CN108972497A - A kind of data center's cruising inspection system - Google Patents
A kind of data center's cruising inspection system Download PDFInfo
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- CN108972497A CN108972497A CN201810917309.5A CN201810917309A CN108972497A CN 108972497 A CN108972497 A CN 108972497A CN 201810917309 A CN201810917309 A CN 201810917309A CN 108972497 A CN108972497 A CN 108972497A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of data center's cruising inspection systems, including server, intelligent terminal and crusing robot, the intelligent terminal and crusing robot are communicated by network and server, the intelligent terminal is used to issue control command with user orientation server, server generates control instruction according to the control command received, and control instruction is sent to crusing robot, crusing robot is according to the control instruction received, enter data center, the artificial acquisition data center of substitution needs the inspection data of inspection, and collected inspection data are sent to server, server handles the inspection data received, storage, and it is sent to intelligent terminal.The present invention controls robot and replaces manual inspection, overcomes the defect of manual inspection completely, and does not have to install video monitoring system and various sensors in computer room, greatly reduces the construction cost and management cost of computer room.
Description
Technical field
The present invention relates to robot more particularly to a kind of systems for data center's inspection.
Background technique
In IT industry, computer room generally refers to telecommunications, Netcom, movement, two-wire, electric power and government or enterprise etc., storage
Server provides the place of service IT for user and employee, tens small square meters, general to place twenty or thirty cabinet, greatly
Square meters up to ten thousand place thousands of a cabinets, even more, usually place various servers and minicomputer inside computer room, such as IBM small
Type machine, HP minicomputer, SUN minicomputer etc., the temperature and humidity and anti-static precautions of computer room have strict requirements, non-special
Industry project personnel not can enter generally.
Computer room is exactly Internet data center (Internet Data Center), abbreviation IDC, is exactly that telecommunication department utilizes
Existing internet communication route, establishes standardized telecommunication field grade building environment at broadband resource, provides for enterprise, government
The all-around service of trust server, rental and related increment etc..
Computer room is equipped with multiple systems and equipment, includes mainly fresh air system, air-conditioning system, distribution first cabinet of each row system, disappears
Anti- system, video system, lighting system, door and window system, centralized monitoring system, electric system, floor system, infrared theft system
System, access control system, broken glass alarm system, comprehensive wiring system, leak detection system, ups system, ceiling framework etc..
In order to which server can be operated normally, the Daily Round Check of computer room is had to carry out.Data center machine room
Inspection mainly include following content: carry out the inspection of server, to system database carry out backup and software systems inspection
It looks into；Carry out the inspection of network of computer room equipment；Carry out the detection of corporate networks state.Additionally to search in time, find network and
Information system hidden trouble of equipment, debugging.Such as: (1) power supply, UPS: check computer room power supply situation, UPS working condition, instruction
State.(2) server: checking whether server works as machine, and server (disk array) hard disk lamp indicates whether normally.(3) computer room
Environment: computer room air-conditioning work state, computer room temperature are checked.(4) network equipment, including interchanger, routing the network equipment: are checked
Device, firewall etc. and its category equipment, check equipment working state etc..
At present for the inspection of data center machine room using manual inspection, there are the following problems for manual inspection:
Problem one, inspection work is with low content of technology, the frequency is high, the time is long, lacks cost-effectively solution, expends in data
The time of heart professional and energy；
Problem two: the behavior that patrol officer reaches live inspection there are missing inspection, or not makes data certainly；
Problem three: inspection process is random strong, lacks effective control means, the used time is more, low efficiency；
Problem four: patrol officer need to pass through a large amount of examined in determination normal condition of brain memory；
Problem five: the data made a copy of with paper list will manually compare one by one with monitoring system data, write report, declare failure efficiency
Low, difficulty is big, almost inoperable.
In order to solve the above problem existing for manual inspection, video monitoring system is fitted in present data center machine room
The acquisition sensor of system and various data acquires the temperature in data center machine room, humidity, air by acquisition sensor
Quality checks the abnormal conditions in data center machine room by video monitoring system, although this mode can be largely
Solve the problems, such as manual inspection, but there is also following shortcomings:
1, manual inspection can not be replaced completely by way of installation video monitoring system and sensor, for certain inspections
The copy of data (inspection of such as server) can't be realized, need manual inspection to supplement, due to needing manual inspection, just
Can there are problems that manual inspection is brought.
2, installation video monitoring system and various sensors is required in each computer room, this undoubtedly will increase computer room at
This, while the space of computer room can be also occupied, the number of servers that same computer room can be installed will be reduced, and the service of increasing mentions
For the cost of quotient.And increase these equipment undoubtedly and also will increase cost to these equipment managements.
Summary of the invention
In order to overcome drawbacks described above existing for the inspection of available data center, the present invention provides a kind of data center's inspections
System controls robot by the cruising inspection system and replaces manual inspection, overcomes the defect of manual inspection completely, and do not have to
Installation video monitoring system and various sensors, greatly reduce the construction cost and management cost of computer room in computer room.
In order to solve the above technical problems, the technical scheme adopted by the invention is that:
A kind of data center's cruising inspection system, it is characterised in that: including server, intelligent terminal and crusing robot, the intelligence
Energy terminal and crusing robot are communicated by network and server, and the intelligent terminal is used to be issued with user orientation server and control
System order, server generates control instruction according to the control command received, and control instruction is sent to crusing robot, patrols
Robot is examined according to the control instruction received, enters data center, artificial acquisition data center is substituted and needs patrolling for inspection
Data are examined, and collected inspection data are sent to server, the inspection data received are handled, deposited by server
Storage, and it is sent to intelligent terminal.
The crusing robot includes robot body and robot body driving device, robot body driving device peace
On robot body, and robot body can be driven mobile, further include six degree of freedom manipulator, obstacle avoidance apparatus, warm and humid
Sensor, gas sensor, air velocity transducer, touch display screen, controller and monitoring camera are spent, the six degree of freedom is mechanical
Hand, obstacle avoidance apparatus, Temperature Humidity Sensor, gas sensor, air velocity transducer, touch display screen, controller and monitoring camera are equal
It is mounted on robot body, the robot body driving device, six degree of freedom manipulator, obstacle avoidance apparatus, temperature and humidity sensing
Device, gas sensor, air velocity transducer, touch display screen and monitoring camera are connected with controller.
It is also equipped with wireless communication module on the inspection machine human body, by wireless communication module by collected institute
There are data to be sent to server.
It is also equipped with locating module on the inspection machine human body, for sending oneself real time position to server.
The end of the six degree of freedom manipulator is equipped with binocular vision camera.
The end of the six degree of freedom manipulator is also equipped with infrared radiation thermometer and RFID card reader.
The six degree of freedom manipulator uses existing six degree of freedom manipulator, and details are not described herein.
The obstacle avoidance apparatus includes forward secrecy laser sensor, backward security laser sensor, the safe laser of left-hand
Sensor and dextrad laser sensor, forward secrecy laser sensor are mounted on front side of robot body, backward security laser sensing
Device is mounted on rear side of robot body, and the safe laser sensor of left-hand is mounted on the left of robot body, dextrad laser sensor
It is mounted on the right side of robot body, the forward secrecy laser sensor, backward security laser sensor, the safe laser of left-hand
Sensor and dextrad laser sensor are connected with controller.
The robot body includes pedestal and L shape pedestal, and L shape pedestal is mounted on the base, and the six degree of freedom is mechanical
Hand is mounted on L shape pedestal, and the Temperature Humidity Sensor and monitoring camera are mounted on the top of L shape pedestal, the gas sensing
Device and air velocity transducer are mounted on the side of L pedestal, and the touch display screen is mounted on the back side of L shape pedestal.
The back side of the L shape pedestal is also equipped with control panel, and control panel is connected with controller.
The back side of the L shape pedestal be also equipped with after to scram button, side is equipped with lateral scram button, described backward
Scram button is connected with lateral scram button with controller.
Running lamp is installed, the running lamp is connected with controller between the touch display screen and control panel.
The base bottom is equipped with idler wheel, and the robot body driving device is mounted in pedestal, robot body
Driving device driving idler wheel all around moves.
As long as the robot body device is the device that the idler wheel on robot body can be driven all around to move
, this device is existing apparatus, and details are not described herein.
The obstacle avoidance apparatus further includes preceding to ultrasonic sensor and backward ultrasonic sensor, forward direction ultrasonic sensor
It is mounted on the front side of pedestal, backward ultrasonic sensor is mounted on the rear side of pedestal, forward direction ultrasonic sensor and backward ultrasound
Wave sensor is connected with controller.
Electric quantity detection apparatus is also equipped on the robot body, electric quantity detection apparatus is for detecting robot itself electricity
Amount, and the electricity that will test is sent to controller, controller is to require to charge according to the charge value judgement received, is being needed
The charging pile that robot is moved to is controlled when charging carries out automatic charging.
The server includes data transmit-receive module, data processing module, environmental map building module, navigation module, opens
Lock module and control module；
The data transmit-receive module is sent for receiving all data that crusing robot sends over for receiving intelligent terminal
The control command to come over；For sending control instruction to crusing robot, for sending inspection data to intelligent terminal；
The data processing module, which is used to receiving data transmit-receive module into data, carries out analysis and arrangement, forms inspection data, and
Inspection data are sent to intelligent terminal；
The data that the environmental map building module is used to receive data transmit-receive module carry out analysis and arrangement, find out environment map
Piece and camera shooting information form environmental map data according to environment picture and camera shooting information, and are drawn out according to environmental map data
Real time environment map；
The navigation module is used to be that crusing robot planning is patrolled according to the real time position and real time environment map of crusing robot
Examine route；
The data that the unlocking module is used to receive data transmit-receive module carry out analysis and arrangement, find out the picture of lockset and take the photograph
As information, lockset is then identified according to the picture of lockset and camera shooting information, and match corresponding lockset opening ways；
Navigation instruction is sent to crusing robot according to the corresponding navigation instruction of inspection Route Generation by the control module,
It is mobile according to navigation instruction after crusing robot receives navigation instruction；Control for being received according to data transmit-receive module
Order generates corresponding control instruction, and control instruction is sent to crusing robot, and crusing robot is controlled according to receiving
Instruction execution acts accordingly；For generating lockset open command according to the opening ways of lockset, and lockset open command is sent out
Crusing robot is given, crusing robot opens corresponding lockset according to open command.
The server further includes abnormal judgment module, and the exception judgment module is according to inspection data and normal inspection number
According to judgement is compared, judge whether exception occur, if there is exception, then issues abnormity prompt to intelligent terminal.
Compared with prior art, the invention has the following advantages:
1, the present invention substitutes the working method of existing manual inspection, avoids personnel from being injured by electromagnetic radiation, substantially increases and patrol
Examine the efficiency and quality of work, and can round-the-clock developments inspection work, to unexpected incidents on site, can adopt at the first time
Most effective treatment measures are taken, so that enterprise be made to avoid bigger loss, relative to traditional manual intervention, there is its quick, peace
Entirely, efficient advantage.The present invention combines the experience and requirement manually patrolled, and using entirely autonomous or remote control mode, utilizes
Computer technology combination multi-sensor technology, robot vision technology, screen meter reading system and Radio Transmission Technology are realized to machine
The timing of equipment patrols machine meter reading automatically and to computer room each section environmental monitoring, acquires and handle the data such as sound, light, screen letter in room
Breath.Accurately and timely find the problem and failure, improve working efficiency, reduce artificial careless omission, be unattended computer room popularization
Provide innovative technology detection means.
2, data center's crusing robot provided by the invention, including robot body and robot body driving device,
Robot body driving device is mounted on robot body, and robot body can be driven mobile, further includes six degree of freedom
Manipulator, obstacle avoidance apparatus, Temperature Humidity Sensor, gas sensor, air velocity transducer, touch display screen, processor, controller and
Monitoring camera, the six degree of freedom manipulator, obstacle avoidance apparatus, Temperature Humidity Sensor, gas sensor, air velocity transducer, touch
Display screen, controller and monitoring camera are installed on robot body, the robot body driving device, six degree of freedom machine
Tool hand, obstacle avoidance apparatus, Temperature Humidity Sensor, gas sensor, air velocity transducer, touch display screen and monitoring camera and controller
It is connected.After robot enters data center, controller controls Temperature Humidity Sensor, gas sensor, air velocity transducer and monitoring
Camera is opened, and Temperature Humidity Sensor acquires the temperature and humidity in data center, and gas sensor acquires the gas matter in data center
It measures (such as PM2.5 content, PM10 content, density of hydrogen, methane concentration, sulfide, fluoride, hydride), air velocity transducer
The wind speed under the air outlet in data center is acquired, monitoring camera is to monitoring camera-shooting in data center, by the temperature and humidity of acquisition, sky
Whether makings amount wind speed, equipment running status, has foreign body intrusion, whether occurs fire behavior, whether the data such as leak are sent to service
Device is sent to touch display screen after preservation and is shown, accordingly even when installing video monitoring system and each no longer in data center
Kind of sensor can also obtain above-mentioned data, and a robot can patrol multiple data centers, hence it is evident that reduce data center
Construction cost also just increases the space of data center, Ke Yian due to not having to installation video monitoring system and various sensors
Fill more servers.And server preservation is sent to after collected data real-time storage, it will not lose, the data of acquisition
By server process, and artificial treatment is no longer needed, completely instead of manual inspection, overcomes manual inspection agency's completely
Problem.The present invention enables to robot that can be free to travel to needs due to being mounted with obstacle avoidance apparatus and robot body
The position reached, and in the process of moving, obstacle avoidance apparatus can acquire the obstacle encountered in robot moving process, avoid
Obstacle.The effect of six degree of freedom manipulator of the invention is that manpower is replaced to open server cabinet etc., realizes the inspection of server
Purpose.
3, the end of six degree of freedom manipulator of the present invention is equipped with binocular vision camera.By binocular vision camera come
The type of the lock in cabinet door is acquired, then sends server for the data of acquisition, server is opened according to the various locks of deposit
Method is opened, after the completion of comparison, sends control command to crusing robot according to open method, controller then controls six degree of freedom machine
Tool hand opens cabinet door.Binocular vision camera be also used to open after cabinet door carry out fixed point in cabinet take pictures, record a video, device numbering
Identification, apparatus back board indicator light, the positioning of LED state screen and information acquisition.The end of six degree of freedom manipulator is also equipped with
Infrared radiation thermometer and RFID card reader.Infrared radiation thermometer is used to carry out set point temperature detection to cabinet space, such as measures cable temperature
Degree etc..
4, obstacle avoidance apparatus of the present invention include forward secrecy laser sensor, backward security laser sensor, left-hand safely swash
Optical sensor and dextrad laser sensor, forward secrecy laser sensor are mounted on front side of robot body, backward security laser
Sensor is mounted on rear side of robot body, and the safe laser sensor of left-hand is mounted on the left of robot body, dextrad laser
Sensor is mounted on the right side of robot body, and the forward secrecy laser sensor, backward security laser sensor, left-hand swash safely
Optical sensor and dextrad laser sensor are connected with processor.Pass through forward secrecy laser sensor, backward security laser
The safe laser sensor of sensor, left-hand and dextrad laser sensor check the barrier of robot all around, and incite somebody to action
The data checked in real time are sent to processor, and processor carries out whether real-time judge has barrier, if avoidance is needed, and
How avoidance, thus control robot body driving device driving robot obstacle-avoiding.
5, the back side of L shape pedestal of the present invention is also equipped with control panel, and control panel is connected with processor.Control panel is used
In artificial input control order, to control robot.
6, to scram button after the back side of L shape pedestal of the present invention is also equipped with, side is equipped with lateral scram button, described
Backward scram button is connected with lateral scram button with controller.The effect of backward scram button and lateral scram button is
Now in emergency circumstances emergent control robot stops movement.
7, to ultrasonic sensor and backward ultrasonic sensor before obstacle avoidance apparatus of the present invention further includes, forward direction ultrasonic wave is passed
Sensor is mounted on the front side of pedestal, and backward ultrasonic sensor is mounted on the rear side of pedestal, forward direction ultrasonic sensor and backward
Ultrasonic sensor is connected with processor.By the preceding effect to ultrasonic sensor and backward ultrasonic sensor, rising
It can also be detected with a distance from barrier under the action of to detection of obstacles, to determine whether avoidance.
8, the present invention includes server, intelligent terminal and crusing robot, and the intelligent terminal and crusing robot pass through
Network is communicated with server, and the intelligent terminal is used to issue control command with user orientation server, and server is according to reception
The control command that arrives generates control instruction, and control instruction is sent to crusing robot, and crusing robot is according to receiving
Control instruction enters data center, substitutes artificial acquisition data center and needs the inspection data of inspection, and patrols collected
Inspection data are sent to server, and the inspection data received are handled, stored by server, and are sent to intelligent terminal.With
Family can control the various inspection numbers in the data center of the desired inspection of crusing robot inspection at any time by intelligent terminal
According to instead of manual inspection, and user can control multiple crusing robots multiple data centers of inspection simultaneously, substantially increase
Routing inspection efficiency can check inspection data by intelligent terminal, simply, conveniently.
Detailed description of the invention
Fig. 1 is crusing robot overall structure diagram of the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the right view of Fig. 1.
Appended drawing reference 1, robot body, 2, six degree of freedom manipulator, 3, Temperature Humidity Sensor, 4, gas sensor, 5,
Air velocity transducer, 6, touch display screen, 7, monitoring camera, 8, obstacle avoidance apparatus, 9, forward direction ultrasonic sensor, 10, backward ultrasound
Wave sensor, 11, control panel, 12, backward scram button, 13, lateral scram button, 14, pedestal, 15, L shape pedestal, 16, stream
Water lamp, 17, idler wheel.
Specific embodiment
The present invention will be further described with reference to the examples below, and described embodiment is only present invention a part
Embodiment is not whole embodiment.Based on the embodiments of the present invention, those skilled in the art are not making
Other embodiments used obtained, belong to protection scope of the present invention under the premise of creative work.
The present invention provides a kind of data center's cruising inspection systems, it is characterised in that: including server, intelligent terminal and patrols
Robot is examined, the intelligent terminal and crusing robot are communicated by network and server, and the intelligent terminal is used
User orientation server issues control command, and server generates control instruction according to the control command received, and control instruction is sent out
Crusing robot is given, crusing robot enters data center according to the control instruction received, substitutes artificial acquisition data
Center needs the inspection data of inspection, and collected inspection data are sent to server, the inspection that server will receive
Data are handled, are stored, and are sent to intelligent terminal.
The purpose of the present invention is for replacing the mode of existing manual inspection data center.
The key point of crusing robot of the present invention is that installs the various numbers of acquisition data center in need in robot
According to sensor, then the collected data of various sensors are handled and are stored, to achieve the purpose that manual inspection.It is logical
Robot inspection is crossed, data center can not have to install video monitoring system and various sensors again, and data are greatly reduced
The construction cost at center.
The specific structure of crusing robot provided by the invention includes robot body 1 and robot body driving device,
Robot body driving device is mounted on robot body 1, and robot body 1 can be driven mobile, 1 He of robot body
Robot body driving device uses existing device, as long as robot body 1 is enabled to move freely.
Crusing robot further include six degree of freedom manipulator 2, obstacle avoidance apparatus 8, Temperature Humidity Sensor 3, gas sensor 4,
Air velocity transducer 5, touch display screen 6, processor, controller and monitoring camera 7, the six degree of freedom manipulator 2, avoidance dress
It sets, Temperature Humidity Sensor 3, gas sensor 4, air velocity transducer 5, touch display screen 6, controller and monitoring camera 7 are respectively mounted
On robot body 1, the robot body driving device, six degree of freedom manipulator 2, obstacle avoidance apparatus, Temperature Humidity Sensor
3, gas sensor 4, air velocity transducer 5, touch display screen 6 and monitoring camera 7 are connected with controller, six degree of freedom manipulator 2
Server cabinet cabinet door is opened for robot, then obstacle avoidance apparatus carries out avoidance for the barrier around robot discovery,
Temperature and humidity of the Temperature Humidity Sensor 3 for air in detection data center, gas sensor 4 is for air in detection data center
Quality (such as PM2.5 content, PM10 content, density of hydrogen, methane concentration, sulfide, fluoride, hydride), wind speed pass
Sensor 5 is used for the wind speed under the inner wind outlet of detection data center, and touch display screen 6 is also used for man-machine for showing various data
Interaction, monitoring camera 7 in monitoring data center ambient conditions (whether leak, if having foreign body intrusion, if fire occurs
Feelings etc.), equipment situation (equipment whether normal operation), the controller is for controlling robot body driving device, six freely
Spend manipulator 2, obstacle avoidance apparatus, Temperature Humidity Sensor 3, gas sensor 4, air velocity transducer 5, touch display screen 6 and monitoring phase
Machine 7.For the noise in detection data center, audio signal reception device can be installed on robot body 1, will be counted by audio signal reception device
It is sent to processor after the sound collecting generated according to center, the setting value that is above standard is judged whether by processor.
In order to realize that six degree of freedom manipulator opens cabinet door, it is necessary to which manipulator knows how to open cabinet door, it is therefore desirable to
Manipulator end install binocular vision camera (not shown), by binocular vision camera by cabinet door lock,
Handle camera shooting takes pictures and is sent to server, and server is received and compared after data with the lock and handle of the cabinet door of storage, really
Surely it is which lock and handle, then transfers the opening ways of corresponding lock and handle, to crusing robot, crusing robot
Controller sends corresponding control command, and control six degree of freedom manipulator clamping lives lockset or handle, then unscrew lockset and
Pull handle opens cabinet door like manpower.After opening cabinet door, binocular vision camera is by the operation of the server in cabinet
The acquisition of the data such as situation is sent to server, and server after treatment, is stored, and crusing robot is sent to, and passes through touching
It touches display screen to be shown, is sent to intelligent terminal, shown by intelligent terminal.
The end of six degree of freedom manipulator is also equipped with infrared radiation thermometer and RFID card reader.It can by infrared radiation thermometer
The temperature for measuring specific position may be implemented to scan and be communicated such as the temperature of cable by RFID card reader.
Obstacle avoidance apparatus 8 includes forward secrecy laser sensor, backward security laser sensor, the safe laser sensor of left-hand
With dextrad laser sensor, forward secrecy laser sensor is mounted on front side of robot body, backward security laser sensor peace
On rear side of robot body, the safe laser sensor of left-hand is mounted on the left of robot body, the installation of dextrad laser sensor
On the right side of robot body, the forward secrecy laser sensor, backward security laser sensor, the safe laser sensor of left-hand
It is connected with controller with dextrad laser sensor.
The robot body 1 includes pedestal 14 and L shape pedestal 15, and L shape pedestal 15 is mounted on pedestal 14, and described six certainly
It is mounted on L shape pedestal 15 by degree manipulator 2, the Temperature Humidity Sensor 3 and monitoring camera 7 are mounted on the top of L shape pedestal 15
Portion, the gas sensor 4 and air velocity transducer 5 are mounted on the side of L pedestal 15, and the touch display screen 6 is mounted on L shape base
The back side of seat 15.
The back side of the L shape pedestal 15 is also equipped with control panel 11, and control panel 11 is connected with controller.
The back side of the L shape pedestal 15 be also equipped with after to scram button 12, side is equipped with lateral scram button 13, institute
It is connected to scram button 12 with lateral scram button 13 with controller after stating.
Running lamp 1, the running lamp 16 and controller phase are installed between the touch display screen 6 and control panel 11
Even.
14 bottom of pedestal is equipped with idler wheel 17, and the robot body driving device is mounted in pedestal 14, machine
Human body's driving device driving idler wheel 17 all around moves.
As long as the robot body driving device is that the idler wheel on robot body can be driven all around to move
Device, this device are existing apparatus, and details are not described herein.
The obstacle avoidance apparatus further includes preceding to ultrasonic sensor 9 and backward ultrasonic sensor 10, and forward direction ultrasonic wave passes
Sensor 9 is mounted on the front side of pedestal 14, and backward ultrasonic sensor 10 is mounted on the rear side of pedestal 14, forward direction ultrasonic sensor
9 and backward ultrasonic sensor 10 be connected with controller.
Electric quantity detection apparatus is also equipped on the robot body 1, electric quantity detection apparatus is for detecting robot itself
Electricity, and the electricity that will test is sent to processor, processor is to require to charge according to the charge value judgement received,
The charging pile that robot is moved to is controlled when needing to charge carries out automatic charging.
The server includes data transmit-receive module, data processing module, environmental map building module, navigation module, opens
Lock module and control module；
The data transmit-receive module is sent for receiving all data that crusing robot sends over for receiving intelligent terminal
The control command to come over；For sending control instruction to crusing robot, for sending inspection data to intelligent terminal；
The data processing module, which is used to receiving data transmit-receive module into data, carries out analysis and arrangement, forms inspection data, and
Inspection data are sent to intelligent terminal；
The data that the environmental map building module is used to receive data transmit-receive module carry out analysis and arrangement, find out environment map
Piece and camera shooting information form environmental map data according to environment picture and camera shooting information, and are drawn out according to environmental map data
Real time environment map；
The navigation module is used to be that crusing robot planning is patrolled according to the real time position and real time environment map of crusing robot
Examine route；
The data that the unlocking module is used to receive data transmit-receive module carry out analysis and arrangement, find out the picture of lockset and take the photograph
As information, lockset is then identified according to the picture of lockset and camera shooting information, and match corresponding lockset opening ways；
Navigation instruction is sent to crusing robot according to the corresponding navigation instruction of inspection Route Generation by the control module,
It is mobile according to navigation instruction after crusing robot receives navigation instruction；Control for being received according to data transmit-receive module
Order generates corresponding control instruction, and control instruction is sent to crusing robot, and crusing robot is controlled according to receiving
Instruction execution acts accordingly；For generating lockset open command according to the opening ways of lockset, and lockset open command is sent out
Crusing robot is given, crusing robot opens corresponding lockset according to open command.
The server further includes abnormal judgment module, and the exception judgment module is according to inspection data and normal inspection number
According to judgement is compared, judge whether exception occur, if there is exception, then issues abnormity prompt to intelligent terminal.
Crusing robot disposes process: remote-controlled robot learning data center environment, then on the ground that robot learning arrives
Figure upper surface station and charging zone, by map upload server, robot task or server scheduling work according to plan.
Claims (8)
1. a kind of data center's cruising inspection system, it is characterised in that: described including server, intelligent terminal and crusing robot
Intelligent terminal and crusing robot are communicated by network and server, and the intelligent terminal with user orientation server for being issued
Control command, server generates control instruction according to the control command received, and control instruction is sent to crusing robot,
Crusing robot enters data center according to the control instruction received, substitutes artificial acquisition data center and needs inspection
Inspection data, and collected inspection data are sent to server, the inspection data received are handled, are deposited by server
Storage, and it is sent to intelligent terminal.
2. a kind of data center's cruising inspection system according to claim 1, it is characterised in that: the crusing robot includes machine
Device human body and robot body driving device, robot body driving device are mounted on robot body, and can be driven
Robot body is mobile, further includes six degree of freedom manipulator, obstacle avoidance apparatus, Temperature Humidity Sensor, gas sensor, wind speed sensing
Device, touch display screen, controller and monitoring camera, the six degree of freedom manipulator, obstacle avoidance apparatus, Temperature Humidity Sensor, gas
Sensor, air velocity transducer, touch display screen, controller and monitoring camera are installed on robot body, the robot
Ontology-driven device, six degree of freedom manipulator, obstacle avoidance apparatus, Temperature Humidity Sensor, gas sensor, air velocity transducer, touch
Display screen and monitoring camera are connected with controller.
3. a kind of data center's cruising inspection system according to claim 2, it is characterised in that: the six degree of freedom manipulator
End is equipped with binocular vision camera.
4. a kind of data center's cruising inspection system according to claim 3, it is characterised in that: the six degree of freedom manipulator
End is also equipped with infrared radiation thermometer and RFID card reader.
5. a kind of data center's cruising inspection system according to claim 2, it is characterised in that: the obstacle avoidance apparatus include it is preceding to
Safe laser sensor, backward security laser sensor, the safe laser sensor of left-hand and dextrad laser sensor, forward secrecy
Laser sensor is mounted on front side of robot body, and backward security laser sensor is mounted on rear side of robot body, left-hand peace
Full laser sensor is mounted on the left of robot body, and dextrad laser sensor is mounted on the right side of robot body, the forward direction
Safe laser sensor, backward security laser sensor, the safe laser sensor of left-hand and dextrad laser sensor with control
Device is connected.
6. a kind of data center's cruising inspection system according to claim 5, it is characterised in that: before the obstacle avoidance apparatus further includes
To ultrasonic sensor and backward ultrasonic sensor, forward direction ultrasonic sensor is mounted on the front side of pedestal, backward ultrasonic wave
Sensor is mounted on the rear side of pedestal, and forward direction ultrasonic sensor and backward ultrasonic sensor are connected with controller.
7. a kind of data center's cruising inspection system according to claim 1, it is characterised in that: the server includes that data are received
Send out module, data processing module, environmental map building module, navigation module, unlocking module and control module；
The data transmit-receive module is sent for receiving all data that crusing robot sends over for receiving intelligent terminal
The control command to come over；For sending control instruction to crusing robot, for sending inspection data to intelligent terminal；
The data processing module, which is used to receiving data transmit-receive module into data, carries out analysis and arrangement, forms inspection data, and
Inspection data are sent to intelligent terminal；
The data that the environmental map building module is used to receive data transmit-receive module carry out analysis and arrangement, find out environment map
Piece and camera shooting information form environmental map data according to environment picture and camera shooting information, and are drawn out according to environmental map data
Real time environment map；
The navigation module is used to be that crusing robot planning is patrolled according to the real time position and real time environment map of crusing robot
Examine route；
The data that the unlocking module is used to receive data transmit-receive module carry out analysis and arrangement, find out the picture of lockset and take the photograph
As information, lockset is then identified according to the picture of lockset and camera shooting information, and match corresponding lockset opening ways；
Navigation instruction is sent to crusing robot according to the corresponding navigation instruction of inspection Route Generation by the control module,
It is mobile according to navigation instruction after crusing robot receives navigation instruction；Control for being received according to data transmit-receive module
Order generates corresponding control instruction, and control instruction is sent to crusing robot, and crusing robot is controlled according to receiving
Instruction execution acts accordingly；For generating lockset open command according to the opening ways of lockset, and lockset open command is sent out
Crusing robot is given, crusing robot opens corresponding lockset according to open command.
8. a kind of data center's cruising inspection system according to claim 7, it is characterised in that: the server further includes exception
Judgment module, the exception judgment module compare judgement according to inspection data and normal inspection data, judge whether occur
It is abnormal, if there is exception, then abnormity prompt is issued to intelligent terminal.
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| CN110082782A (en) * | 2019-04-17 | 2019-08-02 | 深圳易普森科技股份有限公司 | A kind of harmful influence garden cruising inspection system and its implementation |
| CN110171006A (en) * | 2019-06-24 | 2019-08-27 | 马鞍山天邦开物智能商务管理有限公司 | A kind of pig farm crusing robot and method for inspecting |
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Address after: No.2 Keyuan south 2nd Road, high tech Zone, Chengdu, Sichuan 610041 Applicant after: Sangruisi Medical Technology Co.,Ltd. Address before: No.2 Keyuan south 2nd Road, high tech Zone, Chengdu, Sichuan 610041 Applicant before: SICHUAN SUNRISE ENVIRONMENTAL TECHNOLOGY ENGINEERING CO.,LTD. |
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Application publication date: 20181211 |