CN109387149B - Positioning method for automatic cabinet entry of server node - Google Patents
Positioning method for automatic cabinet entry of server node Download PDFInfo
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- CN109387149B CN109387149B CN201811293428.4A CN201811293428A CN109387149B CN 109387149 B CN109387149 B CN 109387149B CN 201811293428 A CN201811293428 A CN 201811293428A CN 109387149 B CN109387149 B CN 109387149B
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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
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Abstract
The application discloses a positioning method for automatically entering a cabinet by a server node, which comprises the following steps: obtaining estimated coordinate values of a vertical center line of a cabinet in the X-axis direction by positioning the side face of the server cabinet; positioning the guide rail of the layer to be inserted for the first time in a photographing mode, and determining estimated coordinate values of the guide rail of the layer to be inserted of the server node in the Y-axis and Z-axis directions; controlling the clamp to centrally extend into the server cabinet according to the estimated coordinate value of the vertical center line of the cabinet in the X-axis direction and the estimated coordinate values of the guide rail of the layer to be inserted of the server node in the Y-axis direction and the Z-axis direction; and carrying out cabinet center positioning and guide rail second positioning by using a sensor on the clamp to determine the three-dimensional coordinates of the layer to be inserted. By the positioning method, accumulated errors generated by the cabinet body, the guide rail, the node case and the bottom tray can be effectively avoided, and the positioning accuracy of the node to be inserted is greatly improved.
Description
Technical Field
The application relates to the technical field of servers, in particular to a positioning method for automatically entering a cabinet by a server node.
Background
In a high-density server rack, one server rack can usually accommodate 20-40 server nodes of the same structure and configuration, and the server nodes need to be located in the rack in order to accurately place the server nodes in the rack.
At present, in a method for locating a server node entering a cabinet, taking a RACK cabinet as an example, the RACK cabinet height is 42U or 46U, after the number of server nodes that can be accommodated is determined according to the RACK cabinet height, the position of the server node to be entered into the cabinet is determined by adopting a coordinate accumulation mode according to the case height and the distance between each layer of guide rails, and then a manipulator is controlled to guide the server node into the server cabinet, thereby completing the entry of the server node into the cabinet.
However, in the current locating method for entering the server node into the cabinet, because the reserved gap between the height of the case of the server node and each layer of guide rail is only 1.5mm, and the parts such as the server cabinet body, the guide rail, the case of the server node, the bottom tray and the like can generate accumulated errors, when the server node enters the cabinet by adopting a coordinate accumulation mode, a larger locating error can occur, and the location is not accurate enough, so that the server node can not enter the cabinet accurately, and further the working efficiency is influenced.
Disclosure of Invention
The application provides a positioning method for automatically entering a cabinet by a server node, which aims to solve the problem that the server node cannot enter the cabinet accurately due to the fact that a large positioning error and inaccurate positioning easily occur in the prior art.
In order to solve the technical problem, the embodiment of the application discloses the following technical scheme:
a positioning method for automatically loading a server node into a cabinet is provided, wherein a guide rail for bearing the server node is arranged in the server cabinet, and the positioning method comprises the following steps:
s1: obtaining an estimated coordinate value of a vertical center line of a cabinet in an X-axis direction by positioning the side surface of a server cabinet, wherein the vertical center line of the cabinet is vertical to a bottom tray of the server cabinet;
s2: the method comprises the steps that a photographing mode is adopted, the guide rail of a layer to be inserted is positioned for the first time, estimated coordinate values of the guide rail of the server node layer to be inserted in the Y-axis direction and the Z-axis direction are determined, and the guide rail of the layer to be inserted comprises an upper guide rail and a lower guide rail;
s3: controlling a clamp to centrally extend into the server cabinet according to the estimated coordinate value of the vertical center line of the cabinet in the X-axis direction and the estimated coordinate values of the guide rail of the server node to be inserted layer in the Y-axis direction and the Z-axis direction, wherein the clamp is used for clamping the server node to enter the cabinet, and a sensor used for measuring the coordinate of the layer to be inserted is arranged on the clamp;
s4: and carrying out cabinet center positioning and guide rail second positioning by using the sensor on the clamp, and determining the three-dimensional coordinate of the layer to be inserted.
Optionally, the step S1 includes:
s11: selecting a plane vertical to a tray at the bottom of a server cabinet as a reference plane, wherein A, B and C laser ranging sensors are arranged on the reference plane, the heights of the laser ranging sensors B and C are the same, and the height of the position A of each laser sensor is higher than the heights of the laser ranging sensors B and C;
s12: the distance between the laser ranging sensor and the side face of the server cabinet is measured by the three laser ranging sensors respectively, wherein the distance measured by the laser ranging sensor A is defined as ZX1, the distance measured by the laser ranging sensor B is defined as ZX2, and the distance measured by the laser ranging sensor C is defined as ZX 3;
s13: adjusting the position of a server cabinet according to the distances of the three laser ranging sensors to enable the server cabinet to face a clamp;
s14: according to the distance between the three laser sensors and the side face of the server cabinet and the width of the server cabinet, calculating the coordinate value of the vertical center line of the cabinet of the server cabinet in the X-axis direction by using the formula X1 ═ AVERAGE (ZX1, ZX2, ZX3) + W, wherein X1 is the coordinate value of the vertical center line of the cabinet in the X-axis direction, and W is the width of the server cabinet.
Alternatively, | ZX2-ZX3| ≦ 0.06mm, and | ZX1-ZX2| ≦ 20 mm.
Optionally, the step S2 includes:
s21: determining the Z-axis coordinate range of the layer to be inserted according to a server cabinet drawing;
s22: taking a picture of the end face of the guide rail of the layer to be inserted by using a Charge Coupled Device (CCD 3) according to the Z-axis coordinate range;
s23: determining the Z-axis position of the layer to be inserted according to the end face photo;
s24: according to the Z-axis position of the layer to be inserted, the estimated coordinate values Y1 and Z1 of the guide rail on the upper layer of the layer to be inserted in the Y-axis direction and the Z-axis direction and the estimated coordinate values Y2 and Z2 of the guide rail on the lower layer of the layer to be inserted in the Y-axis direction and the Z-axis direction are determined, and | Z1-Z2| which is more than or equal to 45mm is less than or equal to 47 mm.
Optionally, the sensor on the clamp comprises: laser ranging sensors and eddy current sensors.
Optionally, the step S4 includes:
s41: positioning the center of the cabinet by using a laser ranging sensor on the clamp, and determining the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction;
s42: and according to the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction, performing second positioning on the guide rail by using the eddy current sensor on the clamp, and determining the coordinate of the layer to be inserted in the Z-axis direction.
Optionally, the step S41 includes:
s411: measuring the horizontal distance between the clamp and the inner side surface of the server cabinet where the layer to be inserted is located by using a laser ranging sensor on the clamp;
s412: and adjusting the estimated coordinate value of the vertical center line of the cabinet in the X-axis direction according to the horizontal distance to enable the center line of the clamp in the Y direction to be coincident with the horizontal center line of the cabinet.
Optionally, the step S42 includes:
s421: measuring the distance between the clamp and the lower guide rail by using an eddy current sensor according to the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction;
s422: adjusting the mechanical arm to enable the distance between the clamp and the lower guide rail to be half of the distance between the upper guide rail and the lower guide rail;
s423: and taking the distance between the adjusted clamp and the lower guide rail as the Z-axis coordinate of the layer to be inserted.
Optionally, after step S4, the method further includes:
s5: and sending the three-dimensional coordinates of the layer to be inserted to a mechanical arm.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the application provides a positioning method for automatically entering a cabinet into a server node, which mainly comprises the steps of positioning the side face of a server cabinet, performing first positioning on a guide rail of a layer to be inserted, performing rough positioning on the layer to be inserted firstly, then stretching a fixture provided with a sensor into the server cabinet in the middle, and performing cabinet center positioning and guide rail second positioning through the sensor on the fixture, thereby determining a three-dimensional coordinate of the layer to be inserted, namely: accurate positioning is achieved. According to the positioning method and the positioning device, through rough positioning and accurate positioning twice, accumulated errors generated by the cabinet body, the guide rail, the node case and the bottom tray can be effectively avoided, and the positioning accuracy of the node to be inserted is greatly improved. And adopt laser rangefinder sensor and eddy current sensor to carry out distance measurement in this application for do benefit to and improve distance measurement's accuracy, thereby further improve the accuracy of node location. And CCD is adopted to shoot images of the end face of the guide rail, so that the positioning accuracy is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for positioning a server node automatically entering a cabinet according to an embodiment of the present disclosure;
fig. 2 is a schematic side view of a server rack in an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In a high-density server rack, one server rack can usually accommodate 20-40 server nodes of the same structure and configuration, and the server nodes need to be located in the rack in order to accurately place the server nodes in the rack. Be provided with the guide rail that is used for bearing server node in the server rack that this application is suitable for. Specifically, the server cabinet comprises three inner side surfaces, one inner side surface corresponds to the opening direction of the server cabinet, and guide rails for bearing the server nodes are arranged on the other two inner side surfaces.
For a better understanding of the present application, embodiments of the present application are explained in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic flowchart of a method for positioning a server node automatically entering a cabinet according to an embodiment of the present application. As shown in fig. 1, the method for positioning a server node in an automatic locker mainly includes the following steps:
s1: the estimated coordinate value of the vertical center line of the cabinet in the X-axis direction is obtained by positioning the side face of the server cabinet, and the vertical center line of the cabinet is perpendicular to the bottom tray of the server cabinet.
Specifically, step S1 includes the following processes:
s11: a plane perpendicular to a bottom tray of the server cabinet is selected as a reference plane, and A, B and three laser ranging sensors C are arranged on the reference plane. The heights of the laser ranging sensors B and C are the same, and the height of the position A of the laser sensor is higher than the heights of the laser ranging sensors B and C.
An operational schematic diagram of the side positioning of the server rack can be seen in fig. 2. In fig. 2, A, B, C is three laser ranging sensors, which are disposed on the same reference plane, and the reference plane is perpendicular to the bottom tray of the server cabinet, and the heights of B and C are the same, and the height of a is higher than those of B and C. The embodiment adopts the laser ranging sensor, so that the acquired distance is more accurate, the accuracy of the side positioning of the server cabinet is improved, and the accuracy of the automatic node entering the cabinet is improved.
S12: and respectively measuring the distances between the laser ranging sensors and the side face of the server cabinet by using the three laser ranging sensors. The distance measured by the laser ranging sensor A is defined as ZX1, the distance measured by the laser ranging sensor B is defined as ZX2, and the distance measured by the laser ranging sensor C is defined as ZX 3.
Taking the Rack cabinet as an example, in order to ensure that the side surface of the server cabinet is parallel to the reference plane, thereby improving the positioning accuracy, the distance deviation range between ZX1, ZX2 and ZX3 in this embodiment is: [ -0.2mm,0.2mm ].
S13: and adjusting the position of the server cabinet according to the distances of the three laser ranging sensors to ensure that the server cabinet is opposite to the clamp.
Specifically, the method for adjusting the position of the server cabinet according to the distances of the three laser ranging sensors comprises the following steps: calculating an Angle value required to rotate by using the obtained ZX1, ZX2 and ZX3 through an equation of Angle ═ Math.Atan (Math.abs (ZX 2-ZX 3)/1020.0) × 180/Math.PI, controlling a servo motor to rotate a rotating platform according to the Angle value, and meeting the requirement between ZX2 and ZX3 in the implementation in order to improve the positioning accuracy: i ZX2-ZX 3I is less than or equal to 0.06mm, and in order to prevent the left and right inclination of the server cabinet, the requirements are met: the | ZX1-ZX2| is less than or equal to 20 mm. That is, when the turntable is rotated to satisfy the condition: if (Math.abs (ZX 2-ZX 3) < ═ 0.06mm, the adjustment is finished, then, whether the cabinet is seriously inclined in the X-axis direction is judged, if the condition | ZX1-ZX2| is less than or equal to 20mm, the server cabinet is judged not to be out of tolerance, the actual inclination is calculated, the inclination is taken as one of the correction values of the mechanical arm plug-in point, and if the server cabinet is out of tolerance, the adjustment is continued until the server cabinet is over against the clamp.
Because the server Rack passes through the conveyer and transmits to the revolving stage to the Rack is taken as an example, there is 15mm clearance between server Rack bottom tray and the guide rail, and the bottom tray has certain contained angle usually with the horizontal direction after the transmission targets in place, is unfavorable for follow-up location, fixes a position the Rack side through laser rangefinder, and the distance of obtaining is to the rotatory fine setting of Rack, makes the Rack rotatory to just to anchor clamps position, can calculate the positive central X axle's of server Rack value simultaneously. Through adjustment server rack position, make the server rack just to anchor clamps, when being favorable to shooing in follow-up step S2, accurately shoot guide rail cross-section image on the coordinate value of setting for, when still being favorable to anchor clamps deepening server rack in follow-up step S3, improve the accuracy of anchor clamps location, avoid leading to anchor clamps and server rack to bump because the position slope of server rack.
S14: according to the distances between the three laser sensors and the side face of the server cabinet and the width of the server cabinet, the coordinate value of the vertical center line of the cabinet of the server cabinet in the X-axis direction is calculated by using the formula X1 ═ AVERAGE (ZX1, ZX2, ZX3) + W. Wherein, X1 is the coordinate value of the vertical center line of the cabinet in the X-axis direction, and W is the width of the server cabinet.
Taking a standard Rack cabinet as an example, the width of the standard Rack cabinet is 600mm, and the coordinate of the vertical center line of the Rack of the server cabinet in the X-axis direction is X1: AVERAGE (ZX1, ZX2, ZX3) +600 mm.
With continued reference to fig. 1, after the side of the server cabinet is located, step S2 is executed: and adopting a photographing mode to position the guide rail of the layer to be inserted for the first time, and determining the estimated coordinate values of the guide rail of the layer to be inserted of the server node in the Y-axis and Z-axis directions. The guide rail to be inserted into the layer comprises an upper layer guide rail and a lower layer guide rail.
In this embodiment, the CCD may be adopted for photographing, and specifically, the step S2 includes:
s21: and determining the Z-axis coordinate range of the layer to be inserted according to the server cabinet drawing.
S22: and according to the Z-axis coordinate range, shooting an end face picture of the guide rail of the layer to be inserted by using the CCD.
S23: and determining the Z-axis position of the layer to be inserted according to the end face picture.
S24: according to the Z-axis position of the layer to be inserted, the estimated coordinate values Y1 and Z1 of the guide rail on the upper layer of the layer to be inserted in the Y-axis direction and the Z-axis direction and the estimated coordinate values Y2 and Z2 of the guide rail on the lower layer of the layer to be inserted in the Y-axis direction and the Z-axis direction are determined, and | Z1-Z2| which is more than or equal to 45mm is less than or equal to 47 mm.
From the above steps S21-S24, the Z-axis coordinate range of each layer of guide rail can be estimated from the service cabinet drawing, and according to the coordinate range, the CCD is controlled to take pictures of the end faces of the adjacent upper and lower layers of guide rails to be inserted, and the relatively precise Z-axis position of the guide rail to be inserted is identified by the pictures, so as to determine the estimated coordinate values Y1 and Z1 of the upper layer guide rail in the Y-axis and Z-axis directions, and the estimated coordinate values Y2 and Z2 of the lower layer guide rail in the Y-axis and Z-axis directions are considered as normal values when the difference between Z1 and Z2 is between 45mm and 47 mm. If the difference value exceeds the range, alarming is carried out, automatic cabinet entering is suspended, and subsequent processing is carried out.
When the upper layer guide rail or the lower layer guide rail of some layers to be inserted can not be photographed, if the layers to be inserted are close to the top layer or the bottom layer, the layer spacing can be added or subtracted according to the guide rail coordinates corresponding to the layers to be inserted to calculate. Taking the layer spacing of 46.5mm as an example, if the upper guide rail of the layer to be inserted cannot be photographed, calculating the upper guide rail coordinate of the layer to be inserted by adding 46.5mm to the lower guide rail coordinate of the layer to be inserted; and if the lower guide rail of the layer to be inserted cannot be photographed, subtracting 46.5mm from the upper guide rail coordinate of the layer to be inserted, and calculating to obtain the lower guide rail coordinate of the layer to be inserted.
After the estimated three-dimensional coordinates are acquired through the preliminary positioning in steps S1 and S2, step S3 is performed: and controlling the clamp to centrally extend into the server cabinet according to the estimated coordinate value of the vertical center line of the cabinet in the X-axis direction and the estimated coordinate values of the guide rail of the layer to be inserted of the server node in the Y-axis direction and the Z-axis direction. The fixture is used for clamping the server nodes into the cabinet, and a sensor used for measuring the coordinates of the layer to be inserted is arranged on the fixture.
Through stretching into the layer of inserting of treating of server rack with anchor clamps in this embodiment, promptly: the three-dimensional coordinate of the layer to be inserted is measured by a sensor arranged on the clamp. Wherein, the sensor on the anchor clamps includes: laser ranging sensors and eddy current sensors.
With continued reference to fig. 1, after the fixture is centrally inserted into the server cabinet, step S4 is executed: and carrying out cabinet center positioning and guide rail second positioning by using a sensor on the clamp to determine the three-dimensional coordinates of the layer to be inserted.
Specifically, step S4 includes the following processes:
s41: and carrying out cabinet center positioning by using a laser ranging sensor on the clamp, and determining the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction.
Specifically, step S41 includes the following steps:
s411: measuring the horizontal distance between the clamp and the inner side surface of the server cabinet where the layer to be inserted is located by using a laser ranging sensor on the clamp;
s412: and adjusting the estimated coordinate value of the vertical center line of the cabinet in the X-axis direction according to the horizontal distance to ensure that the center line of the clamp in the Y direction is superposed with the horizontal center line of the cabinet.
As can be seen from the above steps S411 and S412, after the fixture is centrally inserted into the server cabinet to a proper position, the distance between the fixture and the vertical surface of the guide rail is measured by the laser sensors mounted on the left and right brackets of the fixture, and the robot arm is controlled to finely adjust the X-axis position according to the distance, so that the center line of the fixture in the Y direction coincides with the horizontal center line of the cabinet, thereby ensuring that the server node is located at the center of the layer to be inserted in the X-axis and Y-axis directions. And taking the coordinate of the current clamp in the X-axis direction and the coordinate of the current clamp in the Y-axis direction as the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the current clamp in the Y-axis direction.
S42: and according to the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction, performing secondary positioning on the guide rail by using the eddy current sensor on the clamp, and determining the coordinate of the layer to be inserted in the Z-axis direction.
Specifically, step S42 includes the following steps:
s421: and measuring the distance between the clamp and the lower guide rail by using an eddy current sensor according to the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction.
S422: and adjusting the mechanical arm to enable the distance between the clamp and the lower guide rail to be half of the distance between the upper guide rail and the lower guide rail.
S423: and taking the distance between the adjusted clamp and the lower guide rail as the Z-axis coordinate of the layer to be inserted.
As can be seen from the above steps S421-S423, in this embodiment, the fixture is inserted deep into the middle of the layer to be inserted according to the coordinates obtained in step S412, the distance between the fixture and the lower guide rail is measured again by using the eddy current sensor, and the mechanical arm is adjusted according to the measurement result, so that the distance between the fixture and the lower guide rail is half of the distance between the upper guide rail and the lower guide rail, thereby ensuring that the server node is also located at the center of the layer to be inserted in the Z-axis direction.
Taking a standard Rack cabinet as an example, the fixture can be provided with four eddy current sensors, and two eddy current sensors are arranged on each side of the left side and the right side of the fixture. Specifically can respectively install a telescopic cylinder on the sensor support of anchor clamps both sides, install two vortex sensor additional on every telescopic cylinder's fixed plate, utilize the distance of four vortex sensor perception lower floor's guide rail, acquire four distance value ZX4, ZX5, ZX6 and ZX7, the gesture of adjustment arm makes four values be the half of upper and lower layer guide rail interval, promptly: 23.25 +/-0.06 mm, determining the Z-axis coordinate at the moment, accurately positioning the three-dimensional coordinate, and automatically pushing the server node captured by the subsequent clamp into the layer to be inserted.
After the three-dimensional coordinate estimated value of the layer to be inserted of the server node is obtained through the steps S1 and S2, the steps S3 and S4 are executed according to the estimated value, the three-dimensional coordinate of the layer to be inserted of the server node is obtained, the three-dimensional coordinate obtained through the steps S3 and S4 is high in accuracy, the positioning accuracy of the layer to be inserted can be greatly improved, and therefore the server node can be accurately placed in a cabinet. After acquiring the three-dimensional coordinates of the layer to be inserted, the implementation further includes step S5: and sending the three-dimensional coordinates of the layer to be inserted to the mechanical arm. Specifically, the three-dimensional coordinates are sent to a mechanical arm controller, and the mechanical arm controller controls a clamp to clamp the server node to automatically enter the cabinet according to the three-dimensional coordinates.
In summary, in this embodiment, the three-dimensional coordinates of the layer to be inserted of the server node are determined step by the server cabinet side positioning, the first guide rail positioning, the cabinet center positioning, and the second guide rail positioning, so as to achieve the positioning. The positioning method in the implementation can effectively avoid accumulated errors generated by the cabinet body, the guide rail, the node case and the bottom tray, and greatly improve the accuracy of positioning the nodes of the server to be inserted. And adopt laser rangefinder sensor and eddy current sensor to carry out distance measurement in this application for do benefit to and improve distance measurement's accuracy, thereby further improve the accuracy of node location. And CCD is adopted to shoot images of the end face of the guide rail, so that the positioning accuracy is improved.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A positioning method for automatically putting a server node into a cabinet is characterized in that a guide rail for bearing the server node is arranged in a server cabinet, and the positioning method comprises the following steps:
s1: obtaining an estimated coordinate value of a vertical center line of a server cabinet in the X-axis direction by positioning the side surface of the server cabinet, wherein the vertical center line of the server cabinet is vertical to a bottom tray of the server cabinet;
s2: the method comprises the steps that a photographing mode is adopted, the guide rail of a layer to be inserted is positioned for the first time, estimated coordinate values of the guide rail of the server node layer to be inserted in the Y-axis direction and the Z-axis direction are determined, and the guide rail of the layer to be inserted comprises an upper guide rail and a lower guide rail;
s3: controlling a clamp to centrally extend into the server cabinet according to the estimated coordinate value of the vertical center line of the server cabinet in the X-axis direction and the estimated coordinate values of the guide rail of the layer to be inserted of the server node in the Y-axis direction and the Z-axis direction, wherein the clamp is used for clamping the server node into the cabinet and is provided with a sensor for measuring the coordinate of the layer to be inserted;
s4: performing cabinet center positioning and guide rail second positioning by using the sensor on the clamp, and determining the three-dimensional coordinate of the layer to be inserted; wherein the step S1 includes:
s11: selecting a plane vertical to a tray at the bottom of a server cabinet as a reference plane, wherein A, B and C laser ranging sensors are arranged on the reference plane, the heights of the laser ranging sensors B and C are the same, and the height of the position A of each laser ranging sensor is higher than the heights of the positions of the laser ranging sensors B and C;
s12: the distance between the laser ranging sensor and the side face of the server cabinet is measured by the three laser ranging sensors respectively, wherein the distance measured by the laser ranging sensor A is defined as ZX1, the distance measured by the laser ranging sensor B is defined as ZX2, and the distance measured by the laser ranging sensor C is defined as ZX 3;
s13: adjusting the position of a server cabinet according to the distances of the three laser ranging sensors to enable the server cabinet to face a clamp;
s14: according to the distances between the three laser ranging sensors and the side face of the server cabinet and the width of the server cabinet, calculating the coordinate value of the vertical center line of the server cabinet in the X-axis direction by using a formula X1 ═ AVERAGE (ZX1, ZX2, ZX3) + W, wherein X1 is the coordinate value of the vertical center line of the server cabinet in the X-axis direction, and W is the width of the server cabinet.
2. The method as claimed in claim 1, wherein | ZX2-ZX3| ≦ 0.06mm, and | ZX1-ZX2| ≦ 20 mm.
3. The method as claimed in claim 1, wherein the step S2 includes:
s21: determining the Z-axis coordinate range of the layer to be inserted according to a server cabinet drawing;
s22: according to the Z-axis coordinate range, shooting an end face picture of the guide rail of the layer to be inserted by using a CCD (charge coupled device);
s23: determining the Z-axis position of the layer to be inserted according to the end face photo;
s24: according to the Z-axis position of the layer to be inserted, the estimated coordinate values Y1 and Z1 of the guide rail on the upper layer of the layer to be inserted in the Y-axis direction and the Z-axis direction and the estimated coordinate values Y2 and Z2 of the guide rail on the lower layer of the layer to be inserted in the Y-axis direction and the Z-axis direction are determined, and | Z1-Z2| which is more than or equal to 45mm is less than or equal to 47 mm.
4. The method as claimed in claim 1, wherein the sensor on the fixture comprises: laser ranging sensors and eddy current sensors.
5. The method as claimed in claim 4, wherein the step S4 includes:
s41: the laser ranging sensor on the clamp is used for carrying out center positioning on the server cabinet, and the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction are determined;
s42: and according to the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction, performing second positioning on the guide rail by using the eddy current sensor on the clamp, and determining the coordinate of the layer to be inserted in the Z-axis direction.
6. The method as claimed in claim 5, wherein the step S41 includes:
s411: measuring the horizontal distance between the clamp and the inner side surface of the server cabinet where the layer to be inserted is located by using a laser ranging sensor on the clamp;
s412: and adjusting the estimated coordinate value of the vertical center line of the server cabinet in the X-axis direction according to the horizontal distance to enable the center line of the clamp in the Y direction to be superposed with the horizontal center line of the server cabinet.
7. The method as claimed in claim 5, wherein the step S42 includes:
s421: measuring the distance between the clamp and the lower guide rail by using an eddy current sensor according to the coordinate of the layer to be inserted in the X-axis direction and the coordinate of the layer to be inserted in the Y-axis direction;
s422: adjusting the mechanical arm to enable the distance between the clamp and the lower guide rail to be half of the distance between the upper guide rail and the lower guide rail;
s423: and taking the distance between the adjusted clamp and the lower guide rail as the Z-axis coordinate of the layer to be inserted.
8. The method for locating server node automatic locker entry according to any of claims 1-7, wherein after step S4, the method further comprises:
s5: and sending the three-dimensional coordinates of the layer to be inserted to a mechanical arm.
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