, the party
Method includes：Receive the current location of movable equipment and the cloud point information of the current location；And according to the current location and
The cloud point information of the current location, to the local map cloud point information for the current location stored in the cloud server
It is updated.
Optionally, this method includes：The part corresponding to the current location that the cloud server is locally stored
The cloud point information of the current location of the point map cloud information with being received is compared, and is more than a threshold value in the difference of the two
In the case of, according to the cloud point information of the current location and the current location to being stored in the cloud server for this
The local map cloud point information of current location is updated.
Correspondingly, one embodiment of the invention provides a kind of movable equipment, which includes：Position acquisition list
Member obtains the current location of the movable equipment；Cloud point information acquisition unit is set via the capture in the movable equipment
The standby cloud point information for obtaining the current location；And transmitting element, send the current location and the cloud point of the current location
Information.
Optionally, which further includes：Request transmitting unit, the local map point cloud sent for the current location are asked
It asks；Receiving unit receives the local map point cloud information asked in response to the local map point cloud；And compare transmission list
The local map point cloud information and the cloud point information of the current location acquired in the capture device are compared by member, and
The current location and the cloud point information of the current location are sent according to comparison result.
Optionally, the relatively transmitting element is worked as described acquired in the local map point cloud information and the capture device
In the case that the difference of the cloud point information of front position is more than a threshold value, the current location and the cloud point letter of the current location are sent
Breath.
Optionally, the cloud point information of the current location and the current location is sent out via GPRS network or Wifi networks
It send.
Correspondingly, one embodiment of the invention provides a kind of cloud server, which includes：Receiving unit, for connecing
Receive the current location of movable equipment and the cloud point information of the current location；And updating unit, for according to the present bit
It puts and the cloud point information of the current location, to the local map cloud point for the current location stored in the cloud server
Information is updated.
Optionally, which further includes：Comparing unit, for the correspondence that the cloud server is locally stored
Cloud point information in the current location of the local map point cloud information with being received of the current location is compared；It is described
Updating unit is used to, in the case where the difference of the two is more than a threshold value, according to the cloud point of the current location and the current location be believed
Breath is updated the local map cloud point information for the current location stored in the cloud server.
Correspondingly, one embodiment of the invention provides a kind of high in the clouds map map updating system, which includes：It is above-mentioned removable
Dynamic equipment；And above-mentioned cloud server.
Through the above technical solutions, it may be such that all vehicles that can be communicated with cloud server in road can be used as cloud
The acquisition source of cartographic information is held, the cloud point information for a certain position that can be captured is sent to cloud server, high in the clouds clothes
What business device can utilize the cloud point information of the position from vehicle received to update that it is stored corresponds to the position
Cloud point information, so as to fulfill high in the clouds map rejuvenation.Thereby, without being indicated using special data acquisition equipment in map
Each roadside on cruise to carry out cartographic information acquisition, updated offline using the map datum acquired later.
Compared to the scheme of the prior art, the high in the clouds map updating system that this embodiment of the invention is provided may be such that cloud server institute
The cartographic information of storage obtains faster and more fully updating.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is the structure diagram of high in the clouds map updating system that one embodiment of the invention provides；
Fig. 2 is the flow chart of the high in the clouds map updating method performed by the movable equipment that one embodiment of the invention provides；
Fig. 3 is the flow chart of the high in the clouds map updating method performed by the cloud server that one embodiment of the invention provides；
Fig. 4 is the flow chart of the high in the clouds map updating method performed by the mobile equipment that another embodiment of the present invention provides；
Fig. 5 is the flow of the high in the clouds map updating method performed by the cloud server that another embodiment of the present invention provides
Figure；
Fig. 6 is the structure diagram of movable equipment that one embodiment of the invention provides；
Fig. 7 is the structure diagram of cloud server that one embodiment of the invention provides；
Fig. 8 is the structure diagram of movable equipment that another embodiment of the present invention provides；
Fig. 9 is the structure diagram of cloud server that another embodiment of the present invention provides；And
Figure 10 is that the hardware configuration of the electronic equipment for the execution high in the clouds map updating method that one embodiment of the invention provides shows
It is intended to.
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
Fig. 1 is the structure diagram of high in the clouds map updating system that one embodiment of the invention provides.As shown in Figure 1, the cloud
End, which provides more new system, may include movable equipment 100A-100C and cloud server 200, movable equipment 100A-100C
Can be vehicle, 200 memory of cloud server contains high in the clouds map, and each vehicle can ask high in the clouds to the cloud server 200
Map, and then navigated according to the high in the clouds map or other operations, such as watch current traffic information (for example, which road
In traffic congestion, which road is unimpeded etc.).The movable equipment 100A-100C can be via various communications with cloud server 200
Network communicates, such as IEEE 802.16 (i.e. worldwide interoperability for microwave accesses (WiMAX)), CDMA2000, CDMA2000 1x,
It is CDMA2000EV-DO, Interim Standard 2000 (IS-2000), Interim Standard 95 (IS-95), Interim Standard 856 (IS-856), complete
Ball mobile communication system (GSM), enhanced data rates for gsm evolution (EDGE), GSM EDGE (GERAN) etc..
Each of wherein described movable equipment 100A-100C can obtain the current location of its own, such as it is worked as
Front position coordinate, and the current location and the request of local map corresponding with current location point cloud are sent to the high in the clouds
Server 200, the cloud server 200 may be in response to local map point cloud request, obtained out of its storage high in the clouds map
Local map point cloud corresponding with the current location, and the cloud is sent back into the movable equipment 100A-100C, with
Just movable equipment 100A-100C is navigated using the local map point cloud.
Fig. 2 is the flow chart of the high in the clouds map updating method performed by the movable equipment that one embodiment of the invention provides.
As shown in Fig. 2, the high in the clouds map updating method performed by the movable equipment includes：
Step S210 obtains the current location of the movable equipment.
The current location of the movable equipment can be the latitude and longitude information of the movable equipment, also can be to characterize it a certain
The other positions information of position in reference frame.GPS positioning system can be equipped in the movable equipment, this can be obtained
The GPS information of movable equipment using as current location, certainly other can position positioning method be also feasible, this is removable to set
It is standby also location information to be received and/or based on being received from two or more adjacent base stations from base station by air interface
The timing of signal determines its position.It is to be appreciated that while consistent with embodiment, which can lead to
Any suitable location determining method is crossed to obtain location information.
Step S220 obtains the cloud point information of the current location via the capture device in the movable equipment.
The capture device can be that camera, high-resolution laser equipment, infrared video camera etc. can perceive setting for ambient enviroment
Standby, the movable equipment can perceive the environmental information of its present position of acquisition, such as which orientation by the capture device
There are barrier, there are which kind of barrier etc., and as the point cloud information of current location.
Step S230 sends the current location and the cloud point information of the current location.
It is current that movable equipment can transmit this via above-mentioned its cited communication network between cloud server
Position and the capture device cloud point information that position is perceived in this prior.
The operation of above-mentioned related high in the clouds map rejuvenation performed by for movable equipment side, Fig. 3 are implemented for the present invention one
The flow chart of the high in the clouds map updating method performed by cloud server that example provides, comes cloud server side below in conjunction with Fig. 3
Performed operation is introduced.As shown in figure 3, the high in the clouds map updating method performed by cloud server includes following step
Suddenly：
Step S310 receives the current location of movable equipment and the cloud point information of the current location.
The cloud server can receive described via above-mentioned its cited communication network between movable equipment
The capture device of the current location of movable equipment and the movable equipment cloud point information that position is perceived in this prior.
Step S320, according to the cloud point information of the current location and the current location, to being deposited in the cloud server
The local map cloud point information for the current location of storage is updated.
Cloud server directly can cover what it was stored using the cloud point information of the current location and the current location
For the local map cloud point information of the current location, certainly, other update modes are also possible, such as it can be based on
Generalized-ICP methods are updated.
By the high in the clouds map updating system provided by this embodiment of the invention, may be such that it is all on roadside can be with cloud
The vehicle that end server communicates can be as the acquisition source of high in the clouds cartographic information, the cloud of a certain position that can be captured
Point information is sent to cloud server, which can utilize the cloud point information of the position from vehicle received
The cloud point information corresponding to the position that it is stored is updated, so as to fulfill high in the clouds map rejuvenation.Thereby, without using specially
The data acquisition equipment of door cruises to carry out cartographic information acquisition on each roadside for being indicated in map, utilizes later
The map datum acquired is updated offline.Compared to the scheme of the prior art, high in the clouds that this embodiment of the invention is provided
Map updating system may be such that the cartographic information that cloud server is stored obtains faster and more fully updating.
Fig. 4 is the flow chart of the high in the clouds map updating method performed by the mobile equipment that another embodiment of the present invention provides.
As shown in figure 4, the high in the clouds map updating method performed by the mobile equipment that the embodiment provides includes：
Step S410 obtains the current location of the movable equipment.
Step S420 obtains the cloud point information of the current location via the capture device in the movable equipment.
Step S430, the local map point cloud sent for the current location are asked.
Movable equipment can ask this cloud via above-mentioned its cited communication network between cloud server
It asks and is sent to cloud server.
Step S440 receives the local map point cloud information asked in response to the local map point cloud.
Cloud server is after the local map point cloud request for the current location is received, in response to this
It asks and returns to local map point cloud information.Movable equipment can receive the local map point cloud that the cloud server is returned
Information.
Step S450 believes the cloud point of the current location acquired in the local map point cloud information and the capture device
Breath is compared, and sends the current location and the cloud point information of the current location according to comparison result.
For example, movable equipment can be in the current location acquired in the local map point cloud information and the capture device
Cloud point information difference be more than a threshold value in the case of, send the current location and the cloud point information of the current location so that
Obtaining cloud server can be according to the cloud point information of the current location and the current location to being stored in the cloud server
The local map cloud point information for the current location be updated.The local map point cloud information and the capture device institute
The difference and corresponding threshold value for obtaining the cloud point information of the current location can be according to a storage organizations for cloud information.With by tree-like
For storage organization stores cloud information, there are the Storage Structure of Tree of eight child nodes, i.e. Octree for father node
Storage organization, the spatial dimension of default size correspond to the root node of Octree, which are divided into eight
Level-1 area, each level-1 area correspond to the level-one child node of root node；Further, each level-1 area is further partitioned into
Eight level-2 areas, each level-2 area correspond to the child node of the level-one child node corresponding to the level-1 area, i.e. two level section
The spatial dimension that this is preset size by the above method by point ... divides layer by layer, and each space is divided to the environmental information in region
In the node for storing corresponding Octree storage organization.It is described acquired in the local map point cloud information and the capture device
The difference of the cloud point information of current location can be for corresponding to the rwo the in this prior spatial dimension of the predefined size at position
The a certain level of Octree child node in how many child node be different, such as have 5 in the child node of the two bottom
In the case of a child node is mutually different, then it is assumed that local map point cloud information and the present bit acquired in the capture device
The difference of cloud point information put has exceeded corresponding threshold value.Certainly, the present invention is not limited thereto, other can characterize the local map point
The scalar of difference degree between the cloud point information of the current location acquired in cloud information and the capture device is also feasible
's.
Step S460 sends the current location and the cloud point information of the current location.It can
Movable equipment can will be described current via above-mentioned its cited communication network between cloud server
The cloud point information of position and the current location is sent to cloud server.Cloud server receives the current location and this is current
It, can be according to the cloud point information of the current location and the current location, in the cloud server after the cloud point information of position
The local map cloud point information for the current location stored is updated.
By the high in the clouds map updating system provided by this embodiment of the invention, can incited somebody to action currently by movable equipment
The cloud point information of position and the current location is sent to cloud server and is taken with updating the high in the clouds using it by the cloud server
After the local map cloud point information for the current location stored in business device, movable equipment is first to the current location
The local map cloud point information for the current location stored in cloud point information and cloud server is compared, in the two
In the case that difference is little, the cloud point information of current location and the current location can not be sent to cloud server；Only exist
In the case that the two differs greatly, just now by the cloud point information of current location and the current location be sent to cloud server with into
Row update operation.Thereby, some unnecessary updates can be reduced, reduce the operation carried out in cloud server.
Fig. 5 is the flow of the high in the clouds map updating method performed by the cloud server that another embodiment of the present invention provides
Figure.As shown in figure 5, the high in the clouds map updating method performed by the cloud server that the embodiment provides includes：
Step S510 receives the current location of movable equipment and the cloud point information of the current location.
Step S520 believes the local map point cloud corresponding to the current location that the cloud server is locally stored
The cloud point information for ceasing the current location with being received is compared, and in the case where the difference of the two is less than a threshold value, is performed
Otherwise step S510 performs step S530.
Step S530, according to the cloud point information of the current location and the current location to being deposited in the cloud server
The local map cloud point information for the current location of storage is updated.
Difference between the embodiment and embodiment illustrated in fig. 4 shown in fig. 5 is, the cloud server is locally deposited
Storage corresponding between the local map point cloud information of the current location and the cloud point information of the current location received
The executive agent for being compared this operation is different, and in the embodiment shown in fig. 4, the executive agent of the operation is set to be removable
It is standby, and in the embodiment shown in fig. 5, the execution theme of the operation is cloud server itself.Related local map point cloud letter
The difference of cloud point information of the current location and the detail of corresponding threshold value are seen acquired in breath and the capture device
The above-mentioned description for embodiment illustrated in fig. 4 is repeated no more in this.
Fig. 6 is the structure diagram of movable equipment that one embodiment of the invention provides.As described in Figure 6, the present invention one is real
It applies example and a kind of movable equipment is provided, which includes：
Position acquisition unit 110 obtains the current location of the movable equipment；
Cloud point information acquisition unit 120 obtains the current location via the capture device in the movable equipment
Cloud point information；And
Transmitting element 130 sends the current location and the cloud point information of the current location.
Fig. 7 is the structure diagram of cloud server that one embodiment of the invention provides.As described in Figure 7, the present invention one is real
It applies example and a kind of cloud server is provided, which includes：
Receiving unit 210, for receiving the cloud point information of the current location of movable equipment and the current location；And
Updating unit 220, for the cloud point information according to the current location and the current location, to the cloud server
Interior the stored local map cloud point information for the current location is updated.
Fig. 8 is the structure diagram of movable equipment that another embodiment of the present invention provides.As described in Figure 8, the present invention is another
One embodiment provides a kind of movable equipment, which includes：
Position acquisition unit 110 obtains the current location of the movable equipment；
Cloud point information acquisition unit 120 obtains the current location via the capture device in the movable equipment
Cloud point information；
Request transmitting unit 130, the local map point cloud sent for the current location are asked；
Receiving unit 140 receives the local map point cloud information asked in response to the local map point cloud；And
Compare transmitting element 150, by the current location acquired in the local map point cloud information and the capture device
Cloud point information be compared, and the cloud point information of the current location and the current location is sent according to comparison result.Wherein,
The relatively transmitting element 150 can be in the cloud of the current location acquired in the local map point cloud information and the capture device
In the case that the difference of point information is more than a threshold value, the current location and the cloud point information of the current location are sent.It is described current
The cloud point information of position and the current location is sent via GPRS network or Wifi networks.
Fig. 9 is the structure diagram of cloud server that one embodiment of the invention provides.As described in Figure 9, the present invention one is real
It applies example and a kind of cloud server is provided, which includes：
Receiving unit 210, for receiving the cloud point information of the current location of movable equipment and the current location；And
Comparing unit 230 corresponds to the current location partly for what the cloud server was locally stored
The cloud point information of the current location of the figure point cloud information with being received is compared；
Updating unit 220, in the case of being more than a threshold value in the difference of the two, according to the current location and this is current
The cloud point information of position carries out the local map cloud point information for the current location stored in the cloud server
Update.
Figure 10 is the hardware configuration signal of the electronic equipment provided in an embodiment of the present invention for performing high in the clouds map updating method
Figure, as shown in Figure 10, the equipment include one or more processors 1010 and memory 1020, with a processor in Figure 10
For 1010.
Performing the electronic equipment of high in the clouds map updating method can also include：Input unit 1030 and output device 1040.
Processor 1010, memory 1020, input unit 1030 and output device 1040 can by bus or other
Mode connects, in Figure 10 for being connected by bus.
Processor 1010 can be central processing unit (Central Processing Unit, CPU).Processor 1010 is also
Can be other general processors, digital signal processor (Digital Signal Processor, DSP), special integrated electricity
Road (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.General processor can be microprocessor or the processing
Device can also be any conventional processor etc..
Memory 1020 be used as a kind of non-transient computer readable storage medium storing program for executing, available for store non-transient software program,
Non-transient computer executable program and module, such as the environment sensing modeling method of the movable equipment in the embodiment of the present application
Corresponding program instruction/module is (for example, position acquisition unit 110, cloud point information acquisition unit shown in attached drawing 6,7,8 and 9
120th, transmitting element 130,130 receiving unit 140 of request transmitting unit, to compare transmitting element 150, receiving unit 210, update single
Member 220, comparing unit 230).Processor 1010 is by running the non-transient software program being stored in memory 1020, instruction
And module, various function application and data processing so as to execute server, that is, realize that above method embodiment moves
The environment sensing modeling method of equipment.
Memory 1020 can include storing program area and storage data field, wherein, storing program area can store operation system
System, the required application program of at least one function；Storage data field can be stored to be modeled according to the environment sensing of movable equipment
Device uses created data etc..In addition, memory 1020 can include high-speed random access memory, can also include
Non-transient memory, for example, at least a disk memory, flush memory device or other non-transient solid-state memories.One
In a little embodiments, memory 1020 is optional including relative to the remotely located memory of processor 1010, these remote memories
The environment sensing model building device of network connection to movable equipment can be passed through.The example of above-mentioned network includes but not limited to interconnect
Net, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 1030 can receive the number of input or character information and generate and the environment sensing of movable equipment
The key signals that the user setting and function control of model building device are related input.Output device 1040 may include the displays such as display screen
Equipment.
One or more of modules are stored in the memory 1020, when by one or more of processors
During 1010 execution, method as shown in Figure 2-5 is performed.
The said goods can perform the method that the embodiment of the present invention is provided, and has the corresponding function module of execution method and has
Beneficial effect, the technical detail of detailed description in the present embodiment, not for details, reference can be made to the correlation in embodiment as shown in Figure 2-5
Description.
The embodiment of the present invention additionally provides a kind of non-transient computer storage medium, and the computer storage media is stored with
Computer executable instructions, the computer executable instructions can perform the ring of the movable equipment in above-mentioned any means embodiment
Border Sensing model method.Wherein, the storage medium can be magnetic disc, CD, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (Flash
Memory), hard disk (Hard Disk Drive, abbreviation：) or solid state disk (Solid-State Drive, SSD) etc. HDD；Institute
The combination of memory of mentioned kind can also be included by stating storage medium.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of flow in above-described embodiment method
It crosses computer program and is completed to instruct relevant hardware, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (ROM) or random access memory (RAM) etc..
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case of various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (10)
1. a kind of high in the clouds map updating method performed by movable equipment, which is characterized in that this method includes：
Obtain the current location of the movable equipment；
The cloud point information of the current location is obtained via the capture device in the movable equipment；And
Send the current location and the cloud point information of the current location.
2. high in the clouds map updating method according to claim 1, which is characterized in that this method includes：
The local map point cloud sent for the current location is asked；
Receive the local map point cloud information asked in response to the local map point cloud；And
The local map point cloud information and the cloud point information of the current location acquired in the capture device are compared, and
The current location and the cloud point information of the current location are sent according to comparison result.
3. high in the clouds map updating method according to claim 1, which is characterized in that in the local map point cloud information and institute
The difference of the cloud point information of the current location acquired in capture device is stated more than in the case of a threshold value, sends the current location
And the cloud point information of the current location.
4. high in the clouds map updating method according to claim 1, which is characterized in that the current location and the current location
Cloud point information sent via GPRS network or Wifi networks.
5. a kind of high in the clouds map updating method performed by cloud server, which is characterized in that this method includes：
Receive the current location of movable equipment and the cloud point information of the current location；And
It is current for this to being stored in the cloud server according to the cloud point information of the current location and the current location
The local map cloud point information of position is updated.
6. high in the clouds map updating method according to claim 5, which is characterized in that this method includes：
It local map point cloud information corresponding to the current location that the cloud server is locally stored and is received
The cloud point information of the current location is compared, and in the case where the difference of the two is more than a threshold value, according to the present bit
It puts and the cloud point information of the current location is to the local map cloud for the current location that is stored in the cloud server
Point information is updated.
7. a kind of movable equipment, which is characterized in that the movable equipment includes：
Position acquisition unit obtains the current location of the movable equipment；
Cloud point information acquisition unit, the cloud point that the current location is obtained via the capture device in the movable equipment are believed
Breath；And
Transmitting element sends the current location and the cloud point information of the current location.
8. movable equipment according to claim 7, which is characterized in that the equipment further includes：
Request transmitting unit, the local map point cloud sent for the current location are asked；
Receiving unit receives the local map point cloud information asked in response to the local map point cloud；And
Compare transmitting element, the cloud point of the current location acquired in the local map point cloud information and the capture device is believed
Breath is compared, and sends the current location and the cloud point information of the current location according to comparison result.
9. a kind of cloud server, which is characterized in that the server includes：
Receiving unit, for receiving the cloud point information of the current location of movable equipment and the current location；And
Updating unit, for the cloud point information according to the current location and the current location, to being deposited in the cloud server
The local map cloud point information for the current location of storage is updated.
10. a kind of high in the clouds map map updating system, which is characterized in that the system includes：
According to the movable equipment described in any one of claim 7-8 claims；And
Cloud server according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611263663.8A CN108270817A (en) | 2016-12-30 | 2016-12-30 | High in the clouds map map updating method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611263663.8A CN108270817A (en) | 2016-12-30 | 2016-12-30 | High in the clouds map map updating method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108270817A true CN108270817A (en) | 2018-07-10 |
Family
ID=62755182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611263663.8A Pending CN108270817A (en) | 2016-12-30 | 2016-12-30 | High in the clouds map map updating method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108270817A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111339228A (en) * | 2020-02-18 | 2020-06-26 | Oppo广东移动通信有限公司 | Map updating method, device, cloud server and storage medium |
| CN111552756A (en) * | 2020-04-28 | 2020-08-18 | 北京踏歌智行科技有限公司 | Mining area high-precision map manufacturing method capable of achieving automatic dynamic updating of pit shoveling and point unloading |
| CN112734918A (en) * | 2020-12-31 | 2021-04-30 | 潍柴动力股份有限公司 | Dynamic updating method, device, equipment and medium for platform-side three-dimensional electronic map |
| EP3799393A4 (en) * | 2019-01-16 | 2021-09-29 | Beijing Baidu Netcom Science Technology Co., Ltd. | Method, device and system for map data updating and storage medium |
| CN113593022A (en) * | 2021-07-06 | 2021-11-02 | 安徽海博智能科技有限责任公司 | High-precision map manufacturing method for mine unmanned scene |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973245A (en) * | 2016-04-28 | 2016-09-28 | 百度在线网络技术（北京）有限公司 | Method and device for updating online map by using unmanned vehicle |
-
2016
- 2016-12-30 CN CN201611263663.8A patent/CN108270817A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973245A (en) * | 2016-04-28 | 2016-09-28 | 百度在线网络技术（北京）有限公司 | Method and device for updating online map by using unmanned vehicle |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3799393A4 (en) * | 2019-01-16 | 2021-09-29 | Beijing Baidu Netcom Science Technology Co., Ltd. | Method, device and system for map data updating and storage medium |
| JP2021535386A (en) * | 2019-01-16 | 2021-12-16 | 北京百度網訊科技有限公司 | Map data update method, map data update device, map data update system and computer readable storage medium |
| JP7206371B2 (en) | 2019-01-16 | 2023-01-17 | ベイジン バイドゥ ネットコム サイエンス テクノロジー カンパニー リミテッド | MAP DATA UPDATE METHOD, MAP DATA UPDATE DEVICE, MAP DATA UPDATE SYSTEM AND COMPUTER-READABLE STORAGE MEDIUM |
| CN111339228A (en) * | 2020-02-18 | 2020-06-26 | Oppo广东移动通信有限公司 | Map updating method, device, cloud server and storage medium |
| CN111339228B (en) * | 2020-02-18 | 2023-08-11 | Oppo广东移动通信有限公司 | Map updating method, device, cloud server and storage medium |
| CN111552756A (en) * | 2020-04-28 | 2020-08-18 | 北京踏歌智行科技有限公司 | Mining area high-precision map manufacturing method capable of achieving automatic dynamic updating of pit shoveling and point unloading |
| CN112734918A (en) * | 2020-12-31 | 2021-04-30 | 潍柴动力股份有限公司 | Dynamic updating method, device, equipment and medium for platform-side three-dimensional electronic map |
| CN112734918B (en) * | 2020-12-31 | 2023-05-23 | 潍柴动力股份有限公司 | Dynamic updating method, device, equipment and medium of platform-end three-dimensional electronic map |
| CN113593022A (en) * | 2021-07-06 | 2021-11-02 | 安徽海博智能科技有限责任公司 | High-precision map manufacturing method for mine unmanned scene |
| CN113593022B (en) * | 2021-07-06 | 2022-06-14 | 安徽海博智能科技有限责任公司 | High-precision map manufacturing method for mine unmanned scene |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108270817A (en) | High in the clouds map map updating method and system | |
| US11729245B2 (en) | Platform for constructing and consuming realm and object feature clouds | |
| CN109540142B (en) | Robot positioning navigation method and device, and computing equipment | |
| US11360216B2 (en) | Method and system for positioning of autonomously operating entities | |
| KR102593224B1 (en) | Automatic parking method and apparatus, electronic device, and storage medium | |
| CN110160502B (en) | Map element extraction method, device and server | |
| CN107644273B (en) | Navigation path planning method and equipment | |
| US11668831B2 (en) | High-precision mapping method and device | |
| CN108268481A (en) | High in the clouds map updating method and electronic equipment | |
| CN106201448B (en) | Information processing method and user terminal | |
| US9036000B1 (en) | Street-level imagery acquisition and selection | |
| CN106370190A (en) | Vehicle navigation method, position marking method, apparatus, and system | |
| CN108268516A (en) | High in the clouds map map updating method and equipment based on Octree | |
| CN113916243A (en) | Vehicle positioning method, device, equipment and storage medium for target scene area | |
| WO2018076372A1 (en) | Waypoint editing method, apparatus, device and aircraft | |
| CN108268514A (en) | High in the clouds map map rejuvenation equipment based on Octree | |
| CN113378605B (en) | Multi-source information fusion method and device, electronic equipment and storage medium | |
| CN109597861A (en) | Processing method, device and the readable storage medium storing program for executing of map datum | |
| CN111683203B (en) | Grid map generation method and device and computer readable storage medium | |
| CN108268513A (en) | Movable equipment, cloud server and high in the clouds map map updating system | |
| CN108270816A (en) | High in the clouds map rejuvenation equipment | |
| CN114047760A (en) | Path planning method and device, electronic equipment and automatic driving vehicle | |
| CN116772846A (en) | Unmanned aerial vehicle track planning method, unmanned aerial vehicle track planning device, unmanned aerial vehicle track planning equipment and unmanned aerial vehicle track planning medium | |
| CN115979262A (en) | Aircraft positioning method, device, equipment and storage medium | |
| CN115393816A (en) | Lane line generation method, lane line generation device, computer device, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180731 Address after: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant after: Rui Chi intelligent automobile (Guangzhou) Co., Ltd. Address before: 100026 8 floor 909, 105 building 3, Yao Yuan Road, Chaoyang District, Beijing. Applicant before: Music Automotive (Beijing) Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| CB02 | Change of applicant information |
Address after: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant after: Hengda Faraday future intelligent vehicle (Guangdong) Co., Ltd. Address before: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant before: Rui Chi intelligent automobile (Guangzhou) Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190321 Address after: 100015 Building No. 7, 74, Jiuxianqiao North Road, Chaoyang District, Beijing, 001 Applicant after: FAFA Automobile (China) Co., Ltd. Address before: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant before: Hengda Faraday future intelligent vehicle (Guangdong) Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180710 |
|
| RJ01 | Rejection of invention patent application after publication |