Data processing method and device for map updating

Abstract

The invention discloses a data processing method and device for map updating. To-be-updated data are obtained, the to-be-updated data comprise to-be-updated map data and environment change data, the to-be-updated map data are data used for representing a to-be-updated map, and the environment change data are data used for representing environment change; performing path planning processing on the robot according to the to-be-updated map data and the environment change data to obtain path planning data; obtaining inspection data, wherein the inspection data is data obtained by inspecting the robot according to the path planning data; and performing map updating processing based on key frame matching on the to-be-updated map data according to the inspection data to obtain updated map data. The robot inspection path is planned through the current map data and the environment change data, the map data is collected in combination with the environment information, and the map is updated according to the collected key frame data, so that the map updating efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of Internet, and in particular to a data processing method and device for map updating. Background Art

[0002] With the continuous development of robot technology, robots are increasingly used in various fields. For example, robots are used for inspections. Robots usually need to be positioned during operation. Robot positioning in existing technologies is usually based on pre-built maps. In actual operating environments, the environment is constantly changing. Robot positioning using pre-built maps is prone to errors and has low accuracy. The existing methods of updating maps consume computing power and have low map update efficiency.

[0003] Therefore, the map update in the prior art has the problem of low efficiency. Summary of the invention

[0004] The main purpose of the present application is to provide a data processing method and device for map updating, so as to solve the technical problem of low map updating efficiency in the prior art and achieve the technical effect of improving map updating efficiency.

[0005] In order to achieve the above-mentioned purpose, in a first aspect of the present application, a data processing method and device for map updating are proposed, comprising:

[0006] Acquire data to be updated, wherein the data to be updated includes map data to be updated and environment change data, the map data to be updated is data used to represent the map to be updated, and the environment change data is data used to represent environment changes;

[0007] Performing path planning processing on the robot according to the map data to be updated and the environmental change data to obtain path planning data, wherein the path planning data is data used to represent the inspection path planned by the robot;

[0008] Acquire inspection data, wherein the inspection data is data used to represent the inspection obtained by the robot according to the path planning data;

[0009] According to the inspection data, a map update process based on key frame matching is performed on the map data to be updated to obtain updated map data.

[0010] Furthermore, the path planning data is obtained by performing path planning processing on the robot according to the map data to be updated and the environment change data, and the path planning data includes:

[0011] Performing feature point extraction processing on the map data to be updated to obtain feature point data, wherein the feature point data is data used to represent feature positions in the map to be updated;

[0012] Performing state feature-based extraction processing on the environmental change data to obtain environmental state feature data, wherein the environmental state feature data is feature data used to represent changes in environmental states;

[0013] Performing feature point screening processing according to the feature point data and the environmental state feature data to obtain inspection feature point data;

[0014] Robot path planning is performed according to the inspection feature point data to obtain the path planning data.

[0015] Further, the feature point screening process is performed according to the feature point data and the environmental state feature data to obtain the inspection feature point data, including:

[0016] Identify and process the environmental state feature data to obtain time feature data and event feature data, wherein the time feature data is feature data for indicating the time in the map to be updated, and the event feature data is feature data for indicating the event in the map to be updated;

[0017] Performing prediction processing on the time feature data and the event feature data based on a location prediction model to obtain predicted location data;

[0018] The points corresponding to the predicted position data are matched among the feature points corresponding to the feature point data to obtain the inspection feature point data.

[0019] Further, the robot path planning process is performed according to the inspection feature point data, and the path planning data obtained includes:

[0020] Acquiring robot operation data, wherein the robot operation data is data used to represent the operation status of the robot;

[0021] Identify and process the robot operation data to obtain first position data and second position data, wherein the first position data is data used to indicate the position of the robot, and the second position data is data used to indicate the position of the robot's target task;

[0022] The first position data, the second position data and the inspection feature point data are processed by path planning to obtain the path planning data.

[0023] Further, performing a map update process based on key frame matching on the map data to be updated according to the inspection data to obtain the updated map data includes:

[0024] Performing key frame-based extraction processing on the inspection data to obtain key frame data to be processed, wherein the key frame data to be processed is data used to represent a key frame for updating a map;

[0025] Performing a first matching process based on point cloud data on the key frame data to be processed and the map data to be updated to obtain process matching result data;

[0026] The process matching result data is subjected to a second matching process based on point cloud features to obtain the updated map data.

[0027] Furthermore, the key frame data to be processed and the map data to be updated are subjected to a first matching process based on point cloud data, and the process matching result data obtained includes:

[0028] Performing extraction processing based on the target position on the key frame data to be processed to obtain first data to be matched, wherein the first data to be matched is map data corresponding to the target position;

[0029] Performing extraction processing based on the target position on the map data to be updated to obtain second data to be matched, wherein the second data to be matched is data corresponding to the target position in the map to be updated;

[0030] Point cloud update processing is performed on the first data to be matched and the second data to be matched to obtain the process matching result data.

[0031] According to a second aspect of the present application, a data processing device for map updating is proposed, comprising:

[0032] A first data acquisition module, used to acquire data to be updated, wherein the data to be updated includes map data to be updated and environment change data, the map data to be updated is data used to represent the map to be updated, and the environment change data is data used to represent environmental changes;

[0033] A planning module, used for performing path planning processing on the robot according to the map data to be updated and the environmental change data, to obtain path planning data, wherein the path planning data is data used to represent the inspection path planned by the robot;

[0034] A second data acquisition module is used to acquire inspection data, wherein the inspection data is used to represent data obtained by the robot performing inspection according to the path planning data;

[0035] The map updating module is used to perform a map updating process based on key frame matching on the map data to be updated according to the inspection data to obtain updated map data.

[0036] Furthermore, according to the data processing device of claim 7, the planning module comprises:

[0037] A point extraction module, used for performing feature point extraction processing on the map data to be updated to obtain feature point data, wherein the feature point data is data used to represent feature positions in the map to be updated;

[0038] A state feature extraction module, used for performing state feature-based extraction processing on the environmental change data to obtain environmental state feature data, wherein the environmental state feature data is feature data used to represent changes in environmental states;

[0039] A point determination module, used for screening and processing characteristic points according to the characteristic point data and the environmental state characteristic data, to obtain inspection characteristic point data;

[0040] The path planning module is used to perform robot path planning processing according to the inspection feature point data to obtain the path planning data.

[0041] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned data processing method for map updating.

[0042] According to the fourth aspect of the present application, an electronic device is proposed, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the above-mentioned data processing method for map updating.

[0043] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0044] In the present application, by acquiring data to be updated, wherein the data to be updated includes map data to be updated and environmental change data, the map data to be updated is data used to represent the map to be updated, and the environmental change data is data used to represent environmental changes; performing path planning processing on the robot according to the map data to be updated and the environmental change data, obtaining path planning data, wherein the path planning data is data used to represent the robot's planned inspection path; acquiring inspection data, wherein the inspection data is data used to represent the robot's inspection according to the path planning data; performing map update processing based on key frame matching on the map data to be updated according to the inspection data, obtaining updated map data. The robot's inspection path is planned by the current map data and environmental change data, and the robot's inspection data is obtained, and the current map is updated according to the key frames in the inspection data. The map data is collected in combination with the environmental information, thereby improving the efficiency and accuracy of map updates. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0046] Figure 1 A flowchart of a data processing method for map updating provided by the present application;

[0047] Figure 2 A flowchart of a data processing method for map updating provided by the present application;

[0048] Figure 3 A flowchart of a data processing method for map updating provided by the present application;

[0049] Figure 4 A schematic diagram of a data processing device for map updating provided by the present application;

[0050] Figure 5 A schematic diagram of another data processing method for map updating provided in this application. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0054] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0055] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In some optional embodiments of the present application, a data processing method for map updating is proposed. Figure 1A flowchart of a data processing method for map updating provided in this application, such as Figure 1 As shown, the method comprises the following steps:

[0057] S101: Acquire data to be updated;

[0058] The data to be updated include map data to be updated and environmental change data. The map data to be updated is data used to represent the map to be updated. The map data to be updated is the current map data, which can be the initial map data or the map data after the initial map is updated. The environmental change data is data used to represent environmental changes, including time data, weather data, event data, etc.

[0059] S102: performing path planning processing on the robot according to the map data to be updated and the environmental change data to obtain path planning data;

[0060] Path planning data is data used to represent the robot's planned inspection path. Through robot inspection, data within the scope of the map to be updated is collected and processed during the inspection process, and point cloud data is collected so that the map to be updated can be updated based on the point cloud data collected during the inspection process. By planning the robot's inspection path based on map data and environmental change data, collecting point cloud data to update the map, collecting key locations within the map range, and updating the map based on the collected point cloud data, computing power can be saved during the map update process and map update efficiency can be improved.

[0061] In an optional embodiment of the present application, a data processing method for map updating is proposed. Figure 2 A flowchart of a data processing method for map updating provided in this application, such as Figure 2 As shown, the method comprises the following steps:

[0062] S201: performing feature point extraction processing on the map data to be updated to obtain feature point data;

[0063] Feature point data is used to represent the feature location in the map to be updated. The feature location is the data of the robot inspection point in the map.

[0064] S202: extracting and processing the environmental change data based on state characteristics to obtain environmental state characteristic data;

[0065] Environmental state characteristic data is characteristic data used to represent changes in environmental states;

[0066] S203: Screening and processing the characteristic points according to the characteristic point data and the environmental state characteristic data to obtain inspection characteristic point data;

[0067] In an optional embodiment of the present application, a data processing method for map updating is proposed, comprising:

[0068] The environmental state characteristic data is identified and processed to obtain time characteristic data and event characteristic data, wherein the time characteristic data is characteristic data used to represent the time in the map to be updated, and the event characteristic data is characteristic data used to represent the event in the map to be updated; the time characteristic data and the event characteristic data are predicted based on the position prediction model to obtain predicted position data; the points corresponding to the predicted position data are matched among the feature points corresponding to the feature point data to obtain inspection feature point data.

[0069] The environmental status characteristic data is identified. Within the preset map range, the environment is constantly changing. The environmental data within the current time is obtained, including time data and event data, wherein the time data is data used to represent environmental information affected by time, such as the season, weather and other data of the current time; the event data is data used to represent events occurring within the preset map range, including the specific location of the event, the type of event, the time of the event, etc.; the time characteristic data and the event characteristic data are processed for position prediction through a position prediction model to obtain predicted position data, wherein the predicted position data is data used to represent the predicted position that is prone to change, and the corresponding inspection feature points are matched according to the predicted position to obtain the inspection feature points, so as to match the inspection points that are convenient for inspecting the above-mentioned positions that are prone to change, and the inspection routes are planned according to the inspection feature points.

[0070] In another optional embodiment of the present application, a data processing method for map updating is proposed to train the above-mentioned location prediction model, which is to predict and process the feature points in the preset map based on time features and event features, and obtain sample training data, wherein the sample training data includes sample environmental state feature data and sample map data, and the sample map data corresponds to the sample state feature data. Under different environmental state features, the corresponding maps are different; the sample map data is subjected to distinguishing feature extraction processing based on the preset map data to obtain distinguishing map data, the preset map data is the initial map data, and the distinguishing map data is the distinguishing data between the sample map and the initial map under the sample environmental state; the sample environmental state feature data is subjected to identification processing to obtain sample time feature data and sample event feature data, and the sample time feature data and the sample event feature data are used as the input of the preset machine learning model, and the distinguishing map data is used as the output of the preset machine learning model, and the preset machine learning model is subjected to model training processing to obtain the location prediction model. By training the location prediction model, the locations that are prone to map changes within the preset map range can be predicted, so as to facilitate the planning of inspection routes.

[0071] S204: Perform robot path planning processing according to the inspection feature point data to obtain path planning data.

[0072] In another optional embodiment of the present application, a data processing method for map updating is proposed to implement robot path planning processing, the method comprising:

[0073] Acquire robot operation data, wherein the robot operation data is data used to represent the robot's operating status; perform identification processing on the robot operation data to obtain first position data and second position data, wherein the first position data is data used to represent the robot's position, and the second position data is data used to represent the robot's operating target task position; perform path planning processing on the first position data, the second position data, and the inspection feature point data to obtain path planning data.

[0074] In an optional embodiment of the present application, the robot's current position data and task data are acquired and the robot's route is planned, so that key frame data within the map range can be collected during the robot's task execution to facilitate map update processing.

[0075] In another optional embodiment of the present application, when there are multiple robots within the map range, the position data of the multiple robots are obtained, and the inspection robot is selected according to the path distance formed by the above-mentioned inspection feature points and the robots respectively, and the target inspection robot is obtained. The target inspection robot performs the map update inspection task.

[0076] S103: Obtain inspection data;

[0077] The inspection data is used to represent the data obtained by the robot when performing an inspection according to the path planning data. The inspection data includes point cloud data collected during the inspection process. The robot is provided with a point cloud collection device to collect relevant data when the robot performs an inspection according to the above-mentioned planned path. The point cloud collection device is used to collect point cloud images. The point cloud collection device may include but is not limited to 3D laser sensors, depth cameras, etc.

[0078] S104: performing map update processing based on key frame matching on the map data to be updated according to the inspection data to obtain updated map data.

[0079] In an optional embodiment of the present application, a data processing method for map updating is proposed. Figure 3 A flowchart of a data processing method for map updating provided in this application, such as Figure 3 As shown, the method comprises the following steps:

[0080] S301: performing key frame-based extraction processing on the inspection data to obtain key frame data to be processed;

[0081] The key frame data to be processed is data used to represent the updated map key frame;

[0082] S302: performing a first matching process based on point cloud data on the key frame data to be processed and the map data to be updated to obtain process matching result data;

[0083] S303: Perform a second matching process based on point cloud features on the process matching result data to obtain updated map data.

[0084] In another optional embodiment of the present application, a data processing method for map updating is proposed, comprising:

[0085] The key frame data to be processed is subjected to extraction processing based on the target position to obtain first data to be matched, wherein the first data to be matched is map data used to represent the target position; the map data to be updated is subjected to extraction processing based on the target position to obtain second data to be matched, wherein the second data to be matched is data used to represent the target position in the map to be updated; the first data to be matched and the second data to be matched are subjected to point cloud update processing to obtain process matching result data.

[0086] The first matching process of the key frame data to be processed may be performed using a normal distribution transform (NDT) matching algorithm to obtain process matching result data; the second matching process of the process matching result data may be performed using an LSP algorithm to obtain updated map data.

[0087] In another optional embodiment of the present application, a data processing device for map updating is provided. Figure 4 A schematic diagram of a data processing device for map updating provided by the present application, such as Figure 4 As shown, including:

[0088] A first data acquisition module 41 is used to acquire data to be updated, wherein the data to be updated includes map data to be updated and environment change data, the map data to be updated is data used to represent the map to be updated, and the environment change data is data used to represent environment changes;

[0089] A planning module 42, configured to perform path planning processing on the robot according to the map data to be updated and the environmental change data, to obtain path planning data, wherein the path planning data is data for indicating the inspection path planned by the robot;

[0090] A second data acquisition module 43, used to acquire inspection data, wherein the inspection data is data used to represent the inspection obtained by the robot according to the path planning data;

[0091] The map updating module 44 is used to perform a map updating process based on key frame matching on the map data to be updated according to the inspection data to obtain updated map data.

[0092] In another optional embodiment of the present application, a data processing device for map updating is provided. Figure 5 A schematic diagram of a data processing device for map updating provided by the present application, such as Figure 5 As shown, including:

[0093] The point extraction module 51 is used to perform feature point extraction processing on the map data to be updated to obtain feature point data, wherein the feature point data is data used to represent the feature position in the map to be updated;

[0094] A state feature extraction module 52, used for performing state feature-based extraction processing on the environmental change data to obtain environmental state feature data, wherein the environmental state feature data is feature data used to represent environmental state changes;

[0095] A point determination module 53 is used to perform feature point screening processing according to the feature point data and the environmental state feature data to obtain inspection feature point data;

[0096] The path planning module 54 is used to perform robot path planning processing according to the inspection feature point data to obtain the path planning data.

[0097] The specific manner of executing the operation of each unit in the above embodiment has been described in detail in the embodiment of the method, and will not be elaborated here.

[0098] In summary, in the present application, by acquiring data to be updated, wherein the data to be updated includes map data to be updated and environmental change data, the map data to be updated is data used to represent the map to be updated, and the environmental change data is data used to represent environmental changes; performing path planning processing on the robot according to the map data to be updated and the environmental change data, to obtain path planning data, wherein the path planning data is data used to represent the robot's planned inspection path; obtaining inspection data, wherein the inspection data is data used to represent the robot's inspection according to the path planning data; performing map update processing based on key frame matching on the map data to be updated according to the inspection data, to obtain updated map data. The robot's inspection path is planned by the current map data and environmental change data, to obtain the robot's inspection data, and the current map is updated according to the key frames in the inspection data. The map data is collected in combination with the environmental information, thereby improving the efficiency and accuracy of map updates.

[0099] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0100] Obviously, those skilled in the art should understand that the above-mentioned units or steps of the present application can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present application is not limited to any specific combination of hardware and software.

[0101] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A data processing method for map updating, characterized in that: include: Acquire data to be updated, wherein the data to be updated includes map data to be updated and environment change data, the map data to be updated is data used to represent the map to be updated, and the environment change data is data used to represent environment changes; Performing path planning processing on the robot according to the map data to be updated and the environmental change data to obtain path planning data, wherein the path planning data is data used to represent the inspection path planned by the robot; Acquire inspection data, wherein the inspection data is data used to represent the inspection obtained by the robot according to the path planning data; According to the inspection data, a map update process based on key frame matching is performed on the map data to be updated to obtain updated map data.

2. The data processing method according to claim 1, characterized in that: The path planning data obtained by performing path planning processing on the robot according to the map data to be updated and the environmental change data include: Performing feature point extraction processing on the map data to be updated to obtain feature point data, wherein the feature point data is data used to represent feature positions in the map to be updated; Performing state feature-based extraction processing on the environmental change data to obtain environmental state feature data, wherein the environmental state feature data is feature data used to represent changes in environmental states; Performing feature point screening processing according to the feature point data and the environmental state feature data to obtain inspection feature point data; Robot path planning is performed according to the inspection feature point data to obtain the path planning data.

3. The data processing method according to claim 2, characterized in that: The characteristic point data and the environmental state characteristic data are subjected to screening processing to obtain inspection characteristic point data, including: Identify and process the environmental state feature data to obtain time feature data and event feature data, wherein the time feature data is feature data for indicating the time in the map to be updated, and the event feature data is feature data for indicating the event in the map to be updated; Performing prediction processing on the time feature data and the event feature data based on a location prediction model to obtain predicted location data; The points corresponding to the predicted position data are matched among the feature points corresponding to the feature point data to obtain the inspection feature point data.

4. The data processing method according to claim 2, characterized in that: The robot path planning process is performed according to the inspection feature point data, and the path planning data obtained includes: Acquiring robot operation data, wherein the robot operation data is data used to represent the operation status of the robot; Identify and process the robot operation data to obtain first position data and second position data, wherein the first position data is data used to indicate the position of the robot, and the second position data is data used to indicate the position of the robot's target task; The first position data, the second position data and the inspection feature point data are processed by path planning to obtain the path planning data.

5. The data processing method according to claim 1, characterized in that: Performing a map update process based on key frame matching on the map data to be updated according to the inspection data to obtain updated map data includes: Performing key frame-based extraction processing on the inspection data to obtain key frame data to be processed, wherein the key frame data to be processed is data used to represent a key frame for updating a map; Performing a first matching process based on point cloud data on the key frame data to be processed and the map data to be updated to obtain process matching result data; The process matching result data is subjected to a second matching process based on point cloud features to obtain the updated map data.

6. The data processing method according to claim 1, characterized in that: The key frame data to be processed and the map data to be updated are subjected to a first matching process based on point cloud data to obtain process matching result data including: Performing extraction processing based on the target position on the key frame data to be processed to obtain first data to be matched, wherein the first data to be matched is map data corresponding to the target position; Performing extraction processing based on the target position on the map data to be updated to obtain second data to be matched, wherein the second data to be matched is data corresponding to the target position in the map to be updated; Point cloud update processing is performed on the first data to be matched and the second data to be matched to obtain the process matching result data.

7. A data processing device for map updating, characterized in that: include: A first data acquisition module is used to acquire data to be updated, wherein the data to be updated includes map data to be updated and environment change data, the map data to be updated is data used to represent the map to be updated, and the environment change data is data used to represent environmental changes; A planning module, used for performing path planning processing on the robot according to the map data to be updated and the environmental change data to obtain path planning data, wherein the path planning data is data used to represent the robot's planned inspection path; A second data acquisition module is used to acquire inspection data, wherein the inspection data is used to represent data obtained by the robot performing inspection according to the path planning data; The map updating module is used to perform a map updating process based on key frame matching on the map data to be updated according to the inspection data to obtain updated map data.

8. The data processing device according to claim 7, characterized in that: The planning modules include: A point extraction module, used for performing feature point extraction processing on the map data to be updated to obtain feature point data, wherein the feature point data is data used to represent feature positions in the map to be updated; A state feature extraction module, used for performing state feature-based extraction processing on the environmental change data to obtain environmental state feature data, wherein the environmental state feature data is feature data used to represent changes in environmental states; A point determination module, used for screening and processing characteristic points according to the characteristic point data and the environmental state characteristic data, to obtain inspection characteristic point data; The path planning module is used to perform robot path planning processing according to the inspection feature point data to obtain the path planning data.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the data processing method for map updating according to any one of claims 1 to 6.

10. An electronic device, characterized in that: include: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the data processing method for map updating as described in any one of claims 1-6.

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