CN114918952A - Machine room inspection robot - Google Patents
Machine room inspection robot Download PDFInfo
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- CN114918952A CN114918952A CN202210748269.2A CN202210748269A CN114918952A CN 114918952 A CN114918952 A CN 114918952A CN 202210748269 A CN202210748269 A CN 202210748269A CN 114918952 A CN114918952 A CN 114918952A
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- 238000007689 inspection Methods 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 230000002265 prevention Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000006467 substitution reaction Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention belongs to the technical field of robots, and particularly provides a machine room inspection robot, which comprises: the system comprises an image acquisition device, a holder, a driving walking mechanism, an ultrasonic detection device, a laser navigator, an industrial personal computer, a network bridge and a power supply system; the image acquisition device is arranged on the cloud deck, and the cloud deck is fixed on the robot body; the image acquisition device, the cradle head, the driving travelling mechanism, the ultrasonic detection device and the laser navigator are all connected with an industrial personal computer; the industrial personal computer is in communication connection with the remote terminal through the network bridge; the industrial personal computer controls the driving travelling mechanism to execute a displacement instruction based on a navigation signal sent by the laser navigator, a detection signal sent by the ultrasonic detection device and the inspection target point; the industrial personal computer adjusts the pitch angle and the horizontal angle of the cloud deck at the inspection target point so as to enable the image acquisition device to acquire an inspection image; the industrial personal computer sends the inspection image to the remote terminal through the network bridge. The invention improves the inspection efficiency and the maintenance efficiency of the machine room.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a machine room inspection robot.
Background
At present, with the rise of the industries such as internet, big data and the like in China, more and more enterprises adopt servers as background supports, and the routing inspection management problem of a server room is increasingly highlighted. The manual inspection is still the main mode of an enterprise server room, in recent years, the artificial intelligence technology is widely applied to various industries, and a robot is used for replacing the manual work, so that the working efficiency is improved, and the influence of the bad working environment on the human body is reduced.
Because of the manual inspection, the sustainability is poor in inspection time, manual recorded data can be recorded inaccurately, a server in a machine room runs for a long time, the temperature in the machine room is high, the noise is large, and the inspection is also performed on the body bearing capacity of inspection personnel.
Disclosure of Invention
In order to solve the technical problems, the invention provides a machine room inspection robot.
The invention provides a machine room inspection robot, which comprises: the system comprises an image acquisition device, a holder, a driving travelling mechanism, an ultrasonic detection device, a laser navigator, an industrial personal computer, a network bridge and a power supply system;
the image acquisition device is arranged on a holder, and the holder is fixed on the robot body; the image acquisition device, the cradle head, the driving travelling mechanism, the ultrasonic detection device and the laser navigator are all connected with an industrial personal computer; the industrial personal computer is in communication connection with the remote terminal through the network bridge; the industrial personal computer controls the driving travelling mechanism to execute a displacement instruction based on a navigation signal sent by the laser navigator, a detection signal sent by the ultrasonic detection device and the inspection target point; the industrial personal computer adjusts the pitch angle and the horizontal angle of the cloud deck at the inspection target point so as to enable the image acquisition device to acquire an inspection image; the industrial personal computer sends the inspection image to the remote terminal through the network bridge.
Further, the image acquisition device comprises a visible light camera, and a server indicator lamp state image and a pointer instrument image are acquired through the visible light camera; the image acquisition device is connected with the industrial personal computer through the switch.
Furthermore, the cloud platform has every single move and 360 degrees rotation functions in horizontal direction from top to bottom, the cloud platform passes through cloud platform control panel and serial ports line connection industrial computer to receive industrial computer's control command or to industrial computer feedback state information.
Furthermore, the driving travelling mechanism comprises four travelling wheels, each travelling wheel is provided with a driving motor and a steering motor, and a driving motor signal wire is connected with a driving motor control panel; the steering motor is coaxially connected with the encoder, the signal wire is connected with the steering motor control panel, and when the steering motor rotates, the corresponding encoder signal variation enables the steering motor control panel to control the four steering motors to move by a fixed angle when the steering motors rotate.
Furthermore, the driving travelling mechanism comprises two driving motor control panels and two steering motor control panels, wherein one driving motor control panel is respectively connected with two driving motors, and one steering motor control panel is respectively connected with two steering motors; the two driving motor control boards and the two steering motor control boards are connected with an industrial personal computer through network cables; motor numbers are defined in a control script of the industrial personal computer so as to realize independent control of each motor; the driving control panel is used for rectifying the walking route of the robot by applying a PID control technology, the driving control panel is used for setting the positive directions of a driving motor and a steering motor, after the setting is finished, the four wheels of the robot are positioned, and the mechanical initial state of the four wheels of the robot is made to face the standard positive direction; then setting the initial state as the initial position of the robot in a control script of the industrial personal computer, and automatically returning the robot to the initial position each time the robot is restarted; when the robot is controlled to walk, the robot turns or walks at different speeds according to the control command.
Further, the ultrasonic detection device comprises an ultrasonic obstacle avoidance and fall prevention unit, the ultrasonic obstacle avoidance and fall prevention unit sends ultrasonic waves to the front and obliquely below the machine body and receives the returned ultrasonic waves, an obstacle alarm or a fall alarm is generated based on the returned ultrasonic waves, and the obstacle alarm or the fall alarm is sent to the industrial personal computer, so that the industrial personal computer adjusts the walking direction of the driving walking mechanism.
Furthermore, the laser navigator scans the routing inspection route of the machine room to generate a map and an executable file of the industrial personal computer.
Further, the power supply system comprises a power supply control unit and an automatic charging unit, wherein the power supply control unit detects the electric quantity of the battery and displays the electric quantity of the battery through an indicator light; when the power control unit detects that the electric quantity of the battery is insufficient, the power control unit sends an electric quantity insufficient signal to the industrial personal computer, the industrial personal computer runs the automatic charging unit, the robot automatically walks to the position of the charging box according to a map scanned by the laser navigator, the industrial personal computer sends an automatic charging instruction, and under the control of the automatic charging unit, the robot body charging mechanism automatically extends out, contacts with the charging box charging mechanism, and starts to charge; when the power supply control unit recognizes that the battery is fully charged, the power supply control unit sends a full-charge signal to the industrial personal computer, the industrial personal computer sends a charging end command, and the charging mechanism of the robot body is automatically withdrawn under the control of the automatic charging unit to end charging.
The machine room inspection robot has the beneficial effects that the problems of poor inspection time sustainability, low efficiency and high possibility of errors in recorded data when a server machine room is manually inspected can be effectively solved, and the inspection efficiency and the maintenance efficiency of the machine room are improved.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a diagram of a working hardware architecture of the machine room inspection robot according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all 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 invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, the present embodiment provides a machine room inspection robot, including the following structures:
the invention provides a machine room inspection robot, comprising: the system comprises an image acquisition device, a holder, a driving travelling mechanism, an ultrasonic detection device, a laser navigator, an industrial personal computer, a network bridge and a power supply system;
the image acquisition device is arranged on the cloud deck, and the cloud deck is fixed on the robot body; the image acquisition device, the cradle head, the driving travelling mechanism, the ultrasonic detection device and the laser navigator are all connected with an industrial personal computer; the industrial personal computer is in communication connection with the remote terminal through the network bridge; the industrial personal computer controls the driving travelling mechanism to execute a displacement instruction based on a navigation signal sent by the laser navigator, a detection signal sent by the ultrasonic detection device and the inspection target point; the industrial personal computer adjusts the pitch angle and the horizontal angle of the cradle head at the inspection target point so as to enable the image acquisition device to acquire an inspection image; the industrial personal computer sends the inspection image to the remote terminal through the network bridge.
Specifically, the image acquisition device comprises a visible light camera and can acquire the states of various indicator lights of the server and video images or pictures of the pointer instrument. And data transmission is carried out with the industrial personal computer through the network cable and the switch.
The cradle head is a device capable of pitching up and down and rotating 360 degrees in the horizontal direction, and receives a control command and state feedback of the industrial personal computer through a cradle head control board and a serial port line.
The driving walking mechanism is driven by four wheels, so that walking power is increased, the movement is more flexible, and the walking route is more accurately controlled. Each wheel is provided with a driving motor and a steering motor which respectively control the front and back walking and the steering walking of the robot. The driving motor signal line is connected with the driving motor control panel, wherein turns to motor and encoder coaxial coupling, and the signal line is connected at the steering motor control panel together, and when turning to the motor and rotating, corresponding encoder signal variation makes four steering motors of steering motor control panel can control and can move a fixed angle when turning to, reaches the effect that can the pivot circle when the robot turns to in succession. According to the robot provided by the invention, the robot can efficiently patrol all areas and all time periods of the server room through the laser navigator carried by the robot and the automatic charging and four-wheel driving functions. The driving motor control panel and the steering motor control panel are respectively provided with two net port signal connectors, one control panel can control the left motor and the right motor, therefore, the robot is provided with two driving motor control panels, the two steering motor control panels are connected in series through net ports and net wires, finally, one net wire is output from the control panel to reach the industrial personal computer, and the driving and steering motors receive control commands of the industrial personal computer through the control panel and the net wires and transmit data. According to the serial numbers of the driving motors, the serial connection sequence of the four control panel network cables corresponds to the corresponding motor serial number sequence, and the definition of the motors in the control script of the industrial personal computer corresponds to the serial numbers of the motors, so that the motors with faults can be positioned at the first time when the faults occur. The driving control board applies PID control technology (PID is port ID, in STP (spanning tree protocol), if BID and path cost in BPDU received by port are the same, PID is compared to select blocking port), deviation correction is carried out on the robot walking route, and walking is carried out according to the map navigation route, thus ensuring that deviation is not caused. The driving motor and the positive direction of the steering motor are arranged through the control panel, after the setting is completed, four-wheel positioning is carried out on the robot, and the mechanical initial state of the four wheels of the robot is enabled to face the positive direction of the standard. And then setting the initial state as the initial position of the robot in a control script of the industrial personal computer, and automatically returning the robot to the initial position every time the robot is restarted. When the robot is controlled to walk, the robot can walk at different speeds according to control commands. The four-wheel drive robot has the advantages that each wheel is provided with the driving motor, the steering motor and the coaxial encoder, so that the robot can walk forwards and backwards and can walk in any steering direction in a controlled state, and if the steering motors rotate by 90 degrees, the robot can also move transversely left and right.
The ultrasonic detection device comprises an ultrasonic obstacle avoidance and fall prevention unit, the ultrasonic obstacle avoidance and fall prevention unit is connected with the driving controller unit through a corresponding control panel (also can be connected with an industrial personal computer), the ultrasonic obstacle avoidance and fall prevention unit sends ultrasonic waves to the front and obliquely below and receives returned ultrasonic waves, an obstacle alarm or a fall alarm is generated based on the returned ultrasonic waves, and the obstacle alarm or the fall alarm is sent to the industrial personal computer, so that the industrial personal computer adjusts the walking direction of the driving walking mechanism. For example, when the front of the inspection robot meets an obstacle or a step, the ultrasonic probe and the anti-falling probe send out trigger signals, the drive control panel receives the signals and controls the drive motor to stop rotating, and collision and falling are avoided.
The laser navigator can scan the routing inspection route of the machine room to generate a map and an executable file of the industrial personal computer.
The industrial personal computer is connected with the industrial personal computer through a network cable or a serial port cable, and sends commands and data feedback, wherein the industrial personal computer is used for driving a control panel, steering the control panel, a power management panel (a power control unit and an automatic charging unit) and a laser navigator are connected with the industrial personal computer through the network cable or the serial port cable under the linux system environment.
The network bridge carried by the robot body is connected with the remote control computer through a base station of the server room. Technicians install background files and a database in a remote control computer and set a polling task in the background to realize remote control of the robot. The robot can also transmit the polling report back to the remote control computer through the network bridge and the base station.
The power supply system comprises a power supply control unit and an automatic charging unit, wherein the power supply control unit detects the electric quantity of the battery and displays the electric quantity of the battery through an indicator light; when the power control unit detects that the electric quantity of the battery is insufficient, the power control unit sends an electric quantity insufficient signal to the industrial personal computer, the industrial personal computer runs the automatic charging unit, the robot automatically walks to the position of the charging box according to a map scanned by the laser navigator, the industrial personal computer sends an automatic charging instruction, and under the control of the automatic charging unit, the robot body charging mechanism automatically extends out, is in contact with the charging box charging mechanism, and starts to charge; when the power supply control unit recognizes that the electric quantity of the battery is full, the power supply control unit sends an electric quantity full signal to the industrial personal computer, the industrial personal computer sends a charging end command, and under the control of the automatic charging unit, the charging mechanism of the robot body is automatically withdrawn to end charging.
And setting the initial position of the cloud platform of the inspection robot as the zero point coordinate of the cloud platform. And after the robot is powered on and self-checked, the robot holder returns to the initial position. The handle remote control robot walks to each specific server cabinet position point needing to be patrolled and examined, is connected with the robot and the notebook computer through a network cable, opens a real-time picture shot by the image visible light camera on the notebook computer, and sends the tripod head position coordinate and the visible light focal length to the tripod head control panel and marks the picture as the patrol and examined position when the picture shot by the visible light camera can clearly show the patrol and examined position point picture of the cabinet by controlling the pitching and horizontal rotation of the tripod head and the far and near focal lengths of the visible light camera. The laser navigator carried by the robot body scans the cabinet position coordinates of the map, the cloud platform coordinates of the robot body and the visible light focal length, each position needing to be patrolled and examined can be locked, and clear images can be displayed.
The robot can automatically execute all the inspection tasks by calibrating all the inspection positions and generating different inspection tasks, and also can execute specific inspection tasks by background remote control when a certain server fails, and the robot automatically generates an inspection report for technicians to refer after all or specific inspection tasks are executed.
Although the present invention has been described in detail in connection with the preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions should be within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure and the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a machine room inspection robot which characterized in that includes: the system comprises an image acquisition device, a holder, a driving walking mechanism, an ultrasonic detection device, a laser navigator, an industrial personal computer, a network bridge and a power supply system;
the image acquisition device is arranged on the cloud deck, and the cloud deck is fixed on the robot body; the image acquisition device, the cradle head, the driving travelling mechanism, the ultrasonic detection device and the laser navigator are all connected with an industrial personal computer; the industrial personal computer is in communication connection with the remote terminal through the network bridge; the industrial personal computer controls the driving travelling mechanism to execute a displacement instruction based on a navigation signal sent by the laser navigator, a detection signal sent by the ultrasonic detection device and the inspection target point; the industrial personal computer adjusts the pitch angle and the horizontal angle of the cloud deck at the inspection target point so as to enable the image acquisition device to acquire an inspection image; the industrial personal computer sends the inspection image to the remote terminal through the network bridge.
2. The machine room inspection robot according to claim 1, wherein the image acquisition device comprises a visible light camera, and a server indicator light state image and a pointer instrument image are acquired through the visible light camera; the image acquisition device is connected with the industrial personal computer through the switch.
3. The machine room inspection robot according to claim 1, wherein the cloud deck has up-down pitching and horizontal 360-degree rotation functions, and is connected with the industrial personal computer through a cloud deck control panel and serial lines so as to receive control instructions of the industrial personal computer or feed back state information to the industrial personal computer.
4. The machine room inspection robot according to claim 1, wherein the driving travelling mechanism comprises four travelling wheels, each travelling wheel is provided with a driving motor and a steering motor, and a signal wire of the driving motor is connected with a control panel of the driving motor; the steering motor is coaxially connected with the encoder, the signal line is connected with the steering motor control board, and when the steering motor rotates, the corresponding encoder signal variable quantity enables the steering motor control board to control the four steering motors to act at a fixed angle when the steering motors rotate.
5. The machine room inspection robot according to claim 4, wherein the driving travelling mechanism comprises two driving motor control boards and two steering motor control boards, one driving motor control board is in charge of two driving motors, and one steering motor control board is in charge of two steering motors; the two driving motor control panels and the two steering motor control panels are connected with an industrial personal computer through network cables; motor numbers are defined in a control script of the industrial personal computer so as to realize independent control of each motor; the driving control panel is used for rectifying the walking route of the robot by applying a PID control technology, the driving control panel is used for setting the positive directions of a driving motor and a steering motor, after the setting is finished, the four wheels of the robot are positioned, and the mechanical initial state of the four wheels of the robot is made to face the standard positive direction; then setting the initial state as the initial position of the robot in a control script of the industrial personal computer, and automatically returning the robot to the initial position each time the robot is restarted; when the robot is controlled to walk, the robot turns or walks at different speeds according to the control command.
6. The machine room inspection robot according to claim 1, wherein the ultrasonic detection device includes an ultrasonic obstacle avoidance and fall prevention unit, the ultrasonic obstacle avoidance and fall prevention unit transmits ultrasonic waves forward and obliquely downward and receives returned ultrasonic waves, generates an obstacle alarm or a fall alarm based on the returned ultrasonic waves, and transmits the obstacle alarm or the fall alarm to the industrial personal computer so that the industrial personal computer adjusts the traveling direction of the driving traveling mechanism.
7. The machine room inspection robot according to claim 1, wherein the laser navigator scans a machine room inspection route to generate a map and an executable file of the industrial personal computer.
8. The machine room inspection robot according to claim 1, wherein the power supply system includes a power supply control unit and an automatic charging unit, the power supply control unit detects the electric quantity of the battery and displays the electric quantity of the battery through an indicator light; when the power control unit detects that the electric quantity of the battery is insufficient, the power control unit sends an electric quantity insufficient signal to the industrial personal computer, the industrial personal computer runs the automatic charging unit, the robot automatically walks to the position of the charging box according to a map scanned by the laser navigator, the industrial personal computer sends an automatic charging instruction, and under the control of the automatic charging unit, the robot body charging mechanism automatically extends out, is in contact with the charging box charging mechanism, and starts to charge; when the power supply control unit recognizes that the battery is fully charged, the power supply control unit sends a full-charge signal to the industrial personal computer, the industrial personal computer sends a charging end command, and the charging mechanism of the robot body is automatically withdrawn under the control of the automatic charging unit to end charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210748269.2A CN114918952A (en) | 2022-06-29 | 2022-06-29 | Machine room inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210748269.2A CN114918952A (en) | 2022-06-29 | 2022-06-29 | Machine room inspection robot |
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| CN114918952A true CN114918952A (en) | 2022-08-19 |
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