CN107608364A - A kind of intelligent robot for undercarriage on data center's physical equipment - Google Patents
A kind of intelligent robot for undercarriage on data center's physical equipment Download PDFInfo
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Abstract
The present invention provides undercarriage robot in a kind of intelligence to the data center such as server and interchanger physical equipment, including：Wheel-mounted robot body and handling device, wherein：The robot body includes laser radar, odometer and central processing module, and the laser radar is used to scan and gather the environmental information of robot body in the work environment；The odometer is used for the travel information for measuring robot body's work；The central processing module is used to obtain the environmental information obtained from the laser radar, according to the grating map of the environmental information construction work environment, obtains robot itself posture information, carries out path planning and control machine people is moved accordingly；The handling device is arranged on the robot body, for being operated to the carrying, restocking and undercarriage that carry out server.The present invention carries out upper undercarriage operation to server apparatus instead of manpower, reduces the expenditure of human cost.
Description
Technical field
The present invention relates to device intelligence installing area, more particularly to a kind of intelligence for undercarriage on data center's physical equipment
Can robot.
Background technology
IT system scale amounts in enterprise are also increasing at present, and number of devices is also more and more in data center.Face
To increasing IT physical equipments, the change request brought in face of business development, in daily maintenance work, to server
Carry out that the demand of undercarriage is very big, complete undercarriage in the intelligence to server and can improve business to reach the standard grade efficiency, preferably support
Business development.
In the prior art, to undercarriage on data center server typically using manually upper undercarriage：Even if manually enter line number
According to the upper undercarriage of central server, it is necessary first to the rack position and U positions of artificial enquiry server, carry server to specific bit
Put and carry on the installation site of determination, install rear hand-kept Server location information.
The shortcomings that above method is present：
(1) inefficient operation, artificial enquiry Server location information is needed before operating in this method, walks to equipment machine
Cabinet.
(2) human cost is high, and this method uses manual operation completely, and the weight of existing server generally requires 3 adults
People completes to install together；
The content of the invention
A kind of in view of the above-mentioned problems, the present invention is intended to provide intelligence machine for undercarriage on data center's physical equipment
People.
The purpose of the present invention is realized using following technical scheme：
A kind of intelligent robot for undercarriage on data center's physical equipment, including：Wheel-mounted robot body
And handling device, wherein：
The robot body includes laser radar, odometer and central processing module,
The laser radar is used to scan and gather the environmental information of robot body in the work environment；
The odometer is used for the travel information for measuring robot body's work；
The central processing module is used to obtain the environmental information obtained from the laser radar, according to the environmental information
The grating map of construction work environment, robot itself posture information is obtained, carry out path planning and control machine people carries out phase
The movement answered；
The handling device is arranged on the robot body, for carrying, restocking and the undercarriage to carrying out server
Operation.
Preferably, the robot body still further comprises rate control module, for setting intelligence control according to user
The translational speed of robot processed.
Preferably, the handling device includes but is not limited to binocular camera, image processing module, control module and radio frequency
Identification module, wherein：
The binocular camera, for gathering the image information of the handling device working region, and it is sent to the figure
As processing module；
Image processing module, for handling the image information collected, obtain server apparatus or server machine
The accurate location of cabinet；
The control module is used to control the handling device to complete server apparatus upper undercarriage operation；
The radio frequency identification module is used to scan and identify the label information on server apparatus and server cabinet；
Beneficial effects of the present invention are：A kind of intelligent machine for undercarriage on data center's physical equipment provided by the invention
Device people, the artificial upper undercarriage for carrying out server apparatus is replaced to work by robot, according to the server to needing upper undercarriage
Position is positioned, and searches out the position where server exactly, and being automatically performed upper undercarriage by handling device works, and reduces
The expenditure of human cost.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the frame construction drawing of the present invention；
Fig. 2 is the frame construction drawing of handling device in the present invention；
Fig. 3 is the frame construction drawing of central processing module in the present invention.
Reference：
Image collecting device 1, central processing unit 2, bogey 3, mobile device 4, image processing module 20, control mould
Block 21, memory module 22, except element of noise 202, luminance compensation unit 202, Crack Detection unit 204 and crack identification unit
206
Embodiment
With reference to following application scenarios, the invention will be further described.
As shown in figure 1, a kind of intelligent robot for undercarriage on data center's physical equipment, including：It is wheel-mounted
Robot body 1 and handling device 2, wherein：
The robot body 1 includes laser radar 11, odometer 12 and central processing module,
The laser radar 11 is used to scan and gather the environmental information of robot body 1 in the work environment；
The odometer 12 is used to measure the travel information that the robot body 1 works；
The central processing module is used to obtain the environmental information obtained from the laser radar 11, is believed according to the environment
The grating map of construction work environment is ceased, obtains robot itself posture information, path planning is carried out and control machine people is carried out
It is corresponding mobile；
The handling device 2 is arranged on the robot body 1, for carry out the carrying of server, restocking and under
Frame operates.
Preferably, the robot body 1 still further comprises rate control module 2314, for setting intelligence according to user
The translational speed of energy control machine people.
The above embodiment of the present invention, the artificial upper undercarriage for carrying out server apparatus is replaced to work by robot, according to right
Need the position of the server of undercarriage to be positioned, search out the position where server exactly, by handling device certainly
It is dynamic to complete upper undercarriage work, reduce the expenditure of human cost.
Preferably, referring to Fig. 2, the handling device 2 include but is not limited to binocular camera 21, image processing module 22,
Control module 23 and radio frequency identification module 24, wherein：
The binocular camera 21, for gathering the image information of the working region of handling device 2, and it is sent to described
Image processing module 22；
Image processing module 22, for handling the image information collected, obtain server apparatus or server
The accurate location of rack；
The control module 23 is used to control the handling device 2 to complete server apparatus upper undercarriage operation；
The radio frequency identification module 24 is used to scan and identify the label information on server apparatus and server cabinet.
This preferred embodiment, by setting radio frequency identification module on handling device, server can be obtained exactly and set
Label information on standby and rack, and be accurately positioned by the camera, robot is further increased to server
The accuracy and adaptability of undercarriage in equipment.
Preferably, memory cell 130, SLAM units 132, path planning list are included referring to Fig. 3, the central processing module
Member 134, motion control unit 136 and Inertial Measurement Unit 138, wherein：
The memory cell 130 is used to store the grating map information for establishing working environment by robot；
The SLAM units 132 are used for according to the environmental information construction work environment collected from the laser radar 11
Grating map and acquisition robot itself posture information；
The path planning unit 134, for according to the grating map information, robot itself posture information and purpose
Ground information carries out global path planning；
The motion control unit 136 is used for according to the grating map information, robot itself posture information and path
Planning control robot moves；
The Inertial Measurement Unit 138 is used for the movement state information for obtaining robot, exports inertia measurement data.
Wherein, SLAM (full name is simultaneous localization and mapping), represent simultaneously positioning with
Map structuring technology.
This preferred embodiment, set by above-mentioned module, pass through collection of the laser radar to robot working environment, structure
Grating map simultaneously obtains robot itself posture information, and undercarriage robot can be according to the server apparatus position of input in intelligence
With rack position automatic path planning, the function to required position by server apparatus automatic conveying is realized, is further improved
Robot it is intelligent.
Preferably, the SLAM units 132, for being predicted to the pose of robot, it is specially：
(1) set interim particle set representations asWherein particle Represent robot posture information, MtRepresent map feature,Particle weights are represented, N represents that interim particle concentrates particle
Total number；
(2) using the speed and robot location's vector of particle swarm optimization algorithm prediction robot, wherein：
The function that calculating robot's speed uses for：
In formula,WithThe speed of t+1 and t the i-th generation population particle is illustrated respectively in,Represent robot in t
The posture information at quarter, ω represent inertia weight,The optimal location that the i-th generation population particle once lived through is represented,Represent i-th
For population once neck optimal location, r1And r2For the random number being distributed between [0,1], c1And c2Represent adding for setting
The fast factor；
Calculating robot's posture information function for using of prediction for：
In formula,WithRobot is represented respectively in t+1 and the posture information of t,Represent at the t+1 moment i-th
For the speed of population particle；
(3) if particle extreme value place is inferior to the average extreme value place of population, it is p to carry out probability to the particlemChange
Xor；
(4) obtain to the degree of optimization of robot predicting position, the self-defined fitness function used for：
Wherein F represents the degree of optimization of robot predicting position,The measurement noise covariance matrix of robot is represented,
ztPRepresent prediction of the t robot to road sign observation, ztRepresent that robot t robot satisfies the need target observation, c3
The accelerated factor of setting is represented, sqrt () represents square root function, and T represents Evolution of Population algebraically；
(5) if the degree of optimization F of robot predicting position is less than the threshold value of setting, new road sign observation z is obtainedt
And renewal map feature MtIn road sign feature；
(6) particle weights are updatedThe function wherein used for：
(7) repeat step (2) to (6), until traveling through all particles in interim particle collection S；
(8) particle weights normalization, and resampling are carried out：From interim particle collectionThe middle size according to weight is in proportion
Extract example and add particles into new particle collectionIn；
From new particle collectionIt is middle to obtain the prediction posture information of robot, and robot is positioned.
This preferred embodiment, the posture information for obtaining robot itself with the aforedescribed process is adopted, using Particle Swarm Optimization
Method, the posture information of itself according to the cartographic information of acquisition, can be judged exactly and adjustment is optimized to it, improved
The accuracy of predicted position in position fixing process.
Preferably, the path planning unit 134, for according to the grating map information, robot itself pose letter
Breath and destination information carry out global path planning, are specially：
(1) grating map is obtained, the initial parameter in initialization path planning algorithm, including：Grid size C, ant kind
Group quantity A, iterations I, pheromones primary quantity p, pheromones weights α, heuristic information weights β, path security information weights
σ, pheromones volatility coefficient ρ；
(2) ant information is initialized, ant is set according to the robot localization information obtained from the SLAM units
Point position, initializes ant taboo list, routing table, path length：The data deposited in taboo list represent the taboo of all grids
Situation, for recording grid current state；The grid ID that ant passes through is deposited in routing table, for recording the road that ant searches out
Footpath；Path length is initialized as 0, calculates the Euclidean distance L between grid on map；
(3) ant k (k=1,2 ..., A) is begun stepping through, and updates allowed tables of the ant k in current location, described
Allowed tables represent that the next grid information being moved to may be selected in current location by ant k, and formula computational chart is shifted according to probability
In each feasible grid transition probability, using the next grid of the method choice of roulette, selected grid ID is added ant
The routing table of ant, path length is updated, the state of this grid is updated in taboo list, ant current location is updated to selected
This grid, wherein, the transition function used for：
In formula,Represent that ant k is transferred to grid j probability, τ from grid iij(t) pheromones on the ij of section are represented
Amount, ηij(t) heuristic information value is represented, α represents pheromones weights, and β represents heuristic information weights, and σ represents that path is believed safely
Cease weights,WithThe ratio shared by obstacle grid, allowed in grid j and grid s adjacent cells adjoining grid are represented respectively
Represent the grid in the allowed tables of current location；
(4) judge whether terminal is traversed according to the taboo situation of terminal, if terminal has been traversed, input ant
The length in the path that ant k is sought, in the grid ID sequences write-in text deposited in routing table, perform k=k+1, repeat step
(3), until all ants complete route searching task；
(5) path length drawn by contrast this cycle ant, minute book cycle optimal ant numbering, and obtain
Path length and routing information, and path pheromones are volatilized and updated；
(6) judge whether iterations is equal to the greatest iteration periodicity of setting, if it is not, then ant information is reset,
Including taboo list, routing table and path length, and iterations is added 1, turn to step (3) and carry out new round search；If repeatedly
Generation number reaches the greatest iteration periodicity of setting, then using optimal path as output result.
This preferred embodiment, adopts with the aforedescribed process to reach robot rack and carry out the operation of upper undercarriage and provides the overall situation
Path planning, compared with common ant group algorithm, the above method can efficiently avoid the possibility of deadlock generation, enhance machine
The accuracy of the automatic pathfinding of device people, especially under complex environment, there is good adaptability.
Preferably, in the path planning unit 134, path pheromones are volatilized and updated, be specially：
(1) carry out Pheromone update to searching for the route result that draws from this week, the pheromones increment function used for：
In formula,Represent that ant k represents pheromones at the t cycles by the pheromones amount discharged during the ij of section, γ
Total amount, L represent the path length of ant k search, LbRepresent history shortest path length；
(2) to history optimal path carry out Pheromone update, the pheromones increment function used for：
In formula, Δ τij(t) increased total pheromone concentration, C represent grid in map on the ij of section after the expression t cycles
Sum, γ represent the total amount of pheromones, LbRepresent history shortest path length；
(3) after the pathfinding of a cycle terminates, the pheromones in path are volatilized, wherein the pheromones volatilization used
Function is：
In formula, τij(t+1) quantity of t+1 cycle informations element is represented, L represents the path length that Ant Search arrives, LbRepresent
History shortest path length, LtThe shortest path length that current period t is drawn is represented, ρ represents pheromones volatility coefficient.
This preferred embodiment, adopt and path pheromones are volatilized and updated with the aforedescribed process, the advantage according to path
The adaptive advantage that change is made to pheromone concentration, retains outstanding path, the search capability of the overall situation is improved, improves road
The effect of footpath planning.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as analysis, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (6)
- A kind of 1. undercarriage robot in intelligence to the data center such as server and interchanger physical equipment, it is characterised in that bag Include：Wheel-mounted robot body and handling device, wherein：The robot body includes laser radar, odometer and central processing module,The laser radar is used to scan and gather the environmental information of robot body in the work environment；The odometer is used for the travel information for measuring robot body's work；The central processing module is used to obtain the environmental information obtained from the laser radar, is built according to the environmental information The grating map of working environment, robot itself posture information is obtained, carry out path planning and control machine people is carried out accordingly It is mobile；The handling device is arranged on the robot body, for being operated to the carrying, restocking and undercarriage that carry out server.
- 2. undercarriage machine in a kind of intelligence to the data center such as server and interchanger physical equipment according to claim 1 Device people, it is characterised in that the robot body still further comprises rate control module, for setting intelligence control according to user The translational speed of robot processed.
- 3. undercarriage machine in a kind of intelligence to the data center such as server and interchanger physical equipment according to claim 1 Device people, it is characterised in that the handling device includes but is not limited to binocular camera, image processing module, control module and penetrated Frequency identification module, wherein：The binocular camera, for gathering the image information of the handling device working region, and it is sent at described image Manage module；Image processing module, for handling the image information collected, obtain server apparatus or server cabinet Accurate location；The control module is used to control the handling device to complete server apparatus upper undercarriage operation；The radio frequency identification module is used to scan and identify the label information on server apparatus and server cabinet.
- 4. undercarriage machine in a kind of intelligence to the data center such as server and interchanger physical equipment according to claim 2 Device people, it is characterised in that the central processing module includes memory cell, SLAM units, path planning unit, motion control list Member and Inertial Measurement Unit, wherein：The memory cell is used to store the grating map information for establishing working environment by robot；The SLAM units are used for the grating map according to the environmental information construction work environment collected from the laser radar And obtain robot itself posture information；The path planning unit, for according to the grating map information, robot itself posture information and destination information Carry out global path planning；The motion control unit is used to be controlled according to the grating map information, robot itself posture information and path planning Robot moves；The Inertial Measurement Unit is used for the movement state information for obtaining robot, exports inertia measurement data.
- 5. undercarriage machine in a kind of intelligence to the data center such as server and interchanger physical equipment according to claim 4 Device people, it is characterised in that the SLAM units, for being predicted to itself posture information of robot, be specially：(1) set interim particle set representations asWherein particle Table Show robot posture information, MtRepresent map feature,Particle weights are represented, N represents that interim particle concentrates total of particle Number；(2) using the speed and robot location's vector of particle swarm optimization algorithm prediction robot, wherein：The function that calculating robot's speed uses for：<mrow> <msubsup> <mi>v</mi> <mrow> <mi>t</mi> <mo>+</mo> <mn>1</mn> </mrow> <mi>i</mi> </msubsup> <mo>=</mo> <msubsup> <mi>&omega;v</mi> <mi>t</mi> <mi>i</mi> </msubsup> <mo>+</mo> <msub> <mi>c</mi> <mn>1</mn> </msub> <msub> <mi>r</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <msubsup> <mi>p</mi> <mrow> <mi>p</mi> <mi>b</mi> </mrow> <mi>i</mi> </msubsup> <mo>-</mo> <msubsup> <mi>X</mi> <mi>t</mi> <mi>i</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>c</mi> <mn>2</mn> </msub> <msub> <mi>r</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <msubsup> <mi>p</mi> <mrow> <mi>g</mi> <mi>b</mi> </mrow> <mi>i</mi> </msubsup> <mo>-</mo> <msubsup> <mi>X</mi> <mi>t</mi> <mi>i</mi> </msubsup> <mo>)</mo> </mrow> </mrow>In formula,WithThe speed of t+1 and t the i-th generation population particle is illustrated respectively in,Represent robot in t Posture information, ω represent inertia weight,The optimal location that the i-th generation population particle once lived through is represented,Represent the i-th generation grain Subgroup once neck optimal location, r1And r2For the random number being distributed between [0,1], c1And c2Represent setting acceleration because Son；Calculating robot's posture information function for using of prediction for：<mrow> <msubsup> <mi>X</mi> <mrow> <mi>t</mi> <mo>+</mo> <mn>1</mn> </mrow> <mi>i</mi> </msubsup> <mo>=</mo> <msubsup> <mi>X</mi> <mi>t</mi> <mi>i</mi> </msubsup> <mo>+</mo> <msubsup> <mi>v</mi> <mrow> <mi>t</mi> <mo>+</mo> <mn>1</mn> </mrow> <mi>i</mi> </msubsup> </mrow>In formula,WithRobot is represented respectively in t+1 and the posture information of t,Represent in the i-th generation of t+1 moment kind The speed of group's particle；(3) if particle extreme value place is inferior to the average extreme value place of population, it is p to carry out probability to the particlemVariation fortune Calculate；(4) obtain to the degree of optimization of robot predicting position, the self-defined fitness function used for：<mrow> <mi>F</mi> <mo>=</mo> <mi>exp</mi> <mo>{</mo> <mo>-</mo> <mi>s</mi> <mi>q</mi> <mi>r</mi> <mi>t</mi> <mo>&lsqb;</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mi>t</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mrow> <mi>t</mi> <mi>p</mi> </mrow> </msub> <mo>)</mo> <mo>&CenterDot;</mo> <msubsup> <mi>R</mi> <mi>k</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mo>&CenterDot;</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mi>t</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mrow> <mi>t</mi> <mi>P</mi> </mrow> </msub> <mo>)</mo> </mrow> <mi>T</mi> </msup> </mrow> <msub> <mi>c</mi> <mn>3</mn> </msub> </mfrac> <mo>&rsqb;</mo> <mo>}</mo> </mrow>Wherein F represents the degree of optimization of robot predicting position,Represent the measurement noise covariance matrix of robot, ztPTable Show prediction of the t robot to road sign observation, ztRepresent that robot t robot satisfies the need target observation, c3Expression is set Fixed accelerated factor, sqrt () represent square root function, and T represents Evolution of Population algebraically；(5) if the degree of optimization F of robot predicting position is less than the threshold value of setting, new road sign observation z is obtainedtAnd Update map feature MtIn road sign feature；(6) particle weights are updatedThe function wherein used for：(7) repeat step (2) to (6), until traveling through all particles in interim particle collection S；(8) particle weights normalization, and resampling are carried out：From interim particle collectionThe middle size according to weight extracts in proportion Example simultaneously adds particles into new particle collectionIn；From new particle collectionMiddle prediction itself posture information for obtaining robot
- 6. undercarriage machine in a kind of intelligence to the data center such as server and interchanger physical equipment according to claim 5 Device people, it is characterised in that the path planning unit, for according to the grating map information, robot itself posture information Global path planning is carried out with destination information, is specially：(1) grating map is obtained, the initial parameter in initialization path planning algorithm, including：Grid size C, ant population number Measure A, iterations I, pheromones primary quantity p, pheromones weights α, heuristic information weights β, path security information weights σ, letter Cease plain volatility coefficient ρ；(2) ant information is initialized, the starting point position of ant is set according to the robot localization information obtained from the SLAM units Put, initialize ant taboo list, routing table, path length：The data deposited in taboo list represent the taboo situation of all grids, For recording grid current state；The grid ID that ant passes through is deposited in routing table, for recording the path that ant searches out；Road Electrical path length is initialized as 0, calculates the Euclidean distance L between grid on map；(3) ant k is begun stepping through, and updates allowed tables of the ant k in current location, and the allowed tables represent that ant k exists The next grid information being moved to is may be selected in current location, and turning for each feasible grid in formula computational chart is shifted according to probability Probability is moved, using the next grid of the method choice of roulette, selected grid ID is added the routing table of ant, updates path length Degree, the state of this grid being updated in taboo list, ant current location is updated to this selected grid, wherein, use Transition function is：In formula,Represent that ant k is transferred to grid j probability, τ from grid iij(t) the pheromones amount on the ij of section is represented, ηij(t) heuristic information value is represented, α represents pheromones weights, and β represents heuristic information weights, and σ represents path security information power Value,WithRepresent the ratio shared by obstacle grid in grid j and grid s adjacent cells adjoining grid respectively, k=1,2 ..., A, A represent ant population quantity, and allowed represents the grid in the allowed tables of current location；(4) judge whether terminal is traversed according to the taboo situation of terminal, if terminal has been traversed, input ant k The length in the path sought, in the grid ID sequences write-in text deposited in routing table, perform k=k+1, and repeat step (3), until all ants complete route searching task；(5) path length drawn by contrast this cycle ant, minute book cycle optimal ant numbering, and obtained path Length and routing information, and path pheromones are volatilized and updated；(6) judge whether iterations is equal to the greatest iteration periodicity of setting, if it is not, then ant information is reset, including Taboo list, routing table and path length, and iterations is added 1, turn to step (3) and carry out new round search；If iteration time Number reaches the greatest iteration periodicity of setting, then using optimal path information as output result.
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