CN108241366A - A kind of mobile crusing robot and mobile cruising inspection system - Google Patents
A kind of mobile crusing robot and mobile cruising inspection system Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 140
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
The present invention provides a kind of mobile crusing robot and mobile cruising inspection system, mobile crusing robot includes：Main control unit, for sending out management instruction and control instruction according to patrol task；Automated guided vehicle platform, for completing the movement of mobile crusing robot indoors according to the management instruction；Holder, for sensor being controlled to work according to the control instruction；Sensor, for acquiring and the relevant inspection data of the patrol task.On the basis of indoor autonomous positioning navigation is completed, it realizes to building environment humiture, device temperature, the real-time automatic collecting of real-time video information, also realize equipment running status identification and the functions such as personal identification, the degree of automation higher, more intelligently, efficiency is improved, saves spending.
Description
Technical field
The present invention relates to computer lab management technologies, particularly relate to a kind of mobile crusing robot and mobile cruising inspection system.
Background technology
It is the realizations on the move such as a kind of utilization mobile terminal technology, mobile communication technology, computer technology to move inspection
The technology of inspection.The oil in China, combustion gas, tap water, the circuit of electric power, pipeline and equipment inspection, make an inspection tour management work master
The manual inspection of the regular timing of patrol officer is relied on, for manual inspection mainly by the way of hand-made paper record, workload is huge,
Inefficiency, and papery report is not easy to preserve, retrieve and for statistical analysis.Mobile inspection can to circuit, pipeline,
The scenes such as equipment are taken pictures, and patrolled and examined track is positioned and played back to inspector, realization task is worked out, task is examined, task is assigned,
Task follow-up functionality includes the positions such as inspector, defect, security risk, equipment and distribution on map.Mobile inspection in addition to
Realization more than inspection function also supports todo list, matters to be read, Email, mobile examination ＆ approval, mobile message typing, inspection
Information inquiry, schedule management, contact management, official document browsing, is downloaded and forwarding, system administration etc. are commonly used information department management
Mobile office function.User can easily select any function module to combine according to the needs of oneself.Mobile cruising inspection system
Business processing is made to have broken away from time and place limitation, is linked up whenever and wherever possible with corporate business platform, effectively improves routing inspection efficiency.
Internet data center (IDC, Internet Data Center), be ICP (ICP,
Internet Content Provider), enterprise, media and all kinds of websites extensive, high quality, safe and reliable special is provided
The business such as industry trust server, space are rented, the wholesale bandwidth of network and ASP, EC.And existing patrolling with navigation device
Robot, crusing robot based on Radio Frequency Identification Technology etc. are examined, although applying RFID technique, some is only limitted to examine
It measures into computer room, function is single；Alternatively, it is only limitted to patrol under the inspection to article and the single-mode set in staff
Inspection.And article is lost, has an accident in computer room in computer room, many aspects such as contexture by self navigation routine can not also be realized
Intelligent and automation.
Invention content
Technical problems to be solved of the embodiment of the present invention are to provide a kind of mobile crusing robot and mobile cruising inspection system, will
Mobile inspection technology is combined with computer room of internet data center management, utilizes mobile inspection, intellectual monitoring management, robot skill
Art, airmanship and sensing technology carry out automatic intelligent management for personnel, article, environment and accident in computer room etc..
In order to solve the above technical problems, a kind of mobile crusing robot provided in an embodiment of the present invention, including：
Main control unit, for sending out management instruction and control instruction according to patrol task；
Automated guided vehicle platform, for completing the shifting of mobile crusing robot indoors according to the management instruction
It is dynamic；
Holder, for sensor being controlled to work according to the control instruction；
Sensor, for acquiring and the relevant inspection data of the patrol task.
In a preferred embodiment, it further includes：
Power supply module provides satisfactory, steady dc voltage for each device cell；
The network switch, for providing the network connection between device cell for each device cell；
Communication module for providing external network connection interface, connects WIFI or 4G networks.
In a preferred embodiment,
Automated guided vehicle platform, provides communication interface and agreement, is instructed specifically for the management for receiving main control unit
And control instruction, indoor positioning, path planning, navigation and the avoidance of the mobile crusing robot of completion；
Main control unit, comprising CPU, memory, storage unit, communication interface and GPIO interface, operation has built-in Linux system
System is additionally operable to power for B classes sensor；
Holder, specifically for realizing horizontal and vertical rotation according to the management instruction and control instruction, so as to be passed for A classes
Sensor provides suitable operating angle；
Sensor includes：
A class sensors, installation and the course of work need to rely on the sensor that holder provides proper angle；
B class sensors do not depend on the sensor that holder provides proper angle.
In a preferred embodiment, automated guided vehicle platform includes：
Positioning unit, for the autonomous positioning in computer room, and according to scheduled target inspection place, contexture by self traveling road
Diameter simultaneously navigates；
Barrier sections, for advance during encounter barrier when, avoiding barrier and again path planning.
In a preferred embodiment,
A class sensors include：
Infrared temperature imaging device, for equipment infrared imaging, automatically obtaining the temperature data of equipment；
Industrial camera for the photo of the running LED of equipment in auto-focusing shooting computer room, passes through image
Identifying processing obtains the operating status of machinery equipment；
High-definition camera, can automatically horizontal and vertical rotation, for acquiring and presenting the scene in computer room in real time；
B class sensors include：
Temperature Humidity Sensor, at interval of a period of time acquisition computer room inner ring border temperature, humidity initial data, and according to
Algorithm Analysis handles the temperature, humidity initial data, and the temperature, humidity initial data can accurately show mobile inspection machine
People's specific location currently residing in computer room；
Human bioequivalence sensor, including infrared type and microwave-type, for identify in computer room whether someone；
Automatic monitoring battery capacity unit, for when battery capacity is less than certain power threshold, automatically returning to charging
Stake is charged.
In a preferred embodiment, it further includes：
IO grades of service logic units control for inspection command file of the reception from high in the clouds control platform or to high in the clouds
Platform uploads the inspection data of mobile crusing robot；
Storage data level service logic unit, for storing the inspection command file that high in the clouds control platform issues, Yi Jicun
Put the various inspection data of mobile crusing robot acquisition and generation；
Process level service logic unit, for managing multiple process level service logic subelements, each process level service logic
Subelement periodically acquires different inspection data.
In a preferred embodiment, process level service logic unit includes：
Multiple process level service logic subelements, it is single that each sensor corresponds to independent process level service logic
Member, each process level service logic subelement access respective catalogue, and inspection order is obtained from inspection command file or write-in is each
From the inspection data of acquisition；
Robot-Notify process units, for monitor in real time, acquire communication suite transmission from high in the clouds control platform
Inspection order, parse write-in inspection order shared queue after inspection order；
The agent process unit of automated guided vehicle platform, for going to target to the transmission of automated guided vehicle platform
The order of inspection point, and receive the response whether reached and receive the real-time status data of automated guided vehicle platform；
The Client process units of automated guided vehicle platform and Server process units are transported dependent on homing guidance
The program architecture of vehicle platform, for controlling the movement of automated guided vehicle platform；
Finger daemon unit, for monitoring each running state of a process in real time, if it find that there is any one process not deposit
Then at once by the process pull-up.
A kind of mobile cruising inspection system, including mobile crusing robot：And
High in the clouds control platform issues the corresponding inspection order of patrol task for real-time continuous to mobile crusing robot
File, the inspection command file include a series of inspection order.
In a preferred embodiment, high in the clouds control platform includes：
Base communication external member, the communication being used to implement between robot and high in the clouds control platform.
In a preferred embodiment,
Inspection order includes：Target inspection place and in the target inspection place action template to be performed.
In a preferred embodiment, different inspection places corresponds to identical inspection template；Inspection template includes：Machine
What the range and industrial camera that the level of user tripod head, vertical rotation angle, infrared temperature imaging device to be shot to be shot
Number of pictures.
In a preferred embodiment, high in the clouds control platform further includes：Kernel scheduling program unit has fault tolerant mechanism,
Multiple patrol tasks can be performed simultaneously.
In a preferred embodiment, high in the clouds control platform further includes：
Fault-tolerant unit, for issuing the inspection order text including continuous three inspection orders to mobile crusing robot
Part.
Compared with prior art, it is provided in an embodiment of the present invention, at least have the advantages that：It realizes to computer room ring
Border humiture, the real-time automatic collecting of real-time video information, also realizes equipment running status identification and personal identification at device temperature
Etc. functions, the degree of automation higher more intelligently, improve efficiency, save spending.
Description of the drawings
Fig. 1 is a kind of system structure diagram of automatic detecting；
Fig. 2 is the structure diagram of crusing robot；
Fig. 3 is the hardware architecture diagram of crusing robot；
Fig. 4 is the software configuration schematic diagram of crusing robot；
Fig. 5 is that the state of crusing robot shifts schematic diagram.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.In the following description, such as specific configuration is provided and the specific detail of component is only
In order to help comprehensive understanding the embodiment of the present invention.It therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without departing from scope and spirit of the present invention.In addition, for clarity and brevity, it is omitted pair
The description of known function and construction.
Internet data center (IDC, Internet Data Center) computer room, particularly rotating ring computer room part is daily
Inspection works, and mainly takes manual type, inefficiency, input cost height at present.
In order to reduce daily operating cost as far as possible, and realize the intelligence of IDC computer lab management, the embodiment of the present invention provides
A kind of mobile crusing robot, as shown in Fig. 2, including：
Main control unit, for sending out management instruction and control instruction according to patrol task；
Automated guided vehicle platform, for completing the shifting of mobile crusing robot indoors according to the management instruction
It is dynamic；
Holder, for sensor being controlled to work according to the control instruction；
Sensor, for acquiring and the relevant inspection data of the patrol task.
Using the technology provided, on the basis of indoor autonomous positioning navigation is completed, realize warm and humid to building environment
Degree, the real-time automatic collecting of real-time video information, also realizes the work(such as equipment running status identification and personal identification at device temperature
Can, the degree of automation higher more intelligently, improves efficiency, saves spending.
As shown in Figure 1, crusing robot, is responsible for performing specific patrol task, accurately acquires all kinds of inspection numbers in real time
According to being uploaded to the high in the clouds control platform of rear end by Base communication external member.Crusing robot is equivalent to the four of mobile cruising inspection system
Limb, eyes, hand and foot.
Wherein, there are inspection component, bulk state component, video component, human bioequivalence component and control in crusing robot
Component.
High in the clouds control platform issues inspection order by the way that Base communication external member is real-time continuous to crusing robot, starts
Each patrol task, each patrol task are made of a series of inspection order, inspection order include inspection place and
The inspection point action template to be performed.
Base communication external member, by WIFI, 4G or 5G network connection between crusing robot and high in the clouds control platform, specifically
The agreement that application layer is completed by Base communication external member operates.
In a preferred embodiment, as shown in figure 3, crusing robot further includes：
Power supply module provides satisfactory, steady dc voltage for each device cell；
The network switch, for providing the network connection between device cell for each device cell；
Communication module for providing external network connection interface, connects WIFI or 4G networks.
In a preferred embodiment, as shown in figure 3,
Automated guided vehicle platform (AGV, Automated Guided Vehicle), provides communication interface and agreement,
Specifically for receiving management instruction and the control instruction of main control unit, the indoor positioning of the mobile crusing robot of completion, navigation, road
Diameter is planned and avoidance；
Main control unit, comprising CPU, memory, storage unit, communication interface and GPIO interface, operation has built-in Linux system
System is additionally operable to power for B classes sensor；
Holder, specifically for realizing horizontal and vertical rotation according to the management instruction and control instruction, so as to be passed for A classes
Sensor provides suitable operating angle；Specifically, suitable shooting angle is provided for infrared, temperature imaging equipment and industrial camera
Degree；
Sensor includes：
A class sensors, installation and the course of work need to rely on the sensor that holder provides proper angle；
B class sensors do not depend on the sensor that holder provides proper angle.
In a preferred embodiment, automated guided vehicle platform includes：
Positioning unit, for the autonomous positioning in computer room, and according to scheduled target inspection place, contexture by self traveling road
Diameter simultaneously navigates；
Barrier sections, for when encountering barrier during advancing, obstacle and again path planning can be hidden.
Positioning unit, can in computer room autonomous positioning, and according to scheduled target inspection place, contexture by self travel path
And it navigates；Barrier sections, can be with avoidance and path planning again when encountering barrier during advancing；
In a preferred embodiment, A classes sensor includes：
Infrared temperature imaging device, for cabinet equipment infrared imaging, automatically obtaining the temperature data of equipment；
Industrial camera for the photo of the running LED of auto-focusing shooting calculator room equipment, is known by image
Manage the operating status for obtaining machinery equipment in other places；
High-definition camera, can automatic horizontal and vertical rotary, for being presented and acquiring computer room video in real time；
B class sensors include：
Temperature Humidity Sensor, for acquiring computer room environment temperature, humidity initial data at regular intervals, and according to algorithm
The initial data is analyzed and processed, temperature, humidity initial data can accurately show specific location currently residing in computer room；
Human bioequivalence sensor, including infrared type and microwave-type, for identify inside computer room whether someone；
Automatic monitoring battery capacity unit, for when battery capacity is less than certain threshold value, automatically return to charging pile into
Row charging.
As shown in Figure 1, inspection component includes Temperature Humidity Sensor, infrared temperature imaging device, industrial camera；
Bulk state component includes robot body state acquisition unit；
Video component includes high-definition camera；
Human bioequivalence component includes human bioequivalence sensor.
Crusing robot is using multistage, multi-process software architecture.As shown in figure 4, in a preferred embodiment, inspection
The software configuration of robot can be divided into three-level：
The first order：IO grades of softwares, i.e. Base communication external member act on behalf of (OTS Agent), are responsible for receiving flat from high in the clouds control
The inspection command file of platform or the various sensing datas that crusing robot is uploaded to high in the clouds control platform；
The second level：Storage data level, that is, various catalogues, the inspection command file that issues of storage high in the clouds control platform or
Store the various sensing datas of crusing robot generation；
The third level：Process level, each process access respective catalogue, obtain the sensing that inspection order or write-in respectively acquire
Device data.
Therefore, in a preferred embodiment, as shown in figure 4, crusing robot includes：
IO grades of service logic units control for inspection command file of the reception from high in the clouds control platform or to high in the clouds
Platform uploads the inspection data of mobile crusing robot；
Storage data level service logic unit, for storing the inspection command file that high in the clouds control platform issues, Yi Jicun
Put the various inspection data of mobile crusing robot acquisition and generation；
Process level service logic unit, for managing multiple process level service logic subelements, each process level service logic
Subelement periodically acquires different inspection data.
The instruction included in inspection command file can be off acquisition instructions, stop identification instruction, inspection template, holder
Control instruction, infrared control instruction, camera control instruction etc..
In a preferred embodiment, as shown in figure 4, process level service logic unit includes：
Multiple process level service logic subelements, it is single that each sensor corresponds to independent process level service logic
Member, each process level service logic subelement access respective catalogue, and inspection order is obtained from inspection command file or write-in is each
From the inspection data of acquisition；
Robot-Notify process units, for monitor in real time, acquire communication suite transmission from high in the clouds control platform
Inspection order, parse write-in inspection order shared queue after inspection order；
The agent process unit of automated guided vehicle platform, for going to target to the transmission of automated guided vehicle platform
The order of inspection point, and receive the response whether reached and receive the real-time status data of automated guided vehicle platform；
The Client process units of automated guided vehicle platform and Server process units are transported dependent on homing guidance
The program architecture of vehicle platform, for controlling the movement of automated guided vehicle platform；
Finger daemon unit, for monitoring each running state of a process in real time, if it find that there is any one process not deposit
Then at once by the process pull-up.
Multiple process level service logic subelements can be humiture process subelement, video process subelement, human body knowledge
Other process subelement, holder process subelement, infrared process subelement, camera process subelement.
As shown in figure 5, the state transfer of crusing robot includes：
Positioned at initial HOME points during crusing robot not inspection；
When each inspection starts, robot is first with " HOME " point location of map, if positioned successfully, at robot
In " STOPPED " state, if positioning failure, robot again attempt to position；
Robot is under " STOPPED " state, if shared queue's non-empty, that is, receive that high in the clouds control platform issues patrols
Inspection instruction, then robot goes to target inspection point (i.e. Goto Goal) according to instruction；
If robot successfully advances to target point Goal, robot enters " ARRIVED " state, otherwise, if not
Target point Goal is advanced to, then robot enters " FAILED " state, if midway robot electric quantity is insufficient, robot is at once
Current task is terminated, charging pile is gone to, and enter " DOCKING " charged state, if midway robot receives " emergent stopping "
Order, then robot terminates current task at once, into " STOPPED " state, if midway robot encounters other abnormal feelings
Condition then reports " CANNOT FIND PATH " state, is again introduced into " STOPPED " state；
It after robot enters " ARRIVED " state, starts the cycle over and performs patrol task template, until patrol task is completed
Or after time-out, into " STOPPED " state；When robot is in " FAILED " state, can again attempt to go to target point
Goto Goal, but after number of attempt transfinites, then robot enters " STOPPED " state；Robot is in " STOPPED " state,
" Goto Home " instruction can be received, returns to initial HOME points；After robot charging complete, initial HOME points are returned to.
The embodiment of the present invention provides a kind of mobile cruising inspection system, as shown in Figure 1, including mobile crusing robot：And
High in the clouds control platform issues the corresponding inspection order of patrol task for real-time continuous to mobile crusing robot
File, the inspection command file include a series of inspection order.
In a preferred embodiment, high in the clouds control platform includes：
Base communication external member, the communication being used to implement between robot and high in the clouds control platform.
In a preferred embodiment, inspection order includes：It target inspection place and to be performed in the target inspection place
Action template.
High in the clouds control platform is the brain of crusing robot, can support to control multiple crusing robots.At one preferably
In embodiment, high in the clouds control platform, for issuing inspection order, each inspection order includes：Target inspection place and on the ground
The point action template to be performed.It acts template and includes the level of crusing robot high in the clouds control platform, vertical rotation angle, it is infrared
The temperature imaging equipment range to be shot, the industrial camera number of pictures to be shot etc.；The design of action template is meant to ensure that
Accomplish to be multiplexed as far as possible in numerous inspection orders, i.e., different inspection places can correspond to identical inspection template.
In a preferred embodiment, different inspection places corresponds to identical inspection template；Inspection template includes：Machine
What the range and industrial camera that the level of user tripod head, vertical rotation angle, infrared temperature imaging device to be shot to be shot
Number of pictures.
In a preferred embodiment, high in the clouds control platform further includes：Kernel scheduling program unit has fault tolerant mechanism,
Multiple patrol tasks can be performed simultaneously.
In a preferred embodiment, high in the clouds control platform further includes：
Fault-tolerant unit, for issuing the inspection order text including continuous three inspection orders to mobile crusing robot
Part.
Under normal circumstances, when each patrol task starts, high in the clouds control platform issues first inspection to crusing robot
A is ordered, after ontology has performed order A automatically, second inspection order B can be then issued, treat that ontology has performed order B automatically
Afterwards, third inspection order C is issued, and so on.
Crusing robot is finished first order A after, wait for high in the clouds control platform issue second order；But work as
It is bad when abnormal conditions to encounter network, when ontology time-out can not receive the subsequent commands of high in the clouds control platform, then can hold automatically
The subsequent order B of row mentioned order A after B is finished, again waits for high in the clouds control platform and issue subsequent order；If
Again time out can not receive the subsequent commands of high in the clouds control platform, be further continued for performing the order C after mentioned order B automatically, await orders
After C is enabled to be finished, still wait for the inspection order that issues of high in the clouds control platform, if appoint so a still time-out can not receive high in the clouds
The subsequent commands of control platform, then robot task Network Environment of Computer Laboratory to be inspected is too poor, terminates this patrol task, automatic to return
To Home points.
But in order to which inspection order caused by coping with possible Network Abnormal can not timely be handed down to crusing robot,
High in the clouds control platform takes a kind of fault tolerant mechanism, and in a preferred embodiment, the fault tolerant mechanism of crusing robot includes：Often
It is secondary that the file for including continuous 3 inspection orders is issued to crusing robot, such as:Order A order B order C.
For the further development to existing IDC computer lab management and perfect, using the technology provided,.Pass through body-sensing skill
Art realizes recognition of face, human-computer interaction, more intelligent for the management of computer room staff；It, can be with by sensing technology
Environmental information is obtained in real time, so as to fulfill the real-time control to building environment；It can in real time be looked into us by monitoring technology
See field data；It is that we realize intelligent mobile detection by the application of robot technology；Technology by radio communication makes
The device can communicate etc. with mobile terminal and monitoring center in real time.In traditional IDC computer lab management, management is realized
Height it is intelligent, by sensor technology, body-sensing technology, robot technology, monitoring technology, wireless communication technique, RFID technique
Perfect adaptation is realized to staff's intellectual management, and equipment management is intelligent, and environmental management is intelligent, management modernization
And real time implementation.And it also needs to a large amount of staff in some respects no longer as product before and goes manual monitoring management.
The method and apparatus of this intelligence IDC inspections, have not only saved human resources, while also reduce management cost.Right combination
Management is made to have more flexibility, practicability and controllability with modern scientific and technological means, following management aspect is provided
A kind of intelligent management solution.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these specific feature, knots
Structure or characteristic can in any suitable manner combine in one or more embodiments.
In various embodiments of the present invention, it should be appreciated that the size of the serial number of following each processes is not meant to perform suitable
The priority of sequence, the execution sequence of each process should be determined with its function and internal logic, without the implementation of the reply embodiment of the present invention
Process forms any restriction.
In addition, the terms " system " and " network " are often used interchangeably herein.
It should be understood that the terms "and/or", only a kind of incidence relation for describing affiliated partner, expression can deposit
In three kinds of relationships, for example, A and/or B, can represent：Individualism A exists simultaneously A and B, these three situations of individualism B.
In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
In embodiment provided herein, it should be appreciated that " B corresponding with A " represents that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (13)
1. a kind of mobile crusing robot, which is characterized in that including：
Main control unit, for sending out management instruction and control instruction according to patrol task；
Automated guided vehicle platform, for completing the movement of mobile crusing robot indoors according to the management instruction；
Holder, for sensor being controlled to work according to the control instruction；
Sensor, for acquiring and the relevant inspection data of the patrol task.
2. mobile crusing robot as described in claim 1, which is characterized in that further include：
Power supply module provides satisfactory, steady dc voltage for each device cell；
The network switch, for providing the network connection between device cell for each device cell；
Communication module for providing external network connection interface, connects WIFI or 4G networks.
3. mobile crusing robot as claimed in claim 2, which is characterized in that
Automated guided vehicle platform, provides communication interface and agreement, instructs and controls specifically for the management for receiving main control unit
Indoor positioning, path planning, navigation and the avoidance of mobile crusing robot are completed in system instruction；
Main control unit, comprising CPU, memory, storage unit, communication interface and GPIO interface, operation has embedded Linux system,
It is additionally operable to power for B classes sensor；
Holder, specifically for realizing horizontal and vertical rotation according to the management instruction and control instruction, so as to be A class sensors
Suitable operating angle is provided；
Sensor includes：
A class sensors, installation and the course of work need to rely on the sensor that holder provides proper angle；
B class sensors do not depend on the sensor that holder provides proper angle.
4. mobile crusing robot as claimed in claim 3, which is characterized in that automated guided vehicle platform includes：
Positioning unit, for the autonomous positioning in computer room, and according to scheduled target inspection place, contexture by self travel path is simultaneously
Navigation；
Barrier sections, for advance during encounter barrier when, avoiding barrier and again path planning.
5. mobile crusing robot as claimed in claim 3, which is characterized in that
A class sensors include：
Infrared temperature imaging device, for equipment infrared imaging, automatically obtaining the temperature data of equipment；
Industrial camera for the photo of the running LED of equipment in auto-focusing shooting computer room, is identified by image
Processing obtains the operating status of machinery equipment；
High-definition camera, can automatically horizontal and vertical rotation, for acquiring and presenting the scene in computer room in real time；
B class sensors include：
Temperature Humidity Sensor, for acquiring computer room inner ring border temperature, humidity initial data, and according to algorithm at interval of a period of time
The temperature, humidity initial data are analyzed and processed, the temperature, humidity initial data can accurately show that mobile crusing robot is worked as
Preceding residing specific location in computer room；
Human bioequivalence sensor, including infrared type and microwave-type, for identify in computer room whether someone；
Automatic monitoring battery capacity unit, for when battery capacity is less than certain power threshold, automatically return to charging pile into
Row charging.
6. mobile crusing robot as described in claim 1, which is characterized in that further include：
IO grades of service logic units, for receiving inspection command file from high in the clouds control platform or to high in the clouds control platform
Upload the inspection data of mobile crusing robot；
Storage data level service logic unit, for storing inspection command file and the storage shifting that high in the clouds control platform issues
Dynamic crusing robot acquisition and the various inspection data of generation；
Process level service logic unit, for managing multiple process level service logic subelements, each process level service logic is single
Member periodically acquires different inspection data.
7. mobile crusing robot as claimed in claim 6, which is characterized in that process level service logic unit includes：
Multiple process level service logic subelements, each sensor correspond to an independent process level service logic subelement, respectively
Process level service logic subelement accesses respective catalogue, and inspection order is obtained from inspection command file or write-in is respectively adopted
The inspection data of collection；
Robot-Notify process units, for monitoring, acquiring the patrolling from high in the clouds control platform of communication suite transmission in real time
Inspection order parses write-in inspection order shared queue after inspection order；
The agent process unit of automated guided vehicle platform, for going to target inspection to the transmission of automated guided vehicle platform
The order of point, and receive the response whether reached and receive the real-time status data of automated guided vehicle platform；
The Client process units of automated guided vehicle platform and Server process units, put down dependent on automated guided vehicle
The program architecture of platform, for controlling the movement of automated guided vehicle platform；
Finger daemon unit, for monitoring each running state of a process in real time, if it find that thering is any one process to be not present, then
At once by the process pull-up.
8. a kind of mobile cruising inspection system, which is characterized in that including the mobile crusing robot in claim any one of 1-7：With
And
High in the clouds control platform issues the corresponding inspection order text of patrol task for real-time continuous to mobile crusing robot
Part, the inspection command file include a series of inspection order.
9. mobile cruising inspection system as claimed in claim 8, which is characterized in that high in the clouds control platform includes：
Base communication external member, the communication being used to implement between robot and high in the clouds control platform.
10. mobile cruising inspection system as claimed in claim 8, which is characterized in that
Inspection order includes：Target inspection place and in the target inspection place action template to be performed.
11. mobile cruising inspection system as claimed in claim 8, which is characterized in that different inspection places correspond to identical inspection
Template；Inspection template includes：Level, vertical rotation angle, the infrared temperature imaging device range to be shot of machine user tripod head,
And the industrial camera number of pictures to be shot.
12. mobile cruising inspection system as claimed in claim 8, which is characterized in that high in the clouds control platform further includes：Kernel scheduling journey
Sequence unit has fault tolerant mechanism, can be performed simultaneously multiple patrol tasks.
13. mobile cruising inspection system as claimed in claim 8, which is characterized in that high in the clouds control platform further includes：
Fault-tolerant unit, for issuing the inspection command file for including continuous three inspection orders to mobile crusing robot.
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