CN109387149A - A kind of server node enters the localization method of cabinet automatically - Google Patents
A kind of server node enters the localization method of cabinet automatically Download PDFInfo
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- CN109387149A CN109387149A CN201811293428.4A CN201811293428A CN109387149A CN 109387149 A CN109387149 A CN 109387149A CN 201811293428 A CN201811293428 A CN 201811293428A CN 109387149 A CN109387149 A CN 109387149A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004807 localization Effects 0.000 title claims abstract description 27
- 238000005259 measurement Methods 0.000 claims description 14
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This application discloses the localization method that a kind of server node enters cabinet automatically, which includes: to obtain cabinet vertical center line by positioning to server cabinet side in X-direction and estimate coordinate value；The guide rail that insert layer is treated by the way of taking pictures carries out first time positioning, determines that server node is inserted into the guide rail of layer and estimates coordinate value in Y-axis and Z-direction；According to cabinet vertical center line X-direction estimate coordinate value, server node is inserted into the guide rail of layer and estimates coordinate value in Y-axis and Z-direction, control fixture protrudes into server cabinet between two parties；Cabinet centralized positioning is carried out using the sensor on fixture and second of guide rail positions, and determines the three-dimensional coordinate for being inserted into layer.By the localization method, cabinet body, guide rail, add up error caused by node cabinet and bottom tray can be effectively avoided, is greatly improved to the positioning accuracy for being inserted into node.
Description
Technical field
This application involves server technology fields, enter the localization method of cabinet automatically more particularly to a kind of server node.
Background technique
In high density server cabinet, 20-40 identical structures can be usually accommodated inside a server cabinet and are matched
The server node set is needed to enter cabinet to server node and is positioned in order to which server node is accurately entered cabinet.
Currently, server node enters the localization method of cabinet, by taking RACK cabinet as an example, RACK cabinet height is 42U or 46U,
After the server node quantity that can be accommodated according to RACK cabinet height determination, according between cabinet height and every layer of guide rail away from
From then the position of the server node of determining cabinet to be entered in such a way that coordinate is cumulative controls manipulator for server node
It imports inside server cabinet, so that completing server node enters cabinet.
However server node enters in the localization method of cabinet at present, due to the cabinet height and every layer of guide rail of server node
Between preset clearance there was only 1.5mm, and portions such as the cabinet of server cabinet ontology, guide rail, server node and bottom tray
Part can generate accumulated error, when carrying out in such a way that coordinate is cumulative into cabinet, it may appear that biggish position error, positioning are not quasi- enough
Really, thus the case where making server node that can not accurately enter cabinet, and then working efficiency is influenced.
Summary of the invention
This application provides the localization methods that a kind of server node enters cabinet automatically, to solve to be easy to appear in the prior art
The problem of biggish position error, positioning are not accurate enough, cause server node that can not accurately enter cabinet.
In order to solve the above-mentioned technical problem, the embodiment of the present application discloses following technical solution:
A kind of server node enters the localization method of cabinet automatically, is provided in the server cabinet for carrying the clothes
The guide rail of business device node, the localization method include:
S1: by positioning to server cabinet side, acquisition cabinet vertical center line estimates coordinate value in X-direction,
Bottom tray of the cabinet vertical center line perpendicular to server cabinet；
S2: by the way of taking pictures, the guide rail for treating insert layer carries out first time positioning, determines that server node is inserted into
The guide rail of layer estimates coordinate value Y-axis and Z-direction, and the guide rail for being inserted into layer includes upper strata guide rail and lower floor guide rail；
S3: according to the cabinet vertical center line X-direction estimate coordinate value, server node is inserted into leading for layer
For rail in the coordinate value of estimating of Y-axis and Z-direction, control fixture protrudes into server cabinet between two parties, and the fixture is for clamping service
Device node enters cabinet, and is provided on the fixture for measuring the sensor for being inserted into layer coordinate；
S4: cabinet centralized positioning is carried out using the sensor on the fixture and second of guide rail positions, determination is inserted into
The three-dimensional coordinate of layer.
Optionally, the step S1 includes:
S11: a selected plane perpendicular to server cabinet bottom tray is reference planes, is set in the reference planes
Tri- laser range sensors of A, B and C are equipped with, wherein the height of laser range sensor B and C is identical, the position A of laser sensor
Set the height that height is higher than laser range sensor B and C；
S12: the laser range sensor and server cabinet are measured respectively using three laser range sensors
The distance of side, wherein the distance definition that laser range sensor A measurement obtains is ZX1, and laser range sensor B is measured
The distance definition arrived is ZX2, and the distance definition that laser range sensor C measurement obtains is ZX3；
S13: server cabinet position is adjusted according to the distance of three laser range sensors, makes server cabinet just
To fixture；
S14: according to three laser sensors at a distance from server cabinet side and server cabinet width,
Using formula X1=AVERAGE (ZX1, ZX2, ZX3)+W, the cabinet vertical center line of calculation server cabinet is in X-direction
Coordinate value, wherein X1 is coordinate value of the cabinet vertical center line in X-direction, and W is server cabinet width.
Optionally, | ZX2-ZX3 |≤0.06mm, and | ZX1-ZX2 |≤20mm.
Optionally, the step S2 includes:
S21: the Z axis coordinate range for being inserted into layer is determined according to server cabinet drawing；
S22: it according to the Z axis coordinate range, utilizes CCD (Charge Coupled Device, charge-coupled device 3)
Shooting is inserted into the end face photo of the guide rail of layer；
S23: the Z axis position for being inserted into layer is determined according to the end face photo；
S24: according to the Z axis position for being inserted into layer, determine that being inserted into layer upper strata guide rail estimates seat in Y-axis and Z-direction
Scale value Y1 and Z1, and be inserted into layer lower floor guide rail and estimate coordinate value Y2 and Z2 in Y-axis and Z-direction, and 45mm≤| Z1-
Z2|≤47mm。
Optionally, the sensor on the fixture includes: laser range sensor and eddy current sensor.
Optionally, the step S4 includes:
S41: cabinet centralized positioning is carried out using the laser range sensor on the fixture, determination is inserted into layer in X-axis
The coordinate in direction and the coordinate of Y direction；
S42: it according to layer is inserted into the coordinate of X-direction and the coordinate of Y direction, is passed using the vortex on the fixture
Sensor carries out second of guide rail and positions, and determination is inserted into layer in the coordinate of Z-direction.
Optionally, the step S41 includes:
S411: utilizing the laser range sensor on the fixture, the service for measuring the fixture and being inserted into where layer
Horizontal distance between device cabinet medial surface；
S412: the cabinet vertical center line is adjusted according to the horizontal distance and estimates coordinate value in X-direction, makes Y
The clamp central line in direction is overlapped with cabinet horizontal center line.
Optionally, the step S42 includes:
S421: it according to layer is inserted into the coordinate of X-direction and the coordinate of Y direction, is pressed from both sides using vortex sensor measuring
Tool is at a distance from lower floor guide rail；
S422: adjustment mechanical arm makes the fixture upper strata guide rail and lower floor guide rail spacing at a distance from lower floor guide rail
Half；
S423: using fixture adjusted as the Z axis coordinate for being inserted into layer at a distance from lower floor guide rail.
Optionally, after step S4, the method also includes:
S5: the three-dimensional coordinate for being inserted into layer is sent to mechanical arm.
The technical solution that embodiments herein provides can include the following benefits:
The application provides the localization method that a kind of server node enters cabinet automatically, and this method is mainly by server cabinet
Side positioning, the guide rail for treating insert layer carry out first time positioning, first treat insert layer and carry out coarse localization, then will be provided with
The fixture of sensor protrudes into server cabinet between two parties, and carries out cabinet centralized positioning, guide rail second by the sensor on fixture
Secondary positioning, so that it is determined that being inserted into the three-dimensional coordinate of layer, it may be assumed that realize accurate positioning.The application is by coarse localization and accurately
Positioning positions twice, can effectively avoid cabinet body, guide rail, add up error caused by node cabinet and bottom tray,
It greatly improves to the positioning accuracy for being inserted into node.And in the application using laser range sensor and eddy current sensor into
Row distance measurement, be conducive to improve range measurement accuracy, to further increase the accuracy of node locating.Using CCD
Guide rail end surface image taking is carried out, is also beneficial to improve the accuracy of positioning.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without creative efforts, is also possible to obtain other drawings based on these drawings.
Fig. 1 enters the process signal of the localization method of cabinet for a kind of server node provided by the embodiment of the present application automatically
Figure；
Fig. 2 is that server cabinet side positions schematic diagram in the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common
The application protection all should belong in technical staff's every other embodiment obtained without making creative work
Range.
In high density server cabinet, 20-40 identical structures can be usually accommodated inside a server cabinet and are matched
The server node set is needed to enter cabinet to server node and is positioned in order to which server node is accurately entered cabinet.The application institute
The guide rail for carrying service device node is provided in applicable server cabinet.Specifically, server cabinet includes in three
Side, a medial surface is corresponding with server cabinet opening direction, is provided on other two medial surface for carrying service device
The guide rail of node.
The application in order to better understand explains in detail presently filed embodiment with reference to the accompanying drawing.
Referring to Fig. 1, Fig. 1 enters the stream of the localization method of cabinet for a kind of server node provided by the embodiment of the present application automatically
Journey schematic diagram.As shown in Figure 1, the localization method that server node enters cabinet automatically in the present embodiment mainly includes the following steps:
S1: by positioning to server cabinet side, acquisition cabinet vertical center line estimates coordinate value in X-direction,
Bottom tray of the cabinet vertical center line perpendicular to server cabinet.
Specifically, step S1 is comprised the following processes:
S11: a selected plane perpendicular to server cabinet bottom tray is reference planes, is provided in reference planes
A, tri- laser range sensors of B and C.Wherein, the height of laser range sensor B and C is identical, the location A of laser sensor
Height is higher than the height of laser range sensor B and C.
The operation chart that side positioning is carried out to server cabinet, may refer to Fig. 2.In Fig. 2, A, B, C are three and swash
Ligh-ranging sensor, three laser range sensors are set in the same reference planes, and the reference planes and server machine
Bottom of cabinet portion pallet vertical, the height that B and C is arranged is identical, and the height of A is higher than B and C.The present embodiment uses laser range sensor,
Keep distance collected more accurate, be conducive to the accuracy for improving the positioning of server cabinet side, to be conducive to improve section
Point enters the accuracy of cabinet automatically.
S12: using three laser range sensors measure respectively laser range sensor and server cabinet side away from
From.Wherein, the distance definition that laser range sensor A measurement obtains is ZX1, the distance that laser range sensor B measurement obtains
It is defined as ZX2, the distance definition that laser range sensor C measurement obtains is ZX3.
By taking Rack cabinet as an example, to ensure that server cabinet side is parallel with reference planes, so that positioning accuracy is improved,
The distance between ZX1, ZX2 and ZX3 deviation range in the present embodiment are as follows: [- 0.2mm, 0.2mm].
S13: server cabinet position is adjusted according to the distance of three laser range sensors, presss from both sides server cabinet face
Tool.
Specifically, according to the method for the distance of three laser range sensors adjustment server cabinet position are as follows: acquisition
ZX1, ZX2 and the ZX3 arrived passes through formula Angle=Math.Atan (Math.Abs (ZX2-ZX3)/1020.0) * 180/
Math.PI calculates the angle value for needing to rotate, and controlling servo motor according to the angle value rotates turntable, fixed to improve
Position accuracy, needs to meet between ZX2 and ZX3 in this implementation: | ZX2-ZX3 |≤0.06mm, to prevent server cabinet or so
Inclination, needs to meet: | ZX1-ZX2 |≤20mm.It is, when turntable is rotated to meeting condition: if (Math.Abs (ZX2-
ZX3)≤0.06mm, then adjustment finishes；Then, judge whether cabinet is serious in X-direction inclination, if meeting condition | ZX1-
ZX2 |≤20mm, then determining server cabinet is not overproof, calculates actual inclination, and section is inserted using the gradient as mechanical arm
One of the correction amount of point, if server cabinet is overproof, continues to adjust, until server cabinet face fixture.
Due to server cabinet by conveyer to being transmitted to turntable, by taking Rack cabinet as an example, server cabinet bottom
There is the gap 15mm between pallet and guide rail, bottom tray and horizontal direction usually have certain angle after transmission in place, are unfavorable for
Subsequent positioning positions side of cabinet by laser ranging, with the distance got to cabinet rotary fine adjustment, rotates to cabinet
It is right against chucking position, while the value of server cabinet center X-axis can be calculated.By adjusting server cabinet position,
Make server cabinet face fixture, when being conducive to be taken pictures in subsequent step S2, accurately take on the coordinate value of setting
Guide rail cross-sectional image when also helping that fixture is goed deep into server cabinet in subsequent step S3, improves the accuracy of fixture positioning,
It avoids the position inclination due to server cabinet and fixture is caused to collide with server cabinet.
S14: it according to three laser sensors at a distance from server cabinet side and server cabinet width, utilizes
Formula X1=AVERAGE (ZX1, ZX2, ZX3)+W, the coordinate of the cabinet vertical center line of calculation server cabinet in X-direction
Value.Wherein, X1 is coordinate value of the cabinet vertical center line in X-direction, and W is server cabinet width.
By taking standard Rack cabinet as an example, the width of standard Rack cabinet is 600mm, the cabinet vertical centre of server cabinet
Line is X1 in the coordinate of X-direction are as follows: AVERAGE (ZX1, ZX2, ZX3)+600mm.
With continued reference to Fig. 1 it is found that executing step S2: by the way of taking pictures, to be inserted after the positioning of server cabinet side
The guide rail for entering layer carries out first time positioning, determines that server node is inserted into the guide rail of layer and estimates coordinate in Y-axis and Z-direction
Value.Wherein, the guide rail for being inserted into layer includes upper strata guide rail and lower floor guide rail.
It can be taken pictures using CCD in the present embodiment, specifically, step S2 includes:
S21: the Z axis coordinate range for being inserted into layer is determined according to server cabinet drawing.
S22: according to Z axis coordinate range, the end face photo of the guide rail of layer is inserted into using CCD shooting.
S23: the Z axis position for being inserted into layer is determined according to end face photo.
S24: according to the Z axis position for being inserted into layer, determine that being inserted into layer upper strata guide rail estimates seat in Y-axis and Z-direction
Scale value Y1 and Z1, and be inserted into layer lower floor guide rail and estimate coordinate value Y2 and Z2 in Y-axis and Z-direction, and 45mm≤| Z1-
Z2|≤47mm。
By above step S21-S24 it is found that can calculate the Z axis coordinate range of every layer of guide rail by service rack drawing,
According to the coordinate range, the end face photo for the upper layer and lower layer adjacent rails that CCD goes shooting to be inserted into layer is controlled, photo array is passed through
It is inserted into the relatively accurate Z axis position of layer guide rail, determines that upper strata guide rail estimates coordinate value Y1 and Z1 in Y-axis and Z-direction,
Lower floor guide rail estimates coordinate value Y2 and Z2 Y-axis and Z-direction, thinks when the difference of Z1 and Z2 is between 45mm and 47mm
It is normal value.If difference exceeds the range, alarm will do it, pause enters cabinet automatically, carries out subsequent processing.
When certain upper strata guide rails for being inserted into layer or lower floor guide rail can not take pictures, as close to top layer or by near-bottom
It is inserted into layer, can be calculated according to its corresponding guide rail coordinate plus-minus interlamellar spacing.By taking interlamellar spacing is 46.5mm as an example, if
When being inserted into the upper strata guide rail of layer can not take pictures, adds 46.5mm using the lower floor guide rail coordinate for being inserted into layer, this is calculated
It is inserted into the upper strata guide rail coordinate of layer；If being inserted into the lower floor guide rail of layer can not take pictures, the upper layer of layer is inserted into using this
Guide rail coordinate subtracts 46.5mm, and the lower floor guide rail coordinate for being inserted into layer is calculated.
Primary Location is carried out by step S1 and S2, after getting the three-dimensional coordinate estimated, executes step S3: according to machine
Cabinet vertical center line X-direction estimate coordinate value, server node is inserted into the guide rail of layer in the pre- of Y-axis and Z-direction
Estimate coordinate value, control fixture protrudes into server cabinet between two parties.Wherein, fixture enters cabinet for clamping server node, and on fixture
It is provided with for measuring the sensor for being inserted into layer coordinate.
Layer is inserted by what fixture was protruded into server cabinet in the present embodiment, it may be assumed that is protruded into and is inserted into up and down the two of layer
Between layer guide rail, the three-dimensional coordinate of layer is inserted by the sensor measurement being arranged on fixture.Wherein, the sensor packet on fixture
It includes: laser range sensor and eddy current sensor.
With continued reference to Fig. 1 it is found that after fixture protrudes into server cabinet between two parties, executes step S4: utilizing the biography on fixture
Sensor carries out cabinet centralized positioning and second of guide rail positions, and determines the three-dimensional coordinate for being inserted into layer.
Specifically, step S4 is comprised the following processes:
S41: cabinet centralized positioning is carried out using the laser range sensor on fixture, determination is inserted into layer in X-direction
Coordinate and Y direction coordinate.
Specifically, step S41 includes the following steps: again
S411: using the laser range sensor on fixture, measured material be inserted into the server cabinet where layer
Horizontal distance between side；
S412: cabinet vertical center line is adjusted according to horizontal distance and estimates coordinate value in X-direction, makes the folder of Y-direction
Tool center line is overlapped with cabinet horizontal center line.
By above step S411 and S412 it is found that passing through fixture or so two after fixture protrudes into server cabinet in place between two parties
The laser sensor installed on a bracket measures fixture at a distance from guide rail vertical plane, controls mechanical arm fine tuning according to this distance
X-axis position is overlapped the clamp central line of Y-direction with cabinet horizontal center line, so that it is guaranteed that server node is in X-axis and Y-axis
In the center for being inserted into layer on direction.With when front jig is in the coordinate of X-direction and the coordinate of Y direction, as being inserted into
Layer is in the coordinate of X-direction and the coordinate of Y direction.
S42: according to layer is inserted into the coordinate of X-direction and the coordinate of Y direction, the eddy current sensor on fixture is utilized
It carries out second of guide rail to position, determination is inserted into layer in the coordinate of Z-direction.
Specifically, step S42 includes the following steps: again
S421: it according to layer is inserted into the coordinate of X-direction and the coordinate of Y direction, is pressed from both sides using vortex sensor measuring
Tool is at a distance from lower floor guide rail.
S422: adjustment mechanical arm makes the half of fixture upper strata guide rail and lower floor guide rail spacing at a distance from lower floor guide rail.
S423: using fixture adjusted as the Z axis coordinate for being inserted into layer at a distance from lower floor guide rail.
As above step S421-S423 it is found that the present embodiment coordinate according to acquired in step S412, make fixture go deep into
Among insert layer, again using vortex sensor measuring fixture at a distance from lower floor guide rail, mechanical arm is adjusted according to measurement result,
Make the half of fixture upper strata guide rail and lower floor guide rail spacing at a distance from lower floor guide rail, so that it is guaranteed that server node is in Z axis
The center for being inserted into layer is also on direction.
By taking standard Rack cabinet as an example, four eddy current sensors, the fixture left and right sides can be arranged in this implementation on fixture
Every side is installed by two eddy current sensors.Specifically a telescopic cylinder can be respectively installed on pressing from both sides ambilateral sensor stand, every
It installs two eddy current sensors in the fixed plate of a telescopic cylinder additional, the distance of lower floor guide rail is perceived using four eddy current sensors,
Four distance values ZX4, ZX5, ZX6 and ZX7 are obtained, the posture of mechanical arm is adjusted, making four values is the one of upper and lower level guide rail spacing
Half, it may be assumed that 23.25 ± 0.06mm, Z axis coordinate determines at this time, and three-dimensional coordinate is accurately positioned, the server node of subsequent fixture crawl
It can be pushed into automatically and be inserted into layer.
It is got after server node is inserted into the three-dimensional coordinate discreet value of layer by step S1 and S2, is estimated according to this
Value executes step S3 and S4, gets the three-dimensional coordinate that server node is inserted into layer, three got by step S3 and S4
Coordinate precision Du Genggao is tieed up, the positioning accuracy for being inserted into layer can be greatly improved, so that being conducive to server node accurately enters cabinet.
Further include step S5 after getting the three-dimensional coordinate for being inserted into layer, in this implementation: the three-dimensional coordinate for being inserted into layer is sent to machine
Tool arm.Specifically, three-dimensional coordinate is sent to mechanical arm controller, mechanical arm controller controls fixture according to three-dimensional coordinate and clamps
Server node enters cabinet automatically.
In conclusion the present embodiment passes sequentially through the positioning for the first time of the positioning of server cabinet side, guide rail, cabinet center is determined
Second of the positioning in position and guide rail gradually determines that server node is inserted into the three-dimensional coordinate of layer, to realize positioning.This implementation
In localization method, can effectively avoid cabinet body, guide rail, add up error caused by node cabinet and bottom tray,
It greatly improves to the accuracy for being inserted into server node positioning.And it is passed in the application using laser range sensor and vortex
Sensor carry out range measurement, be conducive to improve range measurement accuracy, to further increase the accuracy of node locating.It adopts
Guide rail end surface image taking is carried out with CCD, is also beneficial to improve the accuracy of positioning.
The above is only the specific embodiment of the application, is made skilled artisans appreciate that or realizing this Shen
Please.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. the localization method that a kind of server node enters cabinet automatically, which is characterized in that be provided with and be used in the server cabinet
The guide rail of the server node is carried, the localization method includes:
S1: by server cabinet side position, obtain cabinet vertical center line X-direction coordinate value of estimating, it is described
Bottom tray of the cabinet vertical center line perpendicular to server cabinet；
S2: by the way of taking pictures, the guide rail for treating insert layer carries out first time positioning, determines that server node is inserted into layer
Guide rail estimates coordinate value Y-axis and Z-direction, and the guide rail for being inserted into layer includes upper strata guide rail and lower floor guide rail；
S3: according to the cabinet vertical center line X-direction estimate coordinate value, server node is inserted into the guide rail of layer and exists
Y-axis and Z-direction estimate coordinate value, and control fixture protrudes into server cabinet between two parties, and the fixture is for clamping server section
Cabinet is clicked and entered, and is provided on the fixture for measuring the sensor for being inserted into layer coordinate；
S4: cabinet centralized positioning is carried out using the sensor on the fixture and second of guide rail positions, determination is inserted into layer
Three-dimensional coordinate.
2. the localization method that a kind of server node according to claim 1 enters cabinet automatically, which is characterized in that the step
S1 includes:
S11: a selected plane perpendicular to server cabinet bottom tray is reference planes, is provided in the reference planes
A, tri- laser range sensors of B and C, wherein the height of laser range sensor B and C is identical, and the location A of laser sensor is high
Degree is higher than the height of laser range sensor B and C；
S12: the laser range sensor and server cabinet side are measured respectively using three laser range sensors
Distance, wherein the distance definition that laser range sensor A measurement obtains is ZX1, and laser range sensor B measurement obtains
Distance definition is ZX2, and the distance definition that laser range sensor C measurement obtains is ZX3；
S13: server cabinet position is adjusted according to the distance of three laser range sensors, presss from both sides server cabinet face
Tool；
S14: it according to three laser sensors at a distance from server cabinet side and server cabinet width, utilizes
Formula X1=AVERAGE (ZX1, ZX2, ZX3)+W, the coordinate of the cabinet vertical center line of calculation server cabinet in X-direction
Value, wherein X1 is coordinate value of the cabinet vertical center line in X-direction, and W is server cabinet width.
3. the localization method that a kind of server node according to claim 2 enters cabinet automatically, which is characterized in that | ZX2-ZX3
|≤0.06mm, and | ZX1-ZX2 |≤20mm.
4. the localization method that a kind of server node according to claim 1 enters cabinet automatically, which is characterized in that the step
S2 includes:
S21: the Z axis coordinate range for being inserted into layer is determined according to server cabinet drawing；
S22: according to the Z axis coordinate range, the end face photo of the guide rail of layer is inserted into using CCD shooting；
S23: the Z axis position for being inserted into layer is determined according to the end face photo；
S24: according to the Z axis position for being inserted into layer, determine that being inserted into layer upper strata guide rail estimates coordinate value in Y-axis and Z-direction
Y1 and Z1, and be inserted into layer lower floor guide rail and estimate coordinate value Y2 and Z2 in Y-axis and Z-direction, and 45mm≤| Z1-Z2 |≤
47mm。
5. the localization method that a kind of server node according to claim 1 enters cabinet automatically, which is characterized in that the fixture
On sensor include: laser range sensor and eddy current sensor.
6. the localization method that a kind of server node according to claim 5 enters cabinet automatically, which is characterized in that the step
S4 includes:
S41: cabinet centralized positioning is carried out using the laser range sensor on the fixture, determination is inserted into layer in X-direction
Coordinate and Y direction coordinate；
S42: according to layer is inserted into the coordinate of X-direction and the coordinate of Y direction, the eddy current sensor on the fixture is utilized
It carries out second of guide rail to position, determination is inserted into layer in the coordinate of Z-direction.
7. the localization method that a kind of server node according to claim 6 enters cabinet automatically, which is characterized in that the step
S41 includes:
S411: utilizing the laser range sensor on the fixture, the server machine for measuring the fixture and being inserted into where layer
Horizontal distance between cabinet medial surface；
S412: the cabinet vertical center line is adjusted according to the horizontal distance and estimates coordinate value in X-direction, makes Y-direction
Clamp central line be overlapped with cabinet horizontal center line.
8. the localization method that a kind of server node according to claim 6 enters cabinet automatically, which is characterized in that the step
S42 includes:
S421: according to being inserted into layer in the coordinate of X-direction and the coordinate of Y direction, using vortex sensor measuring fixture with
The distance of lower floor guide rail；
S422: adjustment mechanical arm makes the half of fixture upper strata guide rail and lower floor guide rail spacing at a distance from lower floor guide rail；
S423: using fixture adjusted as the Z axis coordinate for being inserted into layer at a distance from lower floor guide rail.
9. a kind of any server node enters the localization method of cabinet automatically in -8 according to claim 1, which is characterized in that
After step S4, the method also includes:
S5: the three-dimensional coordinate for being inserted into layer is sent to mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811293428.4A CN109387149B (en) | 2018-11-01 | 2018-11-01 | Positioning method for automatic cabinet entry of server node |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811293428.4A CN109387149B (en) | 2018-11-01 | 2018-11-01 | Positioning method for automatic cabinet entry of server node |
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| Publication Number | Publication Date |
|---|---|
| CN109387149A true CN109387149A (en) | 2019-02-26 |
| CN109387149B CN109387149B (en) | 2021-02-09 |
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| CN201811293428.4A Active CN109387149B (en) | 2018-11-01 | 2018-11-01 | Positioning method for automatic cabinet entry of server node |
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| DE202016106062U1 (en) * | 2016-10-27 | 2016-11-07 | LPKF SolarQuipment GmbH | Printing machine with a device for detecting at least one glass edge of a glass plate |
| CN108225321A (en) * | 2017-12-25 | 2018-06-29 | 燕山大学 | A kind of indoor orientation method under the auxiliary based on mobile node |
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| CN101807247A (en) * | 2010-03-22 | 2010-08-18 | 中国农业大学 | Fine-adjustment positioning method of fruit and vegetable picking point |
| CN101839700A (en) * | 2010-03-29 | 2010-09-22 | 重庆建设工业(集团)有限责任公司 | Non-contact image measuring system |
| CN104280740A (en) * | 2014-10-11 | 2015-01-14 | 三峡大学 | Device for jointly positioning blast hole based on camera and laser distance measuring sensor and positioning method |
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