Mapmaking method, system, and storage medium
By automating the control of the user terminal, map tool service subsystem, map pipeline subsystem, and task execution service subsystem, the problem of low cartographic efficiency caused by manual triggering is solved, and an efficient cartographic workflow is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU WERIDE TECH LTD CO
- Filing Date
- 2022-12-29
- Publication Date
- 2026-06-05
AI Technical Summary
The existing mapmaking process requires manual intervention to trigger various pipelines, resulting in low mapmaking efficiency.
By setting up a user terminal, a map tool service subsystem, a map pipeline subsystem, and a task execution service subsystem, the cartographic pipeline can be automated and automatically switched, eliminating waiting between different processes and improving cartographic efficiency.
It automates the mapping process, reduces manual intervention, and improves mapping speed and efficiency.
Smart Images
Figure CN116126984B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of cartography, and more particularly to a map-making method, system, and storage medium. Background Technology
[0002] With the development of automation technology, especially map production, the current mapmaking process is mainly based on manual input. The process involves manually triggering processes such as package cutting, calibration, debugging, production, and publication. However, the manual method requires triggering each step one by one, and even after triggering, there is still a waiting period. This method is too inefficient. Summary of the Invention
[0003] The main objective of this invention is to solve the problem of low mapping efficiency caused by the need for manual intervention to trigger various pipelines in the existing mapmaking process.
[0004] The first aspect of this invention provides a map-making method applied to a map-making system, the map-making system comprising: a user terminal, a map tool service subsystem, a map pipeline subsystem, and a task execution service subsystem; the map-making method comprising:
[0005] The user terminal loads the corresponding user interface, responds to the operation on the user interface to determine the cartographic pipeline request, and sends it to the map tool service subsystem.
[0006] The map tool service subsystem retrieves the corresponding map data from the map pipeline database according to the cartographic pipeline request and sends it to the map pipeline subservice subsystem.
[0007] The map pipeline service subsystem performs cartographic operations based on the map data, generates a complete map and a cartographic task request, and sends them to the task execution service subsystem.
[0008] The task operation service subsystem initiates the mapping process according to the mapping task request, and performs map production, publication and release of the complete map.
[0009] Optionally, in a first implementation of the first aspect of the present invention, if the user interface loaded on the terminal is a pipeline operation interface, the step of responding to the operation on the user interface to determine the mapping pipeline request and sending it to the map tool service subsystem includes:
[0010] Collect touch operations on each control on the pipeline operation interface;
[0011] Based on the touch operation, the corresponding control parameters are determined, and a corresponding mapping pipeline request is generated based on each control parameter. The mapping pipeline request is then transmitted to the map tool service subsystem.
[0012] Optionally, in a second implementation of the first aspect of the present invention, transmitting the cartographic pipeline request to the map tool service subsystem includes:
[0013] The cartographic pipeline request is transmitted to the map tool service subsystem via remote invocation.
[0014] Optionally, in a third implementation of the first aspect of the present invention, the step of obtaining the corresponding map data from the map pipeline database according to the cartographic pipeline request includes:
[0015] Determine the type of the mapping pipeline request, wherein the type includes adding a pipeline, deleting a pipeline, and enumerating pipelines;
[0016] If the type is adding a pipeline, then based on the cartographic pipeline request, the corresponding pipeline is added to the map pipeline database, and the pipeline requests map data from the map pipeline service subsystem.
[0017] If the type is to delete a pipeline, then the corresponding pipeline is queried from the map pipeline database based on the mapping pipeline request and deleted.
[0018] If the type is an enumerated pipeline, then the corresponding pipeline is retrieved from the map pipeline database based on the mapping pipeline request, and the map data corresponding to the pipeline is displayed on the user interface.
[0019] Optionally, in a fourth implementation of the first aspect of the present invention, the map pipeline service subsystem performs cartographic operations based on the map data, generates a complete map and a cartographic task request, and sends them to the task execution service subsystem, including:
[0020] The map pipeline service subsystem initiates the pipeline operation process, performs cartographic operations on the map data through each stage of the pipeline operation process, and generates a complete map based on the processing results of each stage.
[0021] In the workflow, corresponding mapping task requests are generated at each stage and sent to the task operation service subsystem through the map tool service subsystem to monitor the mapping operation.
[0022] Optionally, in a fifth implementation of the first aspect of the present invention, the map pipeline service subsystem initiates a pipeline operation process, performs cartographic operations on the map data through each stage of the pipeline operation process, and generates a complete map based on the processing results of each stage, including:
[0023] The map pipeline service subsystem initiates the pipeline operation process, and performs a segmentation operation on the map data through the pipeline operation process to obtain segmented packages;
[0024] Using a preset pose calibration method, the pose of the data in the segmented packet is calibrated to obtain calibration data;
[0025] Based on the calibration data, the production and publication process is debugged, and the map is output after the debugging is successful;
[0026] The input map is merged with the old map to obtain the complete map.
[0027] Optionally, in a sixth implementation of the first aspect of the present invention, the map-making method further includes:
[0028] In response to management log operations on the user interface, the system retrieves the corresponding logs from the log buffer through the map tool service subsystem based on the management log operations and displays them on the user interface.
[0029] A second aspect of the present invention provides a map-making system, the map-making system comprising:
[0030] The user terminal is used to load the corresponding user interface and respond to operations on the user interface to determine the drawing pipeline request.
[0031] The map tool service subsystem is used to retrieve corresponding map data from the map pipeline database according to the cartographic pipeline request.
[0032] The map pipeline service subsystem is used to perform cartographic operations based on the map data, generating a complete map and a cartographic task request.
[0033] The task execution service subsystem is used to initiate the mapping process according to the mapping task request, and to create, publish and release the complete map.
[0034] Optionally, in the first implementation of the second aspect of the present invention, if the user interface loaded by the terminal is a pipeline operation interface, the user terminal is specifically used for:
[0035] Collect touch operations on each control on the pipeline operation interface;
[0036] Based on the touch operation, the corresponding control parameters are determined, and a corresponding mapping pipeline request is generated based on each control parameter. The mapping pipeline request is then transmitted to the map tool service subsystem.
[0037] Optionally, in a second implementation of the second aspect of the present invention, the user terminal is specifically used for:
[0038] The cartographic pipeline request is transmitted to the map tool service subsystem via remote invocation.
[0039] Optionally, in a third implementation of the second aspect of the present invention, the map tool service subsystem is specifically used for:
[0040] Determine the type of the mapping pipeline request, wherein the type includes adding a pipeline, deleting a pipeline, and enumerating pipelines;
[0041] If the type is adding a pipeline, then based on the cartographic pipeline request, the corresponding pipeline is added to the map pipeline database, and the pipeline requests map data from the map pipeline service subsystem.
[0042] If the type is to delete a pipeline, then the corresponding pipeline is queried from the map pipeline database based on the mapping pipeline request and deleted.
[0043] If the type is an enumerated pipeline, then the corresponding pipeline is retrieved from the map pipeline database based on the mapping pipeline request, and the map data corresponding to the pipeline is displayed on the user interface.
[0044] Optionally, in a fourth implementation of the second aspect of the present invention, the map pipeline service subsystem is specifically used for:
[0045] The assembly line operation process is initiated, and the map data is mapped through each stage of the assembly line operation process. A complete map is generated based on the processing results of each stage.
[0046] In the workflow, corresponding mapping task requests are generated at each stage and sent to the task operation service subsystem through the map tool service subsystem to monitor the mapping operation.
[0047] Optionally, in a fifth implementation of the second aspect of the present invention, the map pipeline service subsystem is specifically used for:
[0048] The pipeline operation process is initiated, and the map data is segmented into packages through the pipeline operation process to obtain the segmented packages;
[0049] Using a preset pose calibration method, the pose of the data in the segmented packet is calibrated to obtain calibration data;
[0050] Based on the calibration data, the production and publication process is debugged, and the map is output after the debugging is successful;
[0051] The input map is merged with the old map to obtain the complete map.
[0052] Optionally, in a sixth implementation of the second aspect of the present invention, the user terminal is further configured to:
[0053] In response to management log operations on the user interface, the system retrieves the corresponding logs from the log buffer through the map tool service subsystem based on the management log operations and displays them on the user interface.
[0054] A third aspect of the present invention provides a map-making system, comprising: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a circuit; the at least one processor invokes the instructions in the memory to cause the map-making system to perform the map-making method described above.
[0055] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described map-making method.
[0056] In summary, this method establishes a user terminal, a map tool service subsystem, a map pipeline subsystem, and a task execution service subsystem. The user terminal loads the corresponding user interface, responds to operations on the user interface to determine the cartographic pipeline request, and sends it to the map tool service subsystem. The map tool service subsystem retrieves the corresponding map data from the map pipeline database based on the cartographic pipeline request and sends it to the map pipeline subsystem. The map pipeline service subsystem performs cartographic operations based on the map data, generates a complete map and a cartographic task request, and sends it to the task execution service subsystem. The task execution service subsystem initiates the cartographic process based on the cartographic task request, producing, publishing, and releasing the complete map. By setting up four modules for automatic control and automatic navigation of each cartographic pipeline, the method achieves automated cartographic operations and improves cartographic efficiency.
[0057] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.
[0058] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0059] Figure 1This is a flowchart of map making in an embodiment of the present invention;
[0060] Figure 2 This is a schematic diagram of one embodiment of the map-making method in this invention;
[0061] Figure 3 This is a schematic diagram of another embodiment of the map-making method in this invention;
[0062] Figure 4 This is a schematic diagram of adding a pipeline interface in an embodiment of the present invention;
[0063] Figure 5 This is a schematic diagram of the pipeline model in an embodiment of the present invention;
[0064] Figure 6 This is a flowchart illustrating the drawing operation in an embodiment of the present invention;
[0065] Figure 7 This is a schematic diagram of one embodiment of the map-making system of the present invention;
[0066] Figure 8 This is a schematic diagram of another embodiment of the map-making system in this invention. Detailed Implementation
[0067] To address the aforementioned issues, this application provides a map-making method. This method sets the originally manually triggered map-making pipeline to automatic triggering by setting up four major modules: a user terminal, a map tool service subsystem, a map pipeline subsystem, and a task execution service subsystem. It also eliminates waiting between different processes, shortens the pipeline execution time, greatly improves work efficiency, and enables the analysis and fusion of map data.
[0068] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0069] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 and 2This invention provides an embodiment of a map-making method applied to a map-making system. The GIA map-making system includes a user terminal, a map tool service subsystem, a map pipeline subsystem, and a task execution service subsystem.
[0070] User side: Submit a drafting pipeline request;
[0071] Map tool service subsystem: handles user-side map pipeline requests and map pipeline service cartographic task requests;
[0072] Map Pipeline Service Subsystem: Maintains the lifecycle of the map pipeline;
[0073] Task Execution Service Subsystem: Receives cartographic task requests and initiates the cartographic process.
[0074] Based on the above structure, the implementation steps of the proposed map-making method are as follows:
[0075] 101. The user terminal loads the corresponding user interface, responds to the operation on the user interface to determine the cartographic pipeline request, and sends it to the sub-map tool service subsystem.
[0076] In this step, the user interface includes a pipeline operation interface, a single-stage mapping task interface, and a publishing interface.
[0077] In this embodiment, if the user interface loaded by the terminal is a pipeline operation interface, the step of responding to the operation on the user interface to determine the cartographic pipeline request and sending it to the map tool service subsystem includes:
[0078] Collect touch operations on each control on the pipeline operation interface;
[0079] Based on the touch operation, the corresponding control parameters are determined, and a corresponding mapping pipeline request is generated based on each control parameter. The mapping pipeline request is then transmitted to the map tool service subsystem.
[0080] In practical applications, the pipeline operation interface has multiple controls, each corresponding to a parameter item. Manipulating these controls creates a mapping pipeline request. Specifically, the mapping pipeline request includes four types: add, cancel, enumerate, and log mapping pipeline requests.
[0081] Add: Add a new drafting pipeline;
[0082] Cancel: Cancels a drafting pipeline;
[0083] Enumeration (list): Enumerates all ongoing and recently completed drawing pipelines;
[0084] Log: Displays the logs for a specific drafting pipeline.
[0085] That is, in response to the management log operation on the user interface, the corresponding log is obtained from the log buffer through the map tool service subsystem based on the management log operation and displayed on the user interface.
[0086] 102. The map tool service subsystem retrieves the corresponding map data from the map pipeline database based on the cartographic pipeline request and sends it to the map pipeline subservice subsystem.
[0087] In this embodiment, the map tool service subsystem is invoked remotely, that is, the request is processed by a remote call processing service. In practical applications, the map tool service subsystem receives two types of requests: remote call requests for processing the user-end cartographic pipeline, generating the cartographic pipeline and sending it to the map pipeline service through the database, and remote call requests for receiving cartographic tasks from the cartographic pipeline service, generating the cartographic task and sending it to the task execution service through the database.
[0088] In practical applications, after receiving a cartographic pipeline request, the map tool service subsystem identifies the type of the request and processes the corresponding pipeline from the map pipeline database accordingly. For example, if adding, the pipeline is created through the map pipeline database and sent to the pipeline service subsystem for subsequent cartographic operations.
[0089] If the cartographic pipeline request is a deletion request, the map tool service subsystem queries the map pipeline database for the corresponding pipeline and deletes it.
[0090] If subsequent drawing operations are performed on the pipeline service subsystem.
[0091] If the mapping pipeline request is an enumerated request, the map tool service subsystem queries the map pipeline database for the corresponding pipeline, obtains the map data corresponding to the pipeline, and generates a map to be displayed on the user interface.
[0092] 103. The map pipeline service subsystem performs cartographic operations based on map data, generates a complete map and a cartographic task request, and sends them to the task execution service subsystem.
[0093] This step involves six stages of mapping: packet segmentation, calibration, debugging, production, publishing, and release. Upon receiving a mapping pipeline request from the map tool service subsystem, the map pipeline service subsystem executes the corresponding pipeline operations sequentially, performing packet segmentation, calibration, debugging, production, publishing, and release. Each stage is based on the results of the previous stage. The collected map data packets or historical map data packets are segmented into multiple smaller packets to reduce the amount of data processed simultaneously. After segmentation, the pose of the data in each smaller packet is calibrated. This calibration uses the vehicle's pose as a reference, adjusting the pose of the map data collected by the vehicle to obtain map data that matches the vehicle's driving pose. Then, the calibrated data is debugged. This debugging should be understood as internal debugging during publishing and release, used to test whether the map data can be loaded correctly. After successful debugging, the process proceeds to the production, publishing, and release stages.
[0094] In practical applications, each stage of the pipeline is further divided into multiple states, and each state controls the processing tasks of the corresponding stage in turn.
[0095] 104. The task operation service subsystem initiates the mapping process based on the mapping task request, and performs map production, publication and release of the complete map.
[0096] After the map data has been processed through the aforementioned steps, a cartographic task request is generated based on the processed map data. The cartographic process is then executed based on the cartographic task request, which is to execute a program to visualize the map data and display a complete map image.
[0097] In summary, by setting up four modules—the user terminal, map tool service subsystem, map pipeline subsystem, and task execution service subsystem—the automatic control of the cartographic pipeline transforms the process that originally required manual triggering into automatic triggering, eliminating unnecessary waiting between different processes to speed up cartography. At the same time, by simulating the process of manual analysis of map data through the map pipeline service subsystem and task execution service subsystem, manual intervention is reduced, which allows cartographers to handle more tasks simultaneously.
[0098] Please refer to Figure 3-6 This is another implementation method provided by the embodiments of this application. Taking a map-adding pipeline as an example, the method includes the following steps:
[0099] 201. Collect touch operations on various controls on the pipeline operation interface.
[0100] 202. Determine the corresponding control parameters based on the touch operation, generate the corresponding cartographic pipeline request based on each control parameter, and transmit the cartographic pipeline request to the map tool service subsystem.
[0101] In this embodiment, the user terminal loads a pipeline operation interface, which is generated by performing different multiple touch operations on the pipeline operation interface. Figure 4 This adds a pipeline interface to the pipeline operation interface. The interface has multiple controls, and different parameters can be set by operating the controls.
[0102] Specifically, in Figure 4 The interface should have at least the following controls:
[0103] Key: A unique identifier for this pipeline;
[0104] City: Current city;
[0105] Datacenter: The current data center;
[0106] Stages: phases (such as slice, debug, production);
[0107] Use GPU: Use the graphics acceleration module;
[0108] Production priority: the highest priority in production.
[0109] Developer Mode: Developer mode;
[0110] Force: Simulated testing or real-world execution;
[0111] Bags by Production: Original bags provided by the product team;
[0112] Bags to slice: Bags to be sliced (start and end timestamps required);
[0113] Bags to include: the final new bags;
[0114] Bags to exclude: Bags that need to be deleted;
[0115] Benchmark bags: bags used for verification;
[0116] Email to CC: Members who need to be notified.
[0117] In practical applications, by setting the parameters corresponding to the above controls on the user interface to generate a request, the cartographic pipeline request is then transmitted to the map tool service subsystem via remote invocation.
[0118] Furthermore, the user interface recorded on the user terminal may also include a single-stage drafting task interface, wherein the interface has at least the following controls:
[0119] Tag: A unique identifier for this pipeline;
[0120] Stage: A phase, such as pre-processing (presetup), debugging (debug), and production (prod).
[0121] City: Current city;
[0122] Map Mode: Normal, Product Patch, Comprehensive Testing;
[0123] Datacenter: The current data center;
[0124] Config Mode: Normal mode, tunnel mode;
[0125] Use GPU: Use the graphics acceleration module;
[0126] Production priority: the highest priority in production.
[0127] Overwrite: Overwrite mode;
[0128] Developer Mode: Developer mode;
[0129] Force: Simulated testing or real-world execution;
[0130] Bags to include: the final new bags;
[0131] Bags to exclude: Bags that need to be deleted;
[0132] Benchmark bags: bags used for verification;
[0133] Version: The current map version is good;
[0134] Last Version: Parent version number;
[0135] Last Good Version: The version number of the last officially released version;
[0136] Number Bag Runner: The number of containers used to process bags;
[0137] Number Tile Runner: The number of containers used to process map tiles;
[0138] Yun Token: Cloud security signaling;
[0139] Workflow Package: Code module;
[0140] Email: Submitter's email address.
[0141] In this embodiment, after the user receives a request from the map tool service subsystem to add a map pipeline, the user loads the mapping task interface, collects the user's operations on the above controls on the mapping task interface to generate the mapping task request, and then sends it to the bandit tool service subsystem.
[0142] In practical applications, the user interface loaded on the client can also be a release interface, which has controls such as Pipeline id, Developer Mod, and QA Result (pass or fail). After receiving the pipeline pass response message from the map tool service subsystem, the client loads the release interface and then collects the parameters determined by the user's operation on the release interface to produce and release the map data.
[0143] 203. Based on the cartographic pipeline request, add the corresponding pipeline to the map pipeline database and execute the pipeline to request map data from the map pipeline service subsystem.
[0144] In this step, the type of the mapping pipeline request is determined, wherein the type includes adding a pipeline, deleting a pipeline, and enumerating pipelines;
[0145] If the type is adding a pipeline, then based on the cartographic pipeline request, the corresponding pipeline is added to the map pipeline database, and the pipeline requests map data from the map pipeline service subsystem.
[0146] If the type is to delete a pipeline, then the corresponding pipeline is queried from the map pipeline database based on the mapping pipeline request and deleted.
[0147] If the type is an enumerated pipeline, then the corresponding pipeline is retrieved from the map pipeline database based on the mapping pipeline request, and the map data corresponding to the pipeline is displayed on the user interface.
[0148] In this embodiment, the map tool service subsystem is a remote call processing service that handles two types of remote call requests, as detailed below:
[0149] 1. Process remote call requests for the user-side cartographic pipeline, generate the cartographic pipeline, and send it to the map pipeline service through the database;
[0150] 2. Receive remote call requests for cartographic tasks from the cartographic pipeline service, generate cartographic tasks, and send them to the task execution service through the database.
[0151] 204. The map pipeline service subsystem starts the pipeline operation process, performs cartographic operations on map data through each stage of the pipeline operation process, and generates a complete map based on the processing results of each stage.
[0152] In this step, the map pipeline service subsystem initiates the pipeline operation process, performs a segmentation operation on the map data through the pipeline operation process to obtain segmented packages; uses a preset pose calibration method to calibrate the pose of the data in the segmented packages to obtain calibration data; performs debugging for production and publication based on the calibration data, and outputs the map after the debugging is successful; and merges the input map with the old map to obtain the complete map.
[0153] In practical applications, the map pipeline service subsystem is used to maintain the lifecycle of the map pipeline, generating corresponding cartographic tasks at each stage of the pipeline and sending them to the map tool service subsystem, specifically as follows: Figure 5 The pipeline model shown.
[0154] The user client generates a pipeline addition request based on the pipeline addition interface. The pipeline is added to the map pipeline database through the map tool service subsystem, and then executed within the map pipeline service subsystem. Further, cartographic operations are performed within the map pipeline service subsystem. The subsystem initiates a pipeline workflow, which segments the map data into packages. Using a preset pose calibration method, the pose of the data in the packages is calibrated to obtain calibration data. Based on this calibration data, production and publishing debugging is performed, and after successful debugging, the map is output. Finally, the input map is merged with the existing map to obtain the complete map.
[0155] Specifically, the process for this chart operation is as follows: Figure 6 As shown, it includes the following stages:
[0156] Slicing: This operation splits the original packages and older packages collected on the vehicle into shorter packages for parallel processing. The sliced packages will then be used in the calibration, debugging, and production stages.
[0157] Calibration: Adjust the pose of the laser head and vehicle coordinate system to reduce errors. Read calibration information from the log: if the value is large, use the calibrated packet in later stages; if the value is small, use the uncalibrated packet.
[0158] Debugging: Create a simplified diagram for internal debugging. If failure occurs and logs indicate a GPU missing component, switch to a container with GPU support and rerun.
[0159] Production: Creating a complete drawing that can be used for production;
[0160] Publish: Merge the produced mapping results with the latest map version into a candidate version of the map; if the merging fails and the log confirms that it is caused by a version conflict, then rerun the "produce" and "publish" operations based on the latest version until there are no version conflicts;
[0161] Release: Sets the candidate version as the latest map version.
[0162] Furthermore, in the map pipeline service subsystem, each stage of the mapping operation can be controlled by setting each stage as a state machine. When each state machine meets the preset state, the next stage is executed, that is, the system jumps to the next state machine.
[0163] In practical applications, each stage is set with 7 states, as follows:
[0164] Initial: The state when the step is generated. "Preprocessing" will remain in this state until the previous stage is successfully completed, at which point it will transition to the "Ready" state.
[0165] Ready: Proceed to the "Processing" step;
[0166] Execution: This "processing" step has been successfully submitted and will remain at this step until the task is completed;
[0167] Success: This "processing" step has been successfully completed, and you can proceed to the "post-processing" step.
[0168] Failure: This "processing" step has failed. You can proceed to the "post-processing" step.
[0169] End: This phase has successfully concluded, and you may proceed to the next phase.
[0170] Abandon: If this stage fails, stop the entire production line;
[0171] Furthermore, each stage includes three steps, with state control controlling the switching between steps, each step as follows:
[0172] Pre-handling: Determine whether this stage can begin based on the results of the previous stage (waiting, starting, success, failure);
[0173] Processing (handle): Performing substantive operations, such as submitting a specific mapping process;
[0174] Post-handle: Process the results of the previous step, analyze logs, update the content of the next stage, rerun if it fails, etc.
[0175] 205. During each stage of the assembly line operation process, corresponding mapping task requests are generated and sent to the task operation service subsystem through the map tool service subsystem to monitor the mapping operation.
[0176] 206. The task operation service subsystem initiates the mapping process according to the mapping task request, and performs map production, publication and release of the complete map.
[0177] In this embodiment, the task execution service subsystem receives the mapping task request and initiates the mapping process, monitors the lifecycle of the mapping process, and reruns it when necessary.
[0178] In practical applications, there are 11 states, including: 6 intermediate states: Initial, Waiting, Submit, Running, Failure, Error; and 5 final states: Success, Cancel, Terminate, Delete, Abandon.
[0179] In summary, by setting up four subsystems—the user terminal, the map tool service subsystem, the map pipeline subsystem, and the task execution service subsystem—each subsystem executes its corresponding workflow. These four subsystems link different cartographic processes (stages) together, analyzing the output of one process to form the input of the next, thus achieving automatic triggering of the cartographic process and improving cartographic efficiency. Furthermore, when a process fails, the task log is analyzed to determine if the cause is known and a predefined solution is adopted.
[0180] Please refer to Figure 7 One embodiment of the map-making system in this invention includes:
[0181] Client 701 is used to load the corresponding user interface and respond to the operation on the user interface to determine the drawing pipeline request.
[0182] The map tool service subsystem 702 is used to obtain corresponding map data from the map pipeline database according to the cartographic pipeline request;
[0183] Map pipeline service subsystem 703 is used to perform cartographic operations based on the map data, and generate a complete map and a cartographic task request.
[0184] The task operation service subsystem 704 is used to initiate the mapping process according to the mapping task request, and to create, publish and release the complete map.
[0185] In this embodiment, if the user interface loaded by the terminal is a pipeline operation interface, the user terminal 701 is specifically used for:
[0186] Collect touch operations on each control on the pipeline operation interface;
[0187] Based on the touch operation, the corresponding control parameters are determined, and a corresponding cartographic pipeline request is generated based on each control parameter. The cartographic pipeline request is then transmitted to the map tool service subsystem.
[0188] In this embodiment, the user terminal 701 is specifically used for:
[0189] The cartographic pipeline request is transmitted to the map tool service subsystem via remote invocation.
[0190] In this embodiment, the map tool service subsystem 702 is specifically used for:
[0191] Determine the type of the mapping pipeline request, wherein the type includes adding a pipeline, deleting a pipeline, and enumerating pipelines;
[0192] If the type is adding a pipeline, then based on the mapping pipeline request, the corresponding pipeline is added to the map pipeline database, and the pipeline requests map data from the map pipeline service subsystem.
[0193] If the type is to delete a pipeline, then the corresponding pipeline is queried from the map pipeline database based on the mapping pipeline request and deleted.
[0194] If the type is an enumerated pipeline, then the corresponding pipeline is retrieved from the map pipeline database based on the mapping pipeline request, and the map data corresponding to the pipeline is displayed on the user interface.
[0195] In this embodiment, the map pipeline service subsystem 703 is specifically used for:
[0196] The assembly line operation process is initiated, and the map data is mapped through each stage of the assembly line operation process. A complete map is generated based on the processing results of each stage.
[0197] In the workflow, corresponding mapping task requests are generated at each stage and sent to the task operation service subsystem through the map tool service subsystem to monitor the mapping operation.
[0198] In this embodiment, the map pipeline service subsystem 703 is specifically used for:
[0199] The pipeline operation process is initiated, and the map data is segmented into packages through the pipeline operation process to obtain the segmented packages;
[0200] Using a preset pose calibration method, the pose of the data in the segmented packet is calibrated to obtain calibration data;
[0201] Based on the calibration data, the production and publication process is debugged, and the map is output after the debugging is successful;
[0202] The input map is merged with the old map to obtain the complete map.
[0203] In this embodiment, the user terminal 701 is further configured to:
[0204] In response to management log operations on the user interface, the system retrieves the corresponding logs from the log buffer through the map tool service subsystem based on the management log operations and displays them on the user interface.
[0205] In summary, by setting up a user terminal, a map tool service subsystem, a map pipeline subsystem, and a task execution service subsystem, the user terminal loads the corresponding user interface, responds to operations on the user interface to determine the cartographic pipeline request, and sends it to the map tool service subsystem. The map tool service subsystem retrieves the corresponding map data from the map pipeline database based on the cartographic pipeline request and sends it to the map pipeline subsystem. The map pipeline service subsystem performs cartographic operations based on the map data, generates a complete map and a cartographic task request, and sends it to the task execution service subsystem. The task execution service subsystem initiates the cartographic process based on the cartographic task request, producing, publishing, and releasing the complete map. By setting up four modules for automatic control and automatic navigation of each cartographic pipeline, automated cartographic operations are achieved, while improving cartographic efficiency.
[0206] Please see Figure 8 The following is a detailed description of one embodiment of the map-making system in this invention from the perspective of hardware processing.
[0207] Figure 8This is a schematic diagram of the structure of a map mapping system 800 provided in an embodiment of the present invention. The map mapping system 800 can vary significantly due to different configurations or performance characteristics. It may include one or more central processing units (CPUs) 810 (e.g., one or more processors) and a memory 820, and one or more storage media 830 (e.g., one or more mass storage devices) for storing application programs 833 or data 832. The memory 820 and storage media 830 can be temporary or persistent storage. The program stored in the storage media 830 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the map mapping system 800. Furthermore, the processor 810 may be configured to communicate with the storage media 830 and execute the series of instruction operations in the storage media 830 on the map mapping system 800.
[0208] The map-making system 800 may also include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input / output interfaces 860, and / or one or more operating systems 831, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 8 The illustrated map-making system structure does not constitute a limitation on the electronic device provided in this application. It may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.
[0209] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the above-described map-making method.
[0210] In practical applications, the methods described above can be implemented based on artificial intelligence (AI) technology. AI is the theory, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results. Specifically, it can be executed on a server. The server can be a standalone server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and AI platforms.
[0211] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0212] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0213] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A map-making method, applied to a map-making system, characterized in that, The map-making system includes: a user terminal, a map tool service subsystem, a map pipeline service subsystem, and a task execution service subsystem; the map-making method includes: The user terminal loads the corresponding user interface, responds to the operation on the user interface to determine the cartographic pipeline request, and sends it to the map tool service subsystem; The map tool service subsystem retrieves the corresponding map data from the map pipeline database according to the cartographic pipeline request and sends it to the map pipeline service subsystem. The map pipeline service subsystem performs cartographic operations based on the map data, generates a complete map and a cartographic task request, and sends them to the task execution service subsystem. The cartographic operation includes six stages: package splitting, calibration, debugging, production, publishing, and release. Each stage is executed based on the results of the previous stage. The task operation service subsystem initiates the mapping process according to the mapping task request, and performs map production, publication and release of the complete map.
2. The map-making method as described in claim 1, characterized in that, If the user interface loaded on the user terminal is a pipeline operation interface, the step of responding to the operation on the user interface to determine the cartographic pipeline request and sending it to the map tool service subsystem includes: Collect touch operations on each control on the pipeline operation interface; Based on the touch operation, the corresponding control parameters are determined, and a corresponding mapping pipeline request is generated based on each control parameter. The mapping pipeline request is then transmitted to the map tool service subsystem.
3. The map-making method as described in claim 2, characterized in that, The step of transmitting the cartographic pipeline request to the map tool service subsystem includes: The cartographic pipeline request is transmitted to the map tool service subsystem via remote invocation.
4. The map-making method as described in claim 1, characterized in that, The step of retrieving corresponding map data from the map pipeline database according to the cartographic pipeline request includes: Determine the type of the mapping pipeline request, wherein the type includes adding a pipeline, deleting a pipeline, and enumerating pipelines; If the type is adding a pipeline, then based on the cartographic pipeline request, the corresponding pipeline is added to the map pipeline database, and the pipeline requests map data from the map pipeline service subsystem. If the type is to delete a pipeline, then the corresponding pipeline is queried from the map pipeline database based on the mapping pipeline request and deleted. If the type is an enumerated pipeline, then the corresponding pipeline is retrieved from the map pipeline database based on the mapping pipeline request, and the map data corresponding to the pipeline is displayed on the user interface.
5. The map-making method as described in claim 1, characterized in that, The map pipeline service subsystem performs cartographic operations based on the map data, generates a complete map and a cartographic task request, and sends them to the task execution service subsystem, including: The map pipeline service subsystem initiates the pipeline operation process, performs cartographic operations on the map data through each stage of the pipeline operation process, and generates a complete map based on the processing results of each stage. In the workflow, corresponding mapping task requests are generated at each stage and sent to the task operation service subsystem through the map tool service subsystem to monitor the mapping operation.
6. The map-making method as described in claim 5, characterized in that, The map pipeline service subsystem initiates a pipeline workflow, performs cartographic operations on the map data through each stage of the workflow, and generates a complete map based on the processing results of each stage, including: The map pipeline service subsystem initiates the pipeline operation process, and performs a segmentation operation on the map data through the pipeline operation process to obtain segmented packages; Using a preset pose calibration method, the pose of the data in the segmented packet is calibrated to obtain calibration data; Based on the calibration data, the production and publication process is debugged, and the map is output after the debugging is successful; The input map is merged with the old map to obtain the complete map.
7. The map-making method according to any one of claims 1-6, characterized in that, The map-making method also includes: In response to management log operations on the user interface, the system retrieves the corresponding logs from the log buffer through the map tool service subsystem based on the management log operations and displays them on the user interface.
8. A map-making system, characterized in that, The map-making system includes: The user terminal is used to load the corresponding user interface and respond to operations on the user interface to determine the drawing pipeline request. The map tool service subsystem is used to retrieve corresponding map data from the map pipeline database according to the cartographic pipeline request. The map pipeline service subsystem is used to perform cartographic operations based on the map data, generating a complete map and a cartographic task request; wherein, the cartographic operation includes six stages: package splitting, calibration, debugging, production, publishing and release, and each stage is executed based on the results of the previous stage; The task execution service subsystem is used to initiate the mapping process according to the mapping task request, and to create, publish and release the complete map.
9. A map-making system, characterized in that, The map-making system includes a memory and at least one processor, the memory storing instructions; the at least one processor invokes the instructions in the memory to cause the map-making system to perform the steps of the map-making method as described in any one of claims 1-7.
10. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the various steps of the map-making method as described in any one of claims 1-7.