CN110722559A - Auxiliary inspection positioning method for intelligent inspection robot - Google Patents
Auxiliary inspection positioning method for intelligent inspection robot Download PDFInfo
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- CN110722559A CN110722559A CN201911022566.3A CN201911022566A CN110722559A CN 110722559 A CN110722559 A CN 110722559A CN 201911022566 A CN201911022566 A CN 201911022566A CN 110722559 A CN110722559 A CN 110722559A
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- 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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses an auxiliary inspection positioning method for an intelligent inspection robot, which comprises the following steps: the control center acquires 3D modeling data for modeling machine room space, equipment cabinets and equipment; the control center aggregates the acquired 3D modeling data with the machine room plan; the control center generates a patrol robot running command according to the set patrol route; the inspection robot acquires a running command and executes an inspection task on the machine room; the communication positioning base station acquires the relative position of the inspection robot in the machine room in real time and sends the relative position to the control center, and the control center displays the position of the inspection robot in real time; and the inspection robot alarms the abnormal information in real time. The intelligent inspection robot can precisely customize the inspection mode when reaching a certain position of a machine room, customize the inspection method according to the specific equipment data of different positions and the different equipment types, and realize personalized inspection by adopting different inspection modes.
Description
Technical Field
The invention relates to the technical field of machine room detection, in particular to an auxiliary inspection positioning method for an intelligent inspection robot.
Background
With the continuous increase of the service volume, the number, the scale and the complexity of objects needing to be managed by the data center all show exponential growth, and the traditional modes of manual intervention, nurse type management monitoring and fault handling cannot meet the service requirements. The manual inspection is required for many times every day, a lot of working hours are consumed for each inspection, and the manual inspection cannot gradually follow the scale growth and the rapid state change. The working frequency is high, the repeatability is strong, but the traditional manual inspection is difficult to realize the accuracy, the standardization and the digitization.
The intelligent inspection robot is used as a professional service robot, is suitable for finishing the work, is beneficial to reducing the labor cost of the inspection work, and improves the work efficiency and the management level. The conventional intelligent inspection robot has two common working modes, wherein one mode is to solidify an inspection route through a magnetic stripe navigation technology, and the other mode is to plan a path according to task requirements based on a self-constructed plane map. The two working modes have the same problem that the routing inspection path planning in the two-dimensional space is only carried out, the working modes in the vertical direction are the same, and the alarm accuracy is insufficient.
At present, the common working mode of the existing intelligent inspection robot lacks flexibility, and customized inspection can not be performed according to different types and positions of equipment. Mainly characterized in that
(1) Only two-dimensional spatial route planning
Only two-dimensional routing inspection path planning is performed, the working modes in the vertical direction are the same, routing inspection cannot be customized according to specific equipment types, and the accuracy of alarm is insufficient.
(2) Flexible routing inspection path planning is not possible
If adopt magnetic stripe navigation's technique, it is comparatively fixed to patrol and examine the route, in case the construction is accomplished and can't change in a flexible way, can't adapt to the demand that infrastructure such as data center computer lab rack, air conditioner changed.
(3) Can only execute single timing inspection task
Only a single timing polling task can be executed, and the requirements of different equipment for polling different frequencies cannot be met.
Disclosure of Invention
The invention aims to provide an auxiliary routing inspection positioning method for an intelligent routing inspection robot, which can realize the auxiliary routing inspection of the 3D machine room modeling of the machine room routing inspection robot through the cooperative linkage of the 3D modeling of the machine room and the robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
an auxiliary inspection positioning method for an intelligent inspection robot comprises the following steps:
the control center acquires 3D modeling data for modeling machine room space, equipment cabinets and equipment;
the control center aggregates the acquired 3D modeling data with the machine room plan;
the control center generates a patrol robot running command according to the set patrol route;
the inspection robot acquires a running command and executes an inspection task on the machine room;
the communication positioning base station acquires the relative position of the inspection robot in the machine room in real time and sends the relative position to the control center, and the control center displays the position of the inspection robot in real time;
and the inspection robot alarms the abnormal information in real time.
Further, the aggregating of the acquired 3D modeling data and the machine room plan by the control center specifically includes:
after acquiring the 3D modeling data of the machine room, the control center draws criss-cross parallel grids in a machine room plane graph and establishes a plane coordinate system; the intersection points of the network comprise horizontal and vertical coordinates under a plane coordinate system, and the intersection points of the grid correspond to the machine room 3D modeling information one by one: and acquiring equipment information contained in the machine cabinet in the current machine room 3D modeling data according to the grid intersection point coordinate information.
Further, the control center generates an inspection robot driving command according to the set inspection path, and the method specifically comprises the following steps:
the control center generates a driving command containing initial coordinate information and including straight driving, left turning and right turning according to the routing inspection path;
the control center marks the inspection cabinet, and inserts an inspection instruction into the driving command after marking;
the control center selects equipment needing to be patrolled and examined in the cabinet and sets a patrolling and examining mode.
Further, the communication positioning base station acquires the relative position of the inspection robot in the machine room in real time and sends the relative position to the control center, and the method specifically comprises the following steps:
the communication positioning base stations arranged at four corners of the machine room communicate with the inspection robot by adopting UWB wireless channels to acquire the relative position of the inspection robot;
and the communication positioning base station performs data transmission with the control center by using the wifi signal, and sends the position information of the inspection robot to the control center in real time.
Further, control center shows in real time and patrols and examines robot position, specifically includes:
and the control center displays the acquired position information of the inspection robot on a plane graph grid and in a 3D visual model of the machine room.
Further, the robot patrols and examines and reports an emergency and asks for help or increased vigilance to unusual information in real time, specifically includes:
the inspection robot sends equipment abnormity warning information containing abnormal equipment position and abnormal type information to the control center, the control center sends the warning information to the 3D machine room visualization system in real time, and the 3D machine room visualization system visually displays warning equipment and warning content in real time.
The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
1. and customizing the routing inspection object.
The intelligent inspection robot can precisely customize the inspection mode when reaching a certain position of a machine room, customize the inspection method according to the specific equipment data of different positions and the different equipment types, and realize personalized inspection by adopting different inspection modes.
2. And planning a routing inspection path.
Can realize patrolling and examining the demand according to the difference, plan the not heterogeneous route of patrolling and examining, when equipment layout changes in the computer lab, nimble change is patrolled and examined the route.
3. Besides the default timing inspection, the intelligent inspection robot can also be appointed to inspect a certain device through a control interface by using 3D machine room modeling data.
Drawings
FIG. 1 is a schematic flow diagram of an embodiment of the method of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the apparatus of the present invention.
Detailed Description
In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
As shown in fig. 1, an auxiliary inspection positioning method for an intelligent inspection robot comprises the following steps:
s1, the control center obtains 3D modeling data for modeling including machine room space, cabinets and equipment;
s2, the control center aggregates the acquired 3D modeling data with the machine room plan;
s3, the control center generates an inspection robot driving command according to the set inspection path;
s4, the inspection robot acquires a driving command and executes an inspection task on the machine room;
s5, the communication positioning base station acquires the relative position of the inspection robot in the machine room in real time and sends the relative position to the control center, and the control center displays the position of the inspection robot in real time;
and S6, the inspection robot gives an alarm for the abnormal information in real time.
As an embodiment of the present application, in step S2, the method for aggregating the acquired 3D modeling data with the machine room plan by the control center specifically includes:
after obtaining the 3D modeling data of the machine room, the control center draws criss-cross parallel grids in a machine room plane graph, wherein in one embodiment, the grid granularity is 10cm, and a plane coordinate system is established; the intersection points of the network comprise horizontal and vertical coordinates under a plane coordinate system, and the intersection points of the grid correspond to the machine room 3D modeling information one by one: and acquiring equipment information contained in the equipment cabinet in the current machine room 3D modeling data according to the grid intersection point coordinate information, for example, the number of U where each equipment is located, which equipment type is respectively.
As an embodiment of the present application, in step S3, the method for generating a patrol robot driving command by the control center according to the set patrol route includes:
and S31, the control center generates a driving command including straight driving, left turning and right turning containing the initial coordinate information according to the routing inspection path.
The inspection path is drawn in the plan view, and the control center can automatically generate inspection robot driving commands such as initial coordinates of straight line driving, left-turn and right-turn commands and the like according to the inspection path, so that the inspection robot can complete path planning according to the established commands.
The command format is, for example:
(1) go straight to x1, y1
(2) Rotate by 90 degrees to the right
(3) Go straight to x2, y2
S32, marking the inspection cabinet by the control center, and inserting an inspection instruction into the driving command after marking is finished;
and marking the cabinet to be subjected to inspection in the inspection path, and inspecting all equipment in all the cabinets passing through the path in a default inspection mode by default. And after the marking is finished, inserting a patrol inspection instruction into the robot running instruction.
The commands are, for example:
(1) go straight to x1, y1
(2) Inspection machine cabinet A1 (Default)
(3) Reduction of position
(4) Go straight to x2, x3
(2) Rotate by 90 degrees to the right
(3) Go straight to x3, y4
S33, the control center selects the equipment needing to be inspected in the cabinet and sets an inspection mode.
The equipment to be inspected is selected in the cabinet, different inspection modes are selected for different equipment, and different inspection item free combinations can be flexibly configured in the inspection modes. For example: can be provided with the following inspection items
Looking at the front indicator of the apparatus, giving an alarm if a red light appears
Looking at indicator lights at the rear of the apparatus, giving an alarm if a red light appears
Looking at the front indicator of the apparatus, giving an alarm if a yellow light appears
Viewing rear indicator lights of apparatus, giving alarms if yellow light appears
Detecting the temperature of the equipment, and alarming when the temperature exceeds 40 DEG C
Detecting the temperature of the equipment, and alarming when the temperature exceeds 50 DEG C
And collecting equipment alarm sound, and if the equipment alarm sound is matched with the equipment alarm sound, giving an alarm.
Due to different alarm modes of different equipment, the inspection mode is flexibly set according to different equipment types, for example, the (1, 2, 5 and 7) is configured into the inspection mode 1
And after the equipment selection is completed, equipment and inspection mode information is added into the robot control command.
The commands are, for example:
(1) go straight to x1, y1
(2) Inspection cabinet A1
(3) 4-8U equipment A patrolled and examined with mode 1 of patrolling and examining
(4) Equipment B for polling 12-15U in polling mode 2
(3) Reduction of position
(4) Go straight to x2, x3
(2) Rotate by 90 degrees to the right
(3) Go straight to x3, y4
As an embodiment of the present application, in step S5, the communication positioning base station obtains the relative position of the inspection robot in the machine room in real time, and sends the relative position to the control center, which specifically includes:
the communication positioning base stations arranged at four corners of the machine room communicate with the inspection robot by adopting UWB wireless channels to acquire the relative position of the inspection robot;
and the communication positioning base station performs data transmission with the control center by using the wifi signal, and sends the position information of the inspection robot to the control center in real time.
As an embodiment of the present application, in step S5, the control center displays the position of the inspection robot in real time, and specifically includes:
and the control center displays the acquired position information of the inspection robot on a plane graph grid and in a 3D visual model of the machine room.
As an embodiment of the present application, in step S6, the inspection robot performs real-time warning on the abnormal information, which specifically includes:
the inspection robot sends equipment abnormity warning information containing abnormal equipment position and abnormal type information to the control center, the control center sends the warning information to the 3D machine room visualization system in real time, and the 3D machine room visualization system visually displays warning equipment and warning content in real time.
As shown in fig. 2, the specific system structure includes: the system comprises a machine room inspection robot, a 3D machine room system butt joint interface, a machine room inspection robot control center and a robot auxiliary positioning base station.
The control center is used as a control center of the data center inspection robot and has the following functions:
(1)3D computer lab interface butt joint module: the system is in butt joint with a 3D machine room interface, modeling data of the 3D machine room are obtained, the real-time position of the inspection robot is pushed to the 3D machine room, and inspection warning is pushed to the 3D machine room.
(2) The polling configuration module: and configuring the inspection task through the dragged configuration interface, issuing the inspection task to the inspection robot, and receiving the inspection alarm and the current state of the inspection robot.
(3) A communication module: and the communication positioning base station is interconnected to obtain the real-time position of the inspection robot.
The inspection robot is a main body for executing an inspection task, receives the inspection task from the control center, and pushes the position, the state and the alarm of the inspection robot to the control center in real time.
The inspection robot is provided with an auxiliary positioning device, communicates with a positioning base station in a machine room through a UWB wireless channel, and acquires the current position through position information of different base stations.
Communication positioning base station
And communicating with the inspection robot through a UWB wireless channel to acquire the relative position of the inspection robot. And sending the relative position of the inspection robot to a control center, and assisting the control center to acquire the absolute position of the inspection robot.
3D computer lab butt joint interface
Mainly realize 3D computer lab visual system and control center's butt joint, the main function includes: and providing 3D modeling data including modeling information of the machine room space, the machine cabinet and the equipment to the control center. And acquiring real-time position information of the inspection robot, and displaying the position of the inspection robot in real time. And acquiring and displaying alarm information sent to the control center by the inspection robot.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (6)
1. An auxiliary inspection positioning method for an intelligent inspection robot is characterized by comprising the following steps:
the control center acquires 3D modeling data for modeling machine room space, equipment cabinets and equipment;
the control center aggregates the acquired 3D modeling data with the machine room plan;
the control center generates a patrol robot running command according to the set patrol route;
the inspection robot acquires a running command and executes an inspection task on the machine room;
the communication positioning base station acquires the relative position of the inspection robot in the machine room in real time and sends the relative position to the control center, and the control center displays the position of the inspection robot in real time;
and the inspection robot alarms the abnormal information in real time.
2. The intelligent inspection robot auxiliary inspection positioning method according to claim 1, wherein the control center aggregates the acquired 3D modeling data with a machine room plan, specifically comprising:
after acquiring the 3D modeling data of the machine room, the control center draws criss-cross parallel grids in a machine room plane graph and establishes a plane coordinate system; the intersection points of the network comprise horizontal and vertical coordinates under a plane coordinate system, and the intersection points of the grid correspond to the machine room 3D modeling information one by one: and acquiring equipment information contained in the machine cabinet in the current machine room 3D modeling data according to the grid intersection point coordinate information.
3. The auxiliary inspection positioning method for the intelligent inspection robot according to claim 1, wherein the control center generates an inspection robot driving command according to the set inspection path, and specifically comprises:
the control center generates a driving command containing initial coordinate information and including straight driving, left turning and right turning according to the routing inspection path;
the control center marks the inspection cabinet, and inserts an inspection instruction into the driving command after marking;
the control center selects equipment needing to be patrolled and examined in the cabinet and sets a patrolling and examining mode.
4. The intelligent inspection robot auxiliary inspection positioning method according to claim 1, wherein the communication positioning base station acquires the relative position of the inspection robot in a machine room in real time and sends the relative position to the control center, and specifically comprises:
the communication positioning base stations arranged at four corners of the machine room communicate with the inspection robot by adopting UWB wireless channels to acquire the relative position of the inspection robot;
and the communication positioning base station performs data transmission with the control center by using the wifi signal, and sends the position information of the inspection robot to the control center in real time.
5. The auxiliary inspection positioning method for the intelligent inspection robot according to claim 1, wherein the control center displays the position of the inspection robot in real time, and specifically comprises:
and the control center displays the acquired position information of the inspection robot on a plane graph grid and in a 3D visual model of the machine room.
6. The auxiliary inspection positioning method according to claim 1, wherein the inspection robot alarms for abnormal information in real time, specifically comprising:
the inspection robot sends equipment abnormity warning information containing abnormal equipment position and abnormal type information to the control center, the control center sends the warning information to the 3D machine room visualization system in real time, and the 3D machine room visualization system visually displays warning equipment and warning content in real time.
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Cited By (6)
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| CN111798572A (en) * | 2020-06-12 | 2020-10-20 | 广东电网有限责任公司揭阳供电局 | Machine room virtual inspection method and system |
| CN112399145A (en) * | 2020-11-05 | 2021-02-23 | 通号通信信息集团有限公司 | Machine room 3D roaming and video inspection synchronization system and method |
| CN112549034A (en) * | 2020-12-21 | 2021-03-26 | 南方电网电力科技股份有限公司 | Robot task deployment method, system, equipment and storage medium |
| CN113542014A (en) * | 2021-06-24 | 2021-10-22 | 深圳华远云联数据科技有限公司 | Inspection method, inspection device, equipment management platform and storage medium |
| CN114115277A (en) * | 2021-11-26 | 2022-03-01 | 中国建设银行股份有限公司 | Inspection robot-based inspection management method and related equipment |
| CN116989802A (en) * | 2023-07-10 | 2023-11-03 | 三峡科技有限责任公司 | IDC machine room inspection plan configuration strategy method based on GIS and BIM models |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116989802A (en) * | 2023-07-10 | 2023-11-03 | 三峡科技有限责任公司 | IDC machine room inspection plan configuration strategy method based on GIS and BIM models |
| CN116989802B (en) * | 2023-07-10 | 2024-04-16 | 三峡科技有限责任公司 | IDC machine room inspection plan configuration strategy method based on GIS and BIM models |
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