阅读说明：本技术 物业机器人导航方法、装置、计算机设备和存储介质 (Industrial robot navigation method and device, computer equipment and storage medium ) 是由 闻迅 彭正良 于 2019-09-11 设计创作，主要内容包括：本申请涉及智慧城市技术领域,应用于建筑物内导航行业,提供一种物业机器人导航方法、装置、计算机设备和存储介质,其中,方法包括：在预设BIM三维模型中携带有建筑物BIM数据、建筑物中楼宇管控对象身份标识与位置数据以及建筑物中预埋传感装置身份标识与位置数据,可以基于预设BIM三维模型,生成与准确的导航路径,并且识别出处于在该导航路径上的目标楼宇管控对象以及目标预埋传感装置作为交互/控制对象,在后续数据交互中基于目标预埋传感装置持续跟踪物业机器人,当侦测到物业机器人到达目标楼宇管控对象的作业范围区域内时,发送控制消息至目标楼宇管控对象,以使目标楼宇管控对象支持物业机器人通行。(The application relates to the technical field of smart cities, which is applied to the navigation industry in buildings and provides kinds of physical robot navigation methods, devices, computer equipment and storage media, wherein the method comprises the steps of carrying building BIM data, building control object identification and position data in the buildings and embedded sensor device identification and position data in the buildings in a preset BIM three-dimensional model, generating and accurately navigating paths based on the preset BIM three-dimensional model, identifying target building control objects and target embedded sensor devices on the navigating paths as interaction/control objects, continuously tracking the objects based on the target embedded sensor devices in subsequent data interaction, and sending control messages to the target building control objects when detecting that an object robot reaches the operating range area of the target building control objects so as to enable the target building control object support to pass through.)

An method for navigating an industrial robot, applied to the interior of a building, the method comprising:

receiving task data of the industrial robot, and reading a task starting point position and a task ending point position carried in the task data;

generating a navigation path according to the position of the task starting point, the position of the task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity and position data of a building control object in the building and identity and position data of a pre-embedded sensing device in the building, and the building is a building where the robot to be navigated is located;

guiding the navigation path into an industrial robot, and identifying a target building control object and a target embedded sensing device on the navigation path;

continuously tracking the physical robot according to data returned by the target embedded sensing device;

and when the object robot is detected to reach the operating range area of the target building control object, sending a control message to the target building control object so that the target building control object supports the object robot to pass through.

2. The method of claim 1, wherein before generating the navigation path according to the task start point position, the task end point position and the preset BIM three-dimensional model corresponding to the building, the method further comprises:

obtaining an original BIM three-dimensional model of a building;

according to the original BIM three-dimensional model, acquiring identity identification and position data of a building control object in a building;

reading the identity identification and the position data of the embedded sensing device, and associating the identity identification of the building control object at the adjacent position with the identity identification of the embedded sensing device to obtain updated data;

and updating the updating data into the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

3. The method according to claim 2, wherein the updating the update data into the original BIM three-dimensional model of the building, and the generating of the preset BIM three-dimensional model corresponding to the building comprises:

converting the position data of the pre-embedded sensing device in the updating data into three-dimensional space coordinate data;

marking the space coordinate axis parameters on the original BIM three-dimensional model of the building according to the three-dimensional space coordinate data;

and adding corresponding embedded sensing device identity marks at the labeling positions, and updating the associated building control object identity marks and the embedded sensing device identity marks to a database corresponding to the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

4. The method of claim 1, wherein prior to introducing the navigation path to the industrial robot, further comprising:

extracting a task type label carried by the task data;

searching an object robot of which the task type label corresponds to the task type;

and selecting the physical robot for executing the task from the physical robots corresponding to the task type according to the position of the task starting point and the principle of closest distance.

5. The method as claimed in claim 1, wherein the sending a control message to the target building control object when detecting that the object robot reaches the operation area of the target building control object comprises:

when the object robot is detected to reach the operating range area of the target building control object, identifying that the target building control object is forbidden or an elevator;

if is forbidden, forbidding opening message is sent to the forbidding;

and if the elevator is the elevator, sending an elevator calling request to the elevator.

6. The method of claim 1, further comprising:

identifying the floor where the physical robot is located according to data returned by the target embedded sensing device;

extracting a plane navigation map formed by the floor plane from the preset BIM three-dimensional model;

pushing a planar navigation map to the industrial robot;

when the fact that the industrial robot needs cross-layer movement is recognized, the position of a cross-layer movement channel where the industrial robot is located;

extracting a corresponding vertical navigation map from the preset BIM three-dimensional model according to the position of the cross-layer motion channel;

and pushing the vertical navigation map to the industrial robot.

7. The method of claim 1,

when it is detected that the object robot reaches the operation range area of the target building control object, before sending a control message to the target building control object, the method further includes:

pushing an activation message to the target building control object, wherein the activation message is used for enabling the target building control object to broadcast a broadcast message carrying a self identity identifier in an operation range area of the target building control object;

when the fact that the object robot reaches the operation range area of the target building control object is detected, sending a control message to the target building control object comprises the following steps:

and when broadcast messages uploaded by the industrial robot are received, sending a control message to the target building control object corresponding to the identity identifier carried in the broadcast message.

An object robot navigation device of kinds, characterized in that, applied to the inside of a building, the device includes:

the receiving module is used for receiving the task data of the industrial robot and reading a task starting point position and a task ending point position carried in the task data;

the navigation path generation module is used for generating a navigation path according to the position of the task starting point, the position of the task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity and position data of a building control object in the building and identity and position data of a sensor device pre-embedded in the building, and the building is the building where the robot of the object to be navigated is located;

the identification module is used for guiding the navigation path into the physical robot and identifying a target building control object and a target embedded sensing device on the navigation path;

the tracking module is used for continuously tracking the physical robot according to data returned by the target embedded sensing device;

and the control module is used for sending a control message to the target building control object when the object robot is detected to reach the operating range area of the target building control object, so that the target building control object supports the object robot to pass through.

Computer device of , comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program is configured to carry out the steps of the method of any of claims 1 to 7 as claimed in .

10, computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any of claims 1 to 7, wherein represents a set of instructions for carrying out the method.

Technical Field

The application relates to the technical field of intelligent property, in particular to kinds of industrial robot navigation methods, devices, computer equipment and storage media.

Background

With the development of science and technology, is widely applied to various fields of artificial intelligence at present, and great convenience is brought to production and life of people.

In the field of intelligent property, at present, industrial robots including patrol security robots, garbage cleaning robots, article express robots, food express robots, emergency rescue robots and the like provide services including article delivery, garbage cleaning, food delivery, emergency rescue and the like for users.

However, in the current practical application, because the navigation, positioning and control in the building are greatly different from the traditional technology, and the difference between the two-dimensional plane navigation and the three-dimensional plane navigation exists, the traditional navigation and robot control technology cannot be well applied to the working environment in the building, and the development and promotion of the object robot technology are seriously hindered.

Disclosure of Invention

In view of the above, it is necessary to provide kinds of industrial robot navigation methods, apparatuses, computer devices, and storage media suitable for the working environment in the building in order to solve the above technical problems.

A method for navigating an industrial robot, applied to the interior of a building, the method comprising:

receiving task data of the industrial robot, and reading a task starting point position and a task ending point position carried in the task data;

generating a navigation path according to the position of the task starting point, the position of the task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity and position data of a building control object in the building and identity and position data of a pre-embedded sensing device in the building, and the building is a building where the robot to be navigated is located;

guiding the navigation path into an industrial robot, and identifying a target building control object and a target embedded sensing device on the navigation path;

continuously tracking the physical robot according to data returned by the target embedded sensing device;

and when the object robot is detected to reach the operating range area of the target building control object, sending a control message to the target building control object so that the target building control object supports the object robot to pass through.

In embodiments, before generating a navigation path according to the task start point location, the task end point location, and a preset BIM three-dimensional model corresponding to a building, the method further includes:

obtaining an original BIM three-dimensional model of a building;

according to the original BIM three-dimensional model, acquiring identity identification and position data of a building control object in a building;

reading the identity identification and the position data of the embedded sensing device, and associating the identity identification of the building control object at the adjacent position with the identity identification of the embedded sensing device to obtain updated data;

and updating the updating data into the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, the updating the update data into the original BIM three-dimensional model of the building, and the generating of the preset BIM three-dimensional model corresponding to the building includes:

converting the position data of the pre-embedded sensing device in the updating data into three-dimensional space coordinate data;

marking the space coordinate axis parameters on the original BIM three-dimensional model of the building according to the three-dimensional space coordinate data;

and adding corresponding embedded sensing device identity marks at the labeling positions, and updating the associated building control object identity marks and the embedded sensing device identity marks to a database corresponding to the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, before the introducing the navigation path to the industrial robot, the method further includes:

extracting a task type label carried by the task data;

searching an object robot of which the task type label corresponds to the task type;

and selecting the physical robot for executing the task from the physical robots corresponding to the task type according to the position of the task starting point and the principle of closest distance.

In embodiments, the sending a control message to the target building control object when detecting that the object robot reaches the operation range area of the target building control object includes:

when the object robot is detected to reach the operating range area of the target building control object, identifying that the target building control object is forbidden or an elevator;

if is forbidden, forbidding opening message is sent to the forbidding;

and if the elevator is the elevator, sending an elevator calling request to the elevator.

In embodiments, the method further comprises:

identifying the floor where the physical robot is located according to data returned by the target embedded sensing device;

extracting a plane navigation map formed by the floor plane from the preset BIM three-dimensional model;

pushing a planar navigation map to the industrial robot;

when the fact that the industrial robot needs cross-layer movement is recognized, the position of a cross-layer movement channel where the industrial robot is located;

extracting a corresponding vertical navigation map from the preset BIM three-dimensional model according to the position of the cross-layer motion channel;

and pushing the vertical navigation map to the industrial robot.

In embodiments, when it is detected that the object robot reaches the operation area of the target building control object, before sending a control message to the target building control object, the method further includes:

pushing an activation message to the target building control object, wherein the activation message is used for enabling the target building control object to broadcast a broadcast message carrying a self identity identifier in an operation range area of the target building control object;

when the fact that the object robot reaches the operation range area of the target building control object is detected, sending a control message to the target building control object comprises the following steps:

and when broadcast messages uploaded by the industrial robot are received, sending a control message to the target building control object corresponding to the identity identifier carried in the broadcast message.

A navigation device for an industrial robot, applied to the interior of a building, the device comprising:

the receiving module is used for receiving the task data of the industrial robot and reading a task starting point position and a task ending point position carried in the task data;

the navigation path generation module is used for generating a navigation path according to the position of the task starting point, the position of the task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity and position data of a building control object in the building and identity and position data of a sensor device pre-embedded in the building, and the building is the building where the robot of the object to be navigated is located;

the identification module is used for guiding the navigation path into the physical robot and identifying a target building control object and a target embedded sensing device on the navigation path;

the tracking module is used for continuously tracking the physical robot according to data returned by the target embedded sensing device;

and the control module is used for sending a control message to the target building control object when the object robot is detected to reach the operating range area of the target building control object, so that the target building control object supports the object robot to pass through.

computer device comprising a memory storing a computer program and a processor implementing the steps of the method as described above when the processor executes the computer program.

computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method as described above.

The method, the device, the computer equipment and the storage medium for navigating the object robot carry building BIM data, identity identification and position data of a building control object in a building and identity identification and position data of a pre-embedded sensing device in the building in a preset BIM three-dimensional model, can generate and accurately navigate a path based on the preset BIM three-dimensional model, identify a target building control object and the target pre-embedded sensing device on the navigation path as interaction/control objects, continuously track the object robot based on the target pre-embedded sensing device in subsequent data interaction, and send a control message to the target building control object when detecting that the object robot reaches an operation range area of the target building control object so that the target building control object supports the object robot to pass through, thereby realize the good management and control of the interior industrial robot of building.

Drawings

Fig. 1 is an application environment diagram of the navigation method of an industrial robot;

fig. 2 is a flow chart schematic diagram of an example industrial robot navigation method;

fig. 3 is a schematic flow chart of a navigation method of another embodiments of the industrial robot;

fig. 4 is a block diagram showing the construction of an example of the navigation device of the industrial robot;

fig. 5 is an internal structural view of a computer device in embodiments.

Detailed Description

For purposes of making the present application, its objects, aspects and advantages more apparent, the present application is described in further detail with reference to the drawings and the examples.

The method for navigating the physical robot can be applied to an application environment shown in figure 1, a server communicates with the physical robot, a built-in sensing device and a building control object (for convenience of explanation, the building control object in figure 1 is respectively drawn as forbidden and an elevator) through a network, the built-in sensing device is laid in the building in advance, the building control object specifically comprises forbidden in the building, the elevator and the like, forbidden comprises a specific room entrance , specific area safety , inter-floor fire prevention and the like, the server receives externally introduced physical robot task data, reads a task starting point position and a task ending point position carried in the task data, generates a navigation path according to the task starting point position and the task ending point position and a preset BIM three-dimensional model corresponding to the building, preset BIM data carried by the BIM three-dimensional model, building control object identification and position data in the building and the built-in sensing device identification and position data in the building, and the building control object identification and position data of the built-in sensing device and the building control object are led into the building tracking object, and the building control object is continuously transmitted to the building control server through the building tracking robot, and the building control object, and the building control robot can continuously transmit a plurality of the built-in-built-in-building control object control robot through the network, and the building control robot.

In embodiments, as shown in fig. 2, methods for navigating an industrial robot are provided, which are applied to the interior of a building, and are described by taking the method applied to the server in fig. 1 as an example, and the method comprises the following steps:

s100: and receiving the task data of the industrial robot, and reading the position of a task starting point and the position of a task ending point carried in the task data.

The task data of the industrial robot is imported from the outside, specifically, the whole building management and control cloud platform directly imports the data into a server, and the task data carries a task starting point position and a task ending point position. For example, the server receives the No. 1 industrial robot task data, and the No. 1 industrial robot task data carries 103 rooms with a task start point position of floor 1 and 918 rooms with a task end point position (destination) of floor 9.

S200: and generating a navigation path according to the position of the task starting point, the position of the task ending point and a preset BIM three-dimensional model corresponding to the building, wherein the preset BIM three-dimensional model carries building BIM data, identity identification and position data of a building control object in the building and identity identification and position data of a pre-embedded sensing device in the building, and the building is the building where the robot to be navigated is located.

The BIM model technology is that a physical three-dimensional space model is built for a building, building information models built by inputting various building information data are loaded on the space models, the BIM three-dimensional models can be generated through a BIM model building tool or system based on building data of the building, kinds of building BIM data, building control object identification and position data in the building and a preset BIM three-dimensional model of embedded sensing device identification and position data in the building are adopted, the BIM three-dimensional models are different from an original BIM three-dimensional model which only carries BIM data, building control objects comprise forbidden devices and elevators, a server adjusts paths for an object robot to pass through in the building by controlling the building control objects, embedded sensing devices are devices which are embedded in the building in advance to achieve sensing, communication and other functions, the embedded sensing devices can be arranged in the whole building in a distributed mode, steps can be selected corresponding to the embedded sensing devices which are partially embedded in the building with the building control object, the embedded sensing devices are arranged corresponding to achieve sensing, communication and the shortest sensing path of the embedded sensing devices 34 or multiple sensing devices are arranged in the whole building, the embedded sensing devices can be selected as a shortest distance between the embedded sensing devices, the embedded sensing devices and the embedded sensing devices, the embedded sensing devices are selected as a shortest distance between the building control object, the embedded sensing device and the embedded device, the embedded sensing device can be selected from the embedded sensing device, the embedded three-dimensional sensing device embedded sensing device, the embedded three-dimensional model, the embedded sensing device embedded three-dimensional model, the embedded.

S300: and guiding the navigation path into the physical robot, and identifying a target building control object and a target embedded sensing device on the navigation path.

The method comprises the steps that for example, a 103 room with a task starting point position of 1 building and a 918-room with a task ending point position (destination) of 9 buildings are set as a 103 room with the task starting point position of 1 building, a navigation path is generated based on a preset BIM model, and path information is carried in the navigation path, specifically, the navigation path carries straight-going X meters → 1-1 No. forbidden → straight-going Y meters → elevator calling to 9 building → elevator taking 1 to 9 building → 9 No. passing 9-2 No. → straight-going Z meters to reach the destination, the building control object identity and corresponding target building control object carried in the navigation path comprise No. 1-1 No. forbidden, No. 9-2 No. forbidden and No. 1 elevator, the embedded sensing device identity and corresponding target building control object arranged in the navigation path are arranged in a hall of 1-1, No. 1-2 No. 3-9 pre-embedded sensing device, a pre-embedded sensing device No. 1-9, a pre-embedded sensing device No. 3 and a pre-embedded sensing device arranged in the hall of 1-9 building, the pre-9 building, the embedded sensing device arranged in the hall of 1-9 building, the pre-2 building, the embedded sensing device arranged in the hall of 1-9 building, the pre-9, the embedded sensing device arranged in the hall of 1-2 building, the embedded sensing device arranged in the hall of 1-9, the pre-9, the embedded sensing device of 1 building, the embedded hall of 1-2, the embedded sensing device of 1 building.

S400: and continuously tracking the object robot according to the data returned by the target embedded sensing device.

The target embedded sensing device can acquire images, infrared, sound waves or microwave data of the surrounding environment and transmits the acquired data back to the server, and the server continuously tracks the object robot according to the target embedded sensing device. Specifically, taking an image as an example, each target embedded sensing device can upload the image data collection of the visual angle range of the target embedded sensing device to a server, the server executes image processing based on an image model of the physical robot, and judges which target embedded sensing device collects the current physical robot, so that the position of the current physical robot is determined, and the tracking of the physical robot is realized. And if not necessary, the object robot can also actively punch a card, when the object reaches a certain target embedded sensing device working area, a 'reach' message is sent to the target embedded sensing device, and the target embedded sensing device combines the reached and self identity to generate return data and uploads the return data to the server. For example, at a certain moment, the object robot enters the working range of the number 1-4 embedded sensing device, the object robot sends an arrival message to the number 1-4 embedded sensing device, the number 1-4 embedded sensing device combines the arrival with the self identity (number 1-4) to generate return data, the return data is uploaded to the server, and the server can track and know that the current object robot is in the working range of the number 1-4 embedded sensing device.

S500: when the object robot is detected to reach the operation range area of the target building control object, a control message is sent to the target building control object, so that the target building control object supports the object robot to pass through.

When the object robot is tracked to be about to arrive at the vicinity of a target building control object, whether the object robot arrives in the operation range area of the target building control object or not is judged, when the object robot arrives in the operation range area of the target building control object, a control message is sent to the target building control object, the control message is used for enabling the target building control object to work or switching the state of the target building control object so as to enable the target building control object to support the robot to pass through, the target building control object is forbidden example, the control message can be an 'opening forbidden' message, when the object robot is detected to arrive at a position 3 meters away from forbidden, the server sends an opening forbidden message to forbidden messages, forbidden object robot can pass through the forbidden object, when the target building control object is used as an elevator, the control message can be a 'elevator calling request' message, when the object is detected to arrive at a position of an elevator hall, the server sends an elevator calling request to an elevator control terminal so that the elevator car is controlled to run to the floor where the object car is located, the object robot enters the elevator car, and the elevator car.

According to the method for navigating the object robot, building BIM data, identity and position data of a building control object in a building and identity and position data of a pre-embedded sensing device in the building are carried in a preset BIM three-dimensional model, a navigation path can be generated and accurate based on the preset BIM three-dimensional model, a target building control object and the target pre-embedded sensing device which are located on the navigation path are identified to be used as interaction/control objects, the object robot is continuously tracked based on the target pre-embedded sensing device in subsequent data interaction, when the object robot is detected to reach the operation range area of the target building control object, a control message is sent to the target building control object, so that the target building control object support robot passes through, and good control of the object robot in the building is achieved.

In embodiments, before generating the navigation path according to the task start point position, the task end point position, and the preset BIM three-dimensional model corresponding to the building, the method further includes:

obtaining an original BIM three-dimensional model of a building; according to the original BIM three-dimensional model, acquiring identity identification and position data of a building control object in a building; reading the identity identification and the position data of the embedded sensing device, and associating the identity identification of the building control object at the adjacent position with the identity identification of the embedded sensing device to obtain updated data; and updating the updating data into the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

The method comprises the steps that related data in the whole building are carried in an original BIM three-dimensional model, various building control object identification marks and corresponding position data are included in the data, for example, an eastern side of each floors of a certain building is provided with an elevator, an elevator waiting hall entering the elevator is forbidden, namely, an elevator 1-1 arranged at the eastern side position of 1 floor in the building and an elevator waiting hall forbidden 1-1 entering the elevator waiting hall can be obtained according to the original BIM three-dimensional model, embedded sensing device identification marks and position data are read, the data belong to the data collected from a third party (an embedded sensing device construction or design party) and led into a BIM three-dimensional model updating preparation database, building control object identification marks and embedded sensing device identification marks at adjacent positions are associated, if the elevator 1-1 and the embedded sensing devices 1-10 arranged in the elevator waiting hall are stored in an associated mode, the read data and the associated data are written into the original BIM three-dimensional model as updating data, a preset BIM model of the building is generated, particularly, the read identification marks of the elevator 1-1 and the embedded sensing device identification marks and the embedded sensing devices in the original BIM three-dimensional model can be directly associated to an axis of the building control object identification marks in the embedded sensing device updating preparation database.

In embodiments, updating the update data into the original BIM three-dimensional model of the building, and generating the preset BIM three-dimensional model corresponding to the building includes:

converting position data of the embedded sensing devices in the updating data into three-dimensional space coordinate data; according to the three-dimensional space coordinate data, marking space coordinate axis parameters on the original BIM three-dimensional model of the building; and adding corresponding embedded sensing device identity marks at the labeling positions, and updating the associated building control object identity marks and the embedded sensing device identity marks to a database corresponding to the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

Based on the position data of the embedded sensing devices in the updated data, the position data is converted into three-dimensional space coordinate data, space coordinate axis parameters on the original BIM of the building are labeled according to the coordinate data, namely XYZ axis parameters on the BIM are labeled, corresponding embedded sensing device identity marks are added at the labeling positions, and the identity marks of the associated building control object and the embedded sensing device identity marks are updated to a corresponding database of the original BIM of the building step to generate the preset BIM three-dimensional model of the building.

As shown in fig. 3, in embodiments, before step S300, the method further includes:

s220: and extracting the task type label carried by the task data.

S240: and searching the object robot of which the task type label corresponds to the task type.

S260: and selecting the physical robot for executing the task from the physical robots corresponding to the task type according to the position of the task starting point and the principle of closest distance.

The task type label is used for representing a task type, the label is carried in the object robot task data, the specific label can be a task type code, a task type name abbreviation, a task type corresponding icon and the like, and the specific label can be set according to actual conditions and designer requirements.

In practical application, the server receives the task data of the industrial robot, the task type label "1" carried in the extraction is found, according to the label and the task type corresponding relation table, the task type label "1" is searched to correspond to express delivery service, the express delivery industrial robot in the current idle state comprises the No. 1 industrial robot, the No. 2 industrial robot and the No. 3 industrial robot, the No. 1 industrial robot which is the closest to the position of a task starting point is selected as the current industrial robot according to the principle that the distance is the shortest in the original design.

In embodiments, the navigation of the industrial robot further comprises the steps of identifying the floor where the industrial robot is located according to data returned by the target embedded sensing device, extracting a plane navigation map formed by the floor plane where the industrial robot is located from the preset BIM three-dimensional model, pushing the plane navigation map to the industrial robot, locating the position of a cross-layer movement channel where the industrial robot is located when the industrial robot needs cross-layer movement, extracting a corresponding vertical navigation map from the preset BIM three-dimensional model according to the position of the cross-layer movement channel, and pushing the vertical navigation map to the industrial robot.

The plane navigation map indicates navigation maps of floors, and the vertical navigation map is a navigation map corresponding to the object robot during cross-floor movement, wherein the cross-floor movement comprises slope movement through a safety channel or movement through an elevator.

In embodiments, when it is detected that the object robot reaches the operation area of the target building control object, before sending the control message to the target building control object, the method further includes:

and pushing an activation message to the target building control object, wherein the activation message is used for enabling the target building control object to broadcast a broadcast message carrying the self identity in an operation range area of the target building control object.

When the object robot is detected to reach the operation range area of the target building control object, sending a control message to the target building control object comprises the following steps:

when broadcast messages uploaded by the industrial robot are received, control messages are sent to target building control objects corresponding to the identity marks and carried in broadcast messages.

In this embodiment, the server controls a target building control object to push broadcast messages in a self operation range area in an broadcast mode, the broadcast messages carry self identity identifiers, when the physical robot enters an operation range area of a certain target building control object, the physical robot receives broadcast messages pushed by the broadcast of the target building control object, the physical robot uploads broadcast messages to the server, the server identifies the target building control object which needs to be controlled currently according to the identity identifiers carried in the broadcast messages, and sends a control message to the target building control object, so that the target building control object support robot passes through.

It should be understood that although the steps in the flow charts of fig. 2 and 3 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in the sequence indicated by the arrows, unless explicitly stated herein, the steps are not strictly limited in order of performance and may be performed in other sequences, and further, at least the portion of the steps in fig. 2 and 3 may include multiple sub-steps or phases, which are not necessarily performed at the same time , but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternated with other steps or at least portions of sub-steps or phases of other steps.

As shown in fig. 4, the present application also provides an type of industrial robot navigation device for use inside a building, the device comprising:

the receiving module 100 is used for receiving the task data of the industrial robot and reading a task starting point position and a task ending point position carried in the task data;

the navigation path generation module 200 is used for generating a navigation path according to the position of a task starting point, the position of a task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity and position data of a building control object in the building and identity and position data of a pre-embedded sensing device in the building, and the building is the building where the robot of the object to be navigated is located;

the identification module 300 is used for guiding the navigation path into the physical robot and identifying a target building control object and a target embedded sensing device on the navigation path;

the tracking module 400 is used for continuously tracking the object robot according to the data returned by the target embedded sensing device;

the control module 500 is configured to send a control message to the target building control object when it is detected that the object robot reaches the operation area of the target building control object, so that the target building control object supports the object robot to pass through.

The object robot navigation device carries building BIM data in a preset BIM three-dimensional model, building control object identification and position data in a building and embedded sensing device identification and position data in the building, a navigation path can be generated and accurate based on the preset BIM three-dimensional model, a target building control object and a target embedded sensing device on the navigation path are identified to be used as interaction/control objects, the object robot is continuously tracked based on the target embedded sensing device in subsequent data interaction, when the object robot is detected to reach the operation range area of the target building control object, a control message is sent to the target building control object, so that the target building control object support robot passes through, and good control of the object robot in the building is achieved.

In embodiments, the above-mentioned industrial robot navigation device further comprises:

the model building module is used for obtaining an original BIM three-dimensional model of a building; according to the original BIM three-dimensional model, acquiring identity identification and position data of a building control object in a building; reading the identity identification and the position data of the embedded sensing device, and associating the identity identification of the building control object at the adjacent position with the identity identification of the embedded sensing device to obtain updated data; and updating the updating data into the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, the model building module is further configured to convert position data of embedded sensing devices in the update data into three-dimensional space coordinate data, label spatial coordinate axis parameters on the original BIM of the building according to the three-dimensional space coordinate data, add corresponding embedded sensing device identities at the labeled positions, update the associated building control object identities and the embedded sensing device identities to a database corresponding to the original BIM of the building, and generate the preset BIM of the building.

In embodiments, the above-mentioned industrial robot navigation device further includes an industrial robot selection module, which is used to extract task type tags carried by the task data, search for an industrial robot whose task type tag corresponds to the task type, and select an industrial robot that executes the task from the industrial robots that correspond to the task type according to the task starting point position and the closest principle.

In embodiments, the control module 500 is further configured to identify that the target building control object is forbidden or is an elevator when the detection object robot reaches the operation area of the target building control object, send a forbidden start message to forbidden if the detection object robot is forbidden, and send an elevator calling request to the elevator if the detection object robot is an elevator.

In embodiments, the navigation device for the object robot further comprises a navigation map module, wherein the navigation map module is used for identifying the floor where the object robot is located according to data returned by the target embedded sensing device, extracting a plane navigation map formed by the floor plane where the object robot is located from the preset BIM three-dimensional model, pushing the plane navigation map to the object robot, locating the position of a cross-layer motion channel where the object robot is located when the object robot needs cross-layer motion, extracting a corresponding vertical navigation map from the preset BIM three-dimensional model according to the position of the cross-layer motion channel, and pushing the vertical navigation map to the object robot.

In embodiments, the control module 500 is further configured to push an activation message to the target building management and control object, where the activation message is used to enable the target building management and control object to broadcast a broadcast message carrying its own identity in its own operating range area , and when it is detected that the physical robot reaches the operating range area of the target building management and control object, sending a control message to the target building management and control object includes sending a control message to the target building management and control object carrying the identity in the received broadcast message when receiving the broadcast message uploaded by the physical robot.

For specific definitions of the navigation device of the industrial robot, reference may be made to the above definitions of the navigation method of the industrial robot, which are not described in detail here. The modules in the above-mentioned navigation device for an industrial robot may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In embodiments, computer devices are provided, which may be servers, the internal structure of which may be as shown in fig. 5, wherein the computer devices include a processor, a memory, a network interface and a database connected by a system bus, wherein the processor of the computer devices is used to provide computing and control capabilities, the memory of the computer devices includes a non-volatile storage medium, an internal memory, the non-volatile storage medium stores an operating system, a computer program and a database, the internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium, the database of the computer devices is used to store data such as a preset BIM three-dimensional model, etc., the network interface of the computer devices is used to communicate with an external terminal through a network connection, and the computer program is executed by the processor to implement the robot navigation method.

Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In embodiments, computer devices are provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

receiving task data of the industrial robot, and reading a task starting point position and a task ending point position carried in the task data;

generating a navigation path according to the position of a task starting point, the position of a task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity identification and position data of a building control object in the building and identity identification and position data of a pre-embedded sensing device in the building, and the building is the building where the robot to be navigated is located;

guiding the navigation path into the physical robot, and identifying a target building control object and a target embedded sensing device on the navigation path;

continuously tracking the object robot according to data returned by the target embedded sensing device;

when the object robot is detected to reach the operation range area of the target building control object, a control message is sent to the target building control object, so that the target building control object supports the object robot to pass through.

In embodiments, the processor when executing the computer program further performs the steps of:

obtaining an original BIM three-dimensional model of a building; according to the original BIM three-dimensional model, acquiring identity identification and position data of a building control object in a building; reading the identity identification and the position data of the embedded sensing device, and associating the identity identification of the building control object at the adjacent position with the identity identification of the embedded sensing device to obtain updated data; and updating the updating data into the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, the processor when executing the computer program further performs the steps of:

converting position data of the embedded sensing devices in the updating data into three-dimensional space coordinate data; according to the three-dimensional space coordinate data, marking space coordinate axis parameters on the original BIM three-dimensional model of the building; and adding corresponding embedded sensing device identity marks at the labeling positions, and updating the associated building control object identity marks and the embedded sensing device identity marks to a database corresponding to the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, the processor when executing the computer program further performs the steps of:

extracting a task type label carried by the task data; searching an industrial robot of which the task type label corresponds to the task type; and selecting the physical robot for executing the task from the physical robots corresponding to the task type according to the position of the task starting point and the principle of closest distance.

In embodiments, the processor when executing the computer program further performs the steps of:

when the detection object robot reaches the operation area of the target building control object, the target building control object is identified to be forbidden or an elevator, if the target building control object is forbidden, a forbidden opening message is sent to forbidden, and if the target building control object is an elevator, an elevator calling request is sent to the elevator.

In embodiments, the processor when executing the computer program further performs the steps of:

identifying the floor where the object robot is located according to data returned by the target embedded sensing device; extracting a plane navigation map formed by the floor planes from a preset BIM three-dimensional model; pushing the plane navigation map to the industrial robot; when the fact that the industrial robot needs cross-layer movement is recognized, the position of a cross-layer movement channel where the industrial robot is located; extracting a corresponding vertical navigation map from a preset BIM three-dimensional model according to the position of the cross-layer motion channel; and pushing the vertical navigation map to the industrial robot.

In embodiments, the processor when executing the computer program further performs the steps of:

the method comprises the steps of pushing an activation message to a target building control object, wherein the activation message is used for enabling the target building control object to broadcast a broadcast message carrying an identity identifier in an operation range area of the target building control object, and when receiving a broadcast message uploaded by an industrial robot, sending a control message to the target building control object corresponding to the identity identifier in the received broadcast message.

In embodiments, computer readable storage media are provided, on which a computer program is stored which, when executed by a processor, performs the steps of:

receiving task data of the industrial robot, and reading a task starting point position and a task ending point position carried in the task data;

generating a navigation path according to the position of a task starting point, the position of a task ending point and a preset BIM three-dimensional model corresponding to a building, wherein the preset BIM three-dimensional model carries building BIM data, identity identification and position data of a building control object in the building and identity identification and position data of a pre-embedded sensing device in the building, and the building is the building where the robot to be navigated is located;

guiding the navigation path into the physical robot, and identifying a target building control object and a target embedded sensing device on the navigation path;

continuously tracking the object robot according to data returned by the target embedded sensing device;

when the object robot is detected to reach the operation range area of the target building control object, a control message is sent to the target building control object, so that the target building control object supports the object robot to pass through.

In embodiments, the computer program when executed by the processor further performs the steps of:

obtaining an original BIM three-dimensional model of a building; according to the original BIM three-dimensional model, acquiring identity identification and position data of a building control object in a building; reading the identity identification and the position data of the embedded sensing device, and associating the identity identification of the building control object at the adjacent position with the identity identification of the embedded sensing device to obtain updated data; and updating the updating data into the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, the computer program when executed by the processor further performs the steps of:

converting position data of the embedded sensing devices in the updating data into three-dimensional space coordinate data; according to the three-dimensional space coordinate data, marking space coordinate axis parameters on the original BIM three-dimensional model of the building; and adding corresponding embedded sensing device identity marks at the labeling positions, and updating the associated building control object identity marks and the embedded sensing device identity marks to a database corresponding to the original BIM three-dimensional model of the building to generate a preset BIM three-dimensional model of the building.

In embodiments, the computer program when executed by the processor further performs the steps of:

extracting a task type label carried by the task data; searching an industrial robot of which the task type label corresponds to the task type; and selecting the physical robot for executing the task from the physical robots corresponding to the task type according to the position of the task starting point and the principle of closest distance.

In embodiments, the computer program when executed by the processor further performs the steps of:

when the detection object robot reaches the operation area of the target building control object, the target building control object is identified to be forbidden or an elevator, if the target building control object is forbidden, a forbidden opening message is sent to forbidden, and if the target building control object is an elevator, an elevator calling request is sent to the elevator.

In embodiments, the computer program when executed by the processor further performs the steps of:

identifying the floor where the object robot is located according to data returned by the target embedded sensing device; extracting a plane navigation map formed by the floor planes from a preset BIM three-dimensional model; pushing the plane navigation map to the industrial robot; when the fact that the industrial robot needs cross-layer movement is recognized, the position of a cross-layer movement channel where the industrial robot is located; extracting a corresponding vertical navigation map from a preset BIM three-dimensional model according to the position of the cross-layer motion channel; and pushing the vertical navigation map to the industrial robot.

In embodiments, the computer program when executed by the processor further performs the steps of:

the method comprises the steps of pushing an activation message to a target building control object, wherein the activation message is used for enabling the target building control object to broadcast a broadcast message carrying an identity identifier in an operation range area of the target building control object, and when receiving a broadcast message uploaded by an industrial robot, sending a control message to the target building control object corresponding to the identity identifier in the received broadcast message.

It will be understood by those of ordinary skill in the art that all or a portion of the processes of the methods of the embodiments described above may be implemented by a computer program instructing associated hardware, which may be stored in a non-volatile computer-readable storage medium that, when executed, may include processes of embodiments of the methods described above, wherein any reference to memory, storage, database or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.