CN111604916A - Machine room IT equipment fault cabinet U-position positioning system and method - Google Patents
Machine room IT equipment fault cabinet U-position positioning system and method Download PDFInfo
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- CN111604916A CN111604916A CN202010361918.4A CN202010361918A CN111604916A CN 111604916 A CN111604916 A CN 111604916A CN 202010361918 A CN202010361918 A CN 202010361918A CN 111604916 A CN111604916 A CN 111604916A
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- 238000007689 inspection Methods 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a computer room IT equipment fault cabinet U-bit positioning system and a computer room IT equipment fault cabinet U-bit positioning method, which comprise an inspection control module, an image processing module, a fault lamp U-bit calculation module and at least one robot, wherein the inspection control module is used for performing inspection task scheduling on the robot, controlling the robot to acquire cabinet images and transmitting the acquired cabinet images to the image processing module, the image processing module is used for detecting the position of a fault lamp in the cabinet images and feeding back the position to the inspection control module, the inspection control module is also used for transmitting the position coordinate information of the fault lamp to the fault lamp U-bit calculation module, and the fault lamp U-bit calculation module is used for calculating the U-bit information of a cabinet in which the fault lamp is located and feeding back the U-bit information of the cabinet in which the fault lamp is located to the inspection. The invention can realize the detection of the IT equipment fault and the rapid positioning of the U bit, reduce the time spent on fault positioning and improve the fault positioning efficiency of the IT equipment of the data center.
Description
Technical Field
The invention relates to the technical field of operation and maintenance management of a data center, in particular to a system and a method for positioning a U bit of a machine room IT equipment fault cabinet.
Background
With the development of cloud computing and big data, the scale of a data center is larger and larger, and IT equipment in a machine room is more and more, so that in order to master the overall health condition of a large number of IT equipment, fault equipment is maintained and replaced in time, the normal operation of the equipment is guaranteed, and the timely detection and positioning of IT equipment faults are particularly important.
According to the traditional method, the fault lamp of each IT device of each cabinet in a machine room is manually inspected, so that the U position of the cabinet where the fault lamp is located is identified by naked eyes, operation and maintenance personnel need to regularly inspect and feed back the fault lamp, the workload is large, time and manpower are consumed, if human factors cannot timely record fault information, the fault information is easy to miss or miss inspection, and meanwhile, the inspection result of each time is not filed. Due to the reasons, in recent years, a machine room inspection mobile device with a lifting mechanical arm is adopted to replace manual inspection, equipment in a shooting cabinet is scanned row by row from bottom to top through a camera arranged on the mechanical arm, and then a fault lamp in an image is detected by using an image processing technology, so that the IT equipment fault can be detected and positioned. But the arm is with high costs, the operation is complicated, and a rack needs to set up a plurality of heights to the arm and shoots equipment one by one, and configuration work load is big, the operation is complicated, and mobile device dwell time is longer before the rack simultaneously, patrol and examine inefficiency.
Disclosure of Invention
In order to overcome the defects of the technology, the invention provides a machine room IT equipment fault cabinet U-position positioning system and a method based on the machine room IT equipment fault cabinet U-position positioning system.
The technical scheme adopted by the invention for overcoming the technical problems is as follows:
the utility model provides a computer lab IT equipment trouble rack U bit positioning system, is including patrolling and examining control module, image processing module, trouble lamp U bit calculation module and at least one robot, IT is used for patrolling and examining the task scheduling to the robot, controls the robot and gathers the rack image and give image processing module with the rack image transmission who gathers to patrol and examine control module, image processing module is arranged in detecting the rack image position of trouble lamp and feeds back to and patrols and examines control module, IT still is used for giving trouble lamp U bit calculation module with the position coordinate information transmission of trouble lamp to patrol and examine control module, trouble lamp U bit calculation module is used for calculating the U bit information of trouble lamp place rack and feeds back to the patrol and examine control module with the U bit information of trouble lamp place rack.
Furthermore, the inspection control module is at least provided with an inspection task scheduling module and a robot path planning module.
Furthermore, each robot is provided with:
the navigation module is used for realizing the navigation of the robot;
the distance measuring device is used for measuring the distance between the robot and the cabinet to be measured;
the equipment comprises at least one row of cameras, a plurality of cameras and a control module, wherein the cameras in each row are arranged at equal intervals from bottom to top and are used for shooting the equipment cabinet to be tested; and the number of the first and second groups,
and the industrial personal computer is used for receiving the patrol task scheduling instruction and the image acquisition instruction of the patrol control module, controlling the camera to shoot and feeding back the cabinet image shot by the camera to the patrol control module.
Further, the camera is equipped with two, and these two camera back to back and symmetry set up.
The invention also provides a U-bit positioning method based on the machine room IT equipment fault cabinet U-bit positioning system, which comprises the following steps:
s1, moving the robot to the front of the cabinet to be tested;
s2, measuring the distance between the robot and the cabinet to be measured by the robot;
s3, shooting the cabinet to be tested by a camera on the robot to obtain an image of the cabinet to be tested;
s4, judging whether the fault lamp in the shot cabinet image is on, if so, detecting the position of the fault lamp and executing the next step;
and S5, calculating the U position of the cabinet where the fault lamp is located.
Further, step S1 specifically includes: the robot navigates to the right front of the cabinet to be tested through the internal navigation module, and enables one row of cameras to be right opposite to the cabinet to be tested.
Further, step S2 specifically includes: the robot being arranged to measureThe distance between the distance measuring device and the cabinet door of the cabinet to be measured is measured by the distance measuring device and is recorded as d1。
Further, step S4 specifically includes: detecting the position of a fault lamp in the cabinet image through the image processing module, and particularly recording the vertical direction pixel of the fault lamp in the cabinet image as yp。
Further, step S5 specifically includes:
s51, setting the height between the installation position of the camera and the ground as hfThe offset angle of the camera is β, and the wide angle and resolution parameters of the camera in the vertical direction are α and p respectivelyt，
S52, according to the transverse distance d between the distance measuring device and the camera2And the distance d between the IT equipment in the cabinet and the cabinet door of the cabinet3And calculating the transverse distance d between the camera and the IT equipment:
d＝d1-d2+d3
s53, calculating the height of the fault lamp from the ground according to the image coordinate and space coordinate conversion algorithm:
according to the installation offset included angle β of the camera and the transverse distance d between the camera and the IT equipment, the transverse distance d between the camera and the image center point is calculated4：
d4＝d·cosβ
Finding α the angle between the connection line between the camera and the image center point and the position of the fault lamp1：
α1＝arctan(tan(α/2)·(pt/2-yp)/(pt/2))
According to the included angle α between the connecting line of the camera and the central point of the image and the position of the fault lamp1And a camera offset angle β to obtain an included angle α between the fault lamp and the horizontal direction of the camera2：
α2＝α1+β
And calculating the horizontal physical height h1 between the fault lamp and the camera according to the trigonometric tangent function:
h1＝d·tanα2
in addition, the installation height h of the camerafAnd calculating the height h of the fault lamp from the ground:
h＝h1+hf
in conclusion, the following results are obtained:
h＝(d1-d2+d3)·tan(arctan(tan(α/2)·(pt/2-yp)/(pt/2))+β)+hf
s54, according to the height h of the fault lamp from the ground and the height h of the cabinet baserAnd a height h of every 1UuAnd calculating the position U of the fault lamp:
n＝(h-hr)/hu。
further, when the center point of the camera is deviated upwards, setting a deviation angle beta as a positive number; when the center point of the camera deflects downwards, setting the offset angle beta as a negative number; when the center point of the camera does not deviate, the deviation angle beta is zero.
The invention has the beneficial effects that:
1. the method and the device can realize the detection of the IT equipment fault and the rapid positioning of the U bit, reduce the time spent on fault positioning and improve the fault positioning efficiency of the IT equipment of the data center.
2. Compared with the inspection robot with a mechanical arm, the fault positioning efficiency can be improved by more than 5 times.
3. Compared with the inspection robot with a mechanical arm, the inspection robot can save more than 30% of cost.
4. The shooting height of the camera does not need to be adjusted, the configuration is simple, and the implementation is convenient.
5. The number of pictures shot by the camera is reduced, meanwhile, the calculation configuration resources are reduced, and the inspection efficiency of the robot is improved.
6. The same robot can not only realize fault U position location, but also realize functions such as daily inspection and the like, and reduces the fault location inspection pressure of operation and maintenance personnel.
Drawings
Fig. 1 is a schematic diagram of a U-position positioning system of a machine room IT equipment failure cabinet of the present invention.
Fig. 2 is a schematic structural diagram of the cabinet and the robot of the present invention.
Fig. 3 is a schematic structural diagram of the robot of the present invention when collecting one of the fault lamps.
Fig. 4 is a schematic flow chart of a U-bit positioning method of the machine room IT equipment fault cabinet U-bit positioning system of the present invention.
In the figure, 1, the ground; 2. a cabinet to be tested; 3. a robot; 4. a distance measuring device; 5. a camera; 6. a fault light; 7. 1U height; 8. a cabinet base.
Detailed Description
In order to facilitate a better understanding of the invention for those skilled in the art, the invention will be described in further detail with reference to the accompanying drawings and specific examples, which are given by way of illustration only and do not limit the scope of the invention.
Examples 1,
As shown in FIG. 1, this embodiment a computer lab IT equipment trouble rack U bit positioning system, including patrolling and examining control module, image processing module, trouble lamp U bit calculation module and at least one robot, IT is used for patrolling and examining the task scheduling to the robot, controls the robot and gathers the rack image and give the image processing module with the rack image transmission who gathers to patrol and examine control module, image processing module is arranged in detecting the position of trouble lamp in the rack image and feeds back to patrolling and examining control module, IT still is used for giving trouble lamp U bit calculation module with the position coordinate information transmission of trouble lamp to patrol and examine control module, trouble lamp U bit calculation module is used for calculating the U bit information of trouble lamp place rack and feeds back to patrolling and examining control module with the U bit information of trouble lamp place rack.
In this embodiment, patrol and examine at least and be equipped with in the control module and patrol and examine task scheduling module and robot path planning module, patrol and examine task scheduling module and be used for patrolling and examining the task scheduling to the robot, robot path planning module is used for planning the route of robot.
In this embodiment, as shown in fig. 2, each robot 3 is provided with:
the navigation module is used for realizing the navigation of the robot;
the distance measuring device 4 is used for measuring the distance between the robot and the cabinet 2 to be measured;
at least one row of cameras 5, wherein a plurality of cameras are arranged in each row at equal intervals from bottom to top and are used for shooting the cabinet 2 to be tested; and the number of the first and second groups,
and the industrial personal computer is used for receiving the patrol task scheduling instruction and the image acquisition instruction of the patrol control module, controlling the camera to shoot and feeding back the cabinet image shot by the camera to the patrol control module.
The inspection task scheduling module and the robot path planning module are in communication connection with a signal input end of the industrial personal computer, and the navigation module, the distance measuring device 4 and the camera 5 are all connected with a signal output end of the industrial personal computer.
As a preferred scheme, camera 5 is equipped with two and is listed as, should two and camera back to back and symmetry set up, because under the general condition, the rack of computer lab is all that the face-to-face of one is listed as places, when robot 3 removed to two between the rack 2 that awaits measuring, two are listed as camera 5 and just shoot simultaneously to a rack respectively, have practiced thrift the time greatly, have improved the efficiency that the robot patrolled and examined.
In this embodiment, the shooting areas of every two adjacent cameras 5 in each column of cameras in the height direction of the cabinet to be tested are just seamlessly connected or overlapped, and preferably, the shooting areas of every two adjacent cameras 5 in the height direction of the cabinet to be tested are overlapped, so that the cabinet to be tested can be completely shot, and further preferably, the height of the overlapped area is at least 1% of the total height of the shooting area of each camera 5 in the height direction of the cabinet to be tested.
Examples 2,
The embodiment provides a U-bit positioning method of a machine room IT equipment fault cabinet U-bit positioning system according to embodiment 1, and as shown in fig. 3 and 4, the method includes the following steps:
s1, moving the robot to the front of the cabinet to be tested:
specifically, the robot 3 navigates to the right front of the cabinet 2 to be tested through the internal navigation module, and makes one row of cameras 5 right face the cabinet 2 to be tested.
S2, measuring the distance between the robot and the cabinet 2 to be measured:
specifically, the robot 3 measures the distance between the distance measuring device 4 and the cabinet door of the cabinet 2 to be measured through the distance measuring device 4 installed on the robot, and the distance is recorded as d1。
S3, shooting the cabinet to be tested by the camera on the robot to obtain the image of the cabinet to be tested:
specifically, the cameras 5 on the robot shoot the cabinet to be detected at the same time, so that an image of the cabinet to be detected is obtained, and overlapping areas of shooting areas of every two adjacent cameras 5 in the height direction of the cabinet to be detected are guaranteed.
S4, judging whether the fault lamp in the shot cabinet image is on, if so, detecting the position of the fault lamp 6 and executing the next step:
specifically, the image processing module detects the position of the fault lamp in the cabinet image, and specifically, the vertical direction pixel of the fault lamp in the cabinet image is recorded as yp。
S5, calculating the U position of the cabinet where the fault lamp is located:
because the camera mounting process has deviation, the camera 5 cannot be completely parallel to the cabinet, the image pixel and the actual distance are directly in a nonlinear relationship, the camera mounting offset angle is set to be beta (namely, the included angle between the central line of the camera and the horizontal line), when the central point of the camera 5 is offset upwards, the offset angle beta is set to be a positive number, when the central point of the camera is offset downwards, the offset angle beta is set to be a negative number, and when the central point of the camera is not offset, the offset angle beta is zero.
In the present embodiment, the deviation angle β is a positive number, and the detected faulty light pixel is illustrated in the upper half of the image captured by one of the cameras 5, as shown in fig. 3, the following is specifically included:
s51, setting the height between the installation position of the camera and the ground as hfThe offset angle of the camera is β, and the wide angle and resolution parameters of the camera in the vertical direction are α and p respectivelyt。
S52、According to the transverse distance d between the distance measuring device and the camera2And the distance d between the IT equipment in the cabinet and the cabinet door of the cabinet3And calculating the transverse distance d between the camera and the IT equipment:
d＝d1-d2+d3
s53, calculating the height of the fault lamp from the ground according to the image coordinate and space coordinate conversion algorithm:
according to the installation offset included angle β of the camera and the transverse distance d between the camera and the IT equipment, the transverse distance d between the camera and the image center point is calculated4：
d4＝d·cosβ
Finding α the angle between the connection line between the camera and the image center point and the position of the fault lamp1：
α1＝arctan(tan(α/2)·(pt/2-yp)/(pt/2))
According to the included angle α between the connecting line of the camera and the central point of the image and the position of the fault lamp1And a camera offset angle β to obtain an included angle α between the fault lamp and the horizontal direction of the camera2：
α2＝α1+β
And calculating the horizontal physical height h1 between the fault lamp and the camera according to the trigonometric tangent function:
h1＝d·tanα2
in addition, the installation height h of the camerafAnd calculating the height h of the fault lamp from the ground:
h＝h1+hf
in conclusion, the following results are obtained:
h＝(d1-d2+d3)·tan(arctan(tan(α/2)·(pt/2-yp)/(pt/2))+β)+hf
s54, according to the height h of the fault lamp from the ground and the height h of the cabinet baserAnd a height h of every 1UuAnd calculating the position U of the fault lamp:
n＝(h-hr)/hu。
according to the above steps, repeated operation is performed on each cabinet in sequence, the U bit where the equipment fault is located can be rapidly positioned, and the inspection efficiency is improved.
The foregoing merely illustrates the principles and preferred embodiments of the invention and many variations and modifications may be made by those skilled in the art in light of the foregoing description, which are within the scope of the invention.
Claims (10)
1. The utility model provides a computer lab IT equipment trouble rack U bit positioning system, a serial communication port, including patrolling and examining control module, image processing module, trouble lamp U bit calculation module and at least one robot, IT is used for patrolling and examining the task scheduling, controlling robot collection rack image and transmitting the rack image of gathering for image processing module to patrol and examine the control module to patrol and examine the robot to patrol and be used for detecting the position of trouble lamp in the rack image and feed back to patrolling and examining control module, IT still is used for transmitting the position coordinate information of trouble lamp for trouble lamp U bit calculation module to patrol and examine control module, trouble lamp U bit calculation module is used for calculating the U bit information of trouble lamp place rack and feeds back to patrolling and examining control module with the U bit information of trouble lamp place rack.
2. The machine room IT equipment fault cabinet U-bit positioning system of claim 1, wherein the inspection control module is at least provided with an inspection task scheduling module and a robot path planning module.
3. The machine room IT equipment fault cabinet U-position positioning system of claim 1, wherein each robot is provided with:
the navigation module is used for realizing the navigation of the robot;
the distance measuring device is used for measuring the distance between the robot and the cabinet to be measured;
the equipment comprises at least one row of cameras, a plurality of cameras and a control module, wherein the cameras in each row are arranged at equal intervals from bottom to top and are used for shooting the equipment cabinet to be tested; and the number of the first and second groups,
and the industrial personal computer is used for receiving the patrol task scheduling instruction and the image acquisition instruction of the patrol control module, controlling the camera to shoot and feeding back the cabinet image shot by the camera to the patrol control module.
4. The machine room IT equipment fault cabinet U-position positioning system of claim 3, wherein two columns of cameras are provided, and the two columns of cameras are arranged back to back and symmetrically.
5. A U bit positioning method based on the machine room IT equipment failure cabinet U bit positioning system of any one of claims 1 to 4 is characterized by comprising the following steps:
s1, moving the robot to the front of the cabinet to be tested;
s2, measuring the distance between the robot and the cabinet to be measured by the robot;
s3, shooting the cabinet to be tested by a camera on the robot to obtain an image of the cabinet to be tested;
s4, judging whether the fault lamp in the shot cabinet image is on, if so, detecting the position of the fault lamp and executing the next step;
and S5, calculating the U position of the cabinet where the fault lamp is located.
6. The method for positioning the U-bit of the machine room IT equipment fault cabinet according to claim 5, wherein the step S1 specifically comprises: the robot navigates to the right front of the cabinet to be tested through the internal navigation module, and enables one row of cameras to be right opposite to the cabinet to be tested.
7. The method for positioning the U-bit of the machine room IT equipment fault cabinet according to claim 5, wherein the step S2 specifically comprises: the robot measures the distance between the distance measuring device and the cabinet door of the cabinet to be measured through the distance measuring device arranged on the robot, and the distance is recorded as d1。
8. The method for positioning the U-bit of the machine room IT equipment fault cabinet according to claim 7, wherein the step S4 specifically comprises: detecting faults in cabinet images by an image processing moduleThe position of the lamp, and specifically the vertical pixel of the fault lamp in the cabinet image, is recorded as yp。
9. The method for positioning the U-bit of the machine room IT equipment fault cabinet according to claim 8, wherein the step S5 specifically includes:
s51, setting the height between the installation position of the camera and the ground as hfThe offset angle of the camera is β, and the wide angle and resolution parameters of the camera in the vertical direction are α and p respectivelyt，
S52, according to the transverse distance d between the distance measuring device and the camera2And the distance d between the IT equipment in the cabinet and the cabinet door of the cabinet3And calculating the transverse distance d between the camera and the IT equipment:
d＝d1-d2+d3
s53, calculating the height of the fault lamp from the ground according to the image coordinate and space coordinate conversion algorithm:
according to the installation offset included angle β of the camera and the transverse distance d between the camera and the IT equipment, the transverse distance d between the camera and the image center point is calculated4：
d4＝d·cosβ
Finding α the angle between the connection line between the camera and the image center point and the position of the fault lamp1：
α1＝arctan(tan(α/2)·(pt/2-yp)/(pt/2))
According to the included angle α between the connecting line of the camera and the central point of the image and the position of the fault lamp1And a camera offset angle β to obtain an included angle α between the fault lamp and the horizontal direction of the camera2：
α2＝α1+β
And calculating the horizontal physical height h1 between the fault lamp and the camera according to the trigonometric tangent function:
h1＝d·tanα2
in addition, the installation height h of the camerafTo calculate the fault lamp liftoffHeight h of the surface:
h＝h1+hf
in conclusion, the following results are obtained:
h＝(d1-d2+d3)·tan(arctan(tan(α/2)·(pt/2-yp)/(pt/2))+β)+hf
s54, according to the height h of the fault lamp from the ground and the height h of the cabinet baserAnd a height h of every 1UuAnd calculating the position U of the fault lamp:
n＝(h-hr)/hu。
10. the method for positioning the U bit of the machine room IT equipment fault cabinet as claimed in claim 9, wherein when the center point of the camera is shifted upwards, the shift angle β is set to be a positive number; when the center point of the camera deflects downwards, setting the offset angle beta as a negative number; when the center point of the camera does not deviate, the deviation angle beta is zero.
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| CN113268063A (en) * | 2021-06-03 | 2021-08-17 | 北京京东乾石科技有限公司 | Control method and device for robot and non-volatile computer readable storage medium |
| US11656630B2 (en) * | 2018-10-12 | 2023-05-23 | Boston Dynamics, Inc. | Autonomous map traversal with waypoint matching |
| US11774247B2 (en) | 2019-08-06 | 2023-10-03 | Boston Dynamics, Inc. | Intermediate waypoint generator |
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