TW202219696A - External robotic system for liquid immersion cooling platform - Google Patents

Abstract

An autonomous vehicle is disclosed which can map a facility and navigate its way to a particular liquid cooling system. The vehicle can be in communication with a central server, which can control the vehicle. The vehicle can align itself against the liquid cooling system and receive a computing device on a platform of the vehicle. The platform can be lowered and secured in an enclosure of the vehicle. Then, the vehicle can transport the computing device to a storage facility.

Description

External robotic system for liquid immersion cooling platforms

This application claims priority to US Provisional Application No. 62/933,803 filed on November 11, 2019, which is incorporated herein by reference. Field of Invention

The present invention relates to robotic systems for liquid immersion cooling computing systems (ie, liquid immersion cooling computing systems utilizing pressure and/or vapor management).

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Summary of Invention

Two-phase liquid immersion cooling systems and processes are described, for example, in WO2020/102090, filed on November 11, 2019, which is incorporated herein by reference. In these systems and processes, heat-generating computer components vaporize a dielectric fluid (in its liquid phase). The dielectric vapor is then condensed back to the liquid phase and used to cool the computer components. These systems are complex and must be designed to efficiently and effectively adequately protect expensive computing components from damage due to shipping or from cooling systems. Therefore, what is needed is a robotic system that can automatically receive computing devices from a liquid cooling system and safely transport the computing devices to a storage facility. Additionally, what is needed is a robotic system that can automatically retrieve a computing device from a storage location and safely transport the computing device to a liquid cooling system.

Advantageously, the present invention meets the foregoing needs and more. In detail, an autonomous vehicle is disclosed that can map and navigate a facility to a specific liquid cooling system. The vehicle can communicate with a central server that can control the vehicle. The carrier can align itself with the liquid cooling system and receive a computing device on a platform of the carrier. The platform can be lowered and secured in a housing of the carrier. The carrier can then transport the computing device to a storage facility.

This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

Additional features and advantages will be set forth in the description that follows, and in part will become apparent from the description, or may be learned by practice of the teachings herein. The features and advantages of the invention may be realized and obtained by means of the elements and combinations particularly pointed out in the appended claims. The features of the invention will become more fully apparent from the following description and the appended claims, or may be learned by practice of the invention as set forth hereinafter.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Illustrative embodiments of the invention will now be described in order to explain various features of the invention. The embodiments described herein are not intended to be limiting as to the scope of the invention, but rather are intended to provide examples of the components, uses, and operations of the invention. Exemplary embodiment of an external robotic system

In one example embodiment, an immersion cooling system or vessel may include a tank, a computing device, an internal robot, an absorption unit, and a management system. The tank may be a pressure controlled tank maintained at atmospheric pressure (or within a range thereof). The tank can include a bath area and a sump area, and the computing device can be submerged in a dielectric fluid in the bath area of the tank. The computing device can be connected to a network and perform various processing tasks while immersed in the dielectric fluid. The box may include a cover for accessing the bath area, the computing device, and the sump area. The tank can be fluidly coupled to the absorption unit, and a plurality of valves can selectively connect or disconnect the tank to or from the absorption unit so that the dielectric vapor can be transferred to the absorption unit, or vice versa. The internal robot can be an overhead crane robot that can lift the computing device from the container's case when the case's lid is open. An overhead crane robot may include a series of linear actuators. For example, the robot may include an actuator for movement in each of multiple directions (eg, horizontal and vertical).

In one example embodiment, the immersion cooling system can interact with an external robot. The external robot can be an autonomous vehicle (or vehicles) that can communicate with a management system (or another system that communicates with one or more vehicles). The immersion cooling system may communicate directly with the vehicle (eg, the management system may communicate with a control system of the vehicle), or communicate with the vehicle via a central server. In one example, the immersion cooling system can interact with a computing device by removing it from the box and placing the computing device on the carrier. The immersion cooling system can also interact with the carrier by removing a computing device from the carrier and placing the computing device in the bin or a storage such as a storage bin. For example, the overhead crane robot can move between a home position, a bin position, a stand position, and a carrier position. After receiving a communication that the carrier is at the carrier position, the management system can instruct the robot to lift a computing device from, for example, the rack or the bin, and move the computing device to the carrier position to Place the computing device on the carrier.

In one example embodiment, the overhead crane robot may receive instructions from the management system to remove or reposition various components of the container (eg, computing devices, filters, etc.). For example, an overhead crane robot can receive an instruction to remove a computing device and place it on the carrier so that the computing device can be transported to a storage location or a repair area. As another example, the overhead crane robot may receive an instruction to remove a computing device from the carrier and place the computing device in a rack. In one example, the instruction is initiated by the management system. For example, the management system makes a determination that a computing device needs to be replaced. The management system can call the vehicle to approach the container. Upon reaching the container, the management system can instruct the overhead crane robot to remove a computing device and place it on the carrier. In one example, a central server may direct a communication between the management system and the vehicle.

In one example embodiment, the vehicle may be a robotic platform capable of autonomous, condition-based, or user-directed actions. In one example, the vehicle may be designed to facilitate and support the operation of autonomous data centers and distributed computing environments. In one example, the vehicle may include a housing for a motor, a control system, a safety device, a battery, a data and/or power interface, a transceiver, and other components. The housing can be mechanically coupled to one or more wheels that can be driven by the motor. In one example, the control system can direct the motor to drive the carrier in a predetermined direction or path. In one example, the control system can determine the direction of movement of the vehicle. In one example, the control system can communicate with a central server, the management system, and/or another system that can direct the vehicle to perform a specific task, such as placing a computing device on a designated Pick up a computing device at the specified container or at the specified container. The communication may take place via the transceiver.

In one example, the security device may be a sensor or a camera. The safety device can determine whether there are any obstacles in the path of the vehicle or collect other types of data, such as temperature, humidity, etc. If an obstacle is detected, the control system can cause the vehicle to stop or change its path, eg, to avoid the obstacle. In one example, the control system may include an object recognition module. The object recognition module can determine various objects around the vehicle, and change the path of the vehicle based on the detected objects. In one example embodiment, the object recognition module can detect that the carrier needs to approach an object, and based on the detection, the control system can direct the carrier, eg, carrier number 5, toward the object. In one example embodiment, based on data received from security devices, eg, image data, the control system may generate a map of locations and assign various devices (eg, containers) to locations on the map. Assignments can be made based on previous missions of the vehicle and visits to different locations in the facility. The control system can use the map to guide the vehicle to a desired location (using the map). In one example embodiment, the control system may share data with a management system or a central server. Common data may be used by the container to optimize its operation, eg, temperature and humidity data may be used by the container's absorption unit, or data may be used to optimize the start-up and/or shutdown of the container.

In one example, the carrier may include various sensors such as cameras, temperature sensors, humidity sensors, smoke detectors, oxygen detectors, and refrigerant leak detectors (eg, detecting leakage of dielectric fluids or vapors). In this example, the vehicle may include one or more modes of operation. For example, the vehicle may include a cruising mode of operation. In this mode of operation, the vehicle can navigate to various locations within a facility to collect and monitor data received from the sensors. In another example, the vehicle may continuously collect and monitor data received from these sensors. The vehicle can offload data to a management system or a central server for further analysis. This data can provide facility operators with real-time location-specific data, which is continuously updated as the vehicle performs its functions and cruises.

In one example embodiment, the vehicle may receive power and data via the interface. For example, a vehicle may be assigned a dedicated location for receiving power for charging its battery. Once the control system determines that the battery charge has fallen below a threshold amount, the control system may direct the vehicle to a dedicated location for charging the battery. In one example, the control system may include a predictive model for determining the best time to charge the battery. For example, based on the vehicle's past state of charge and the tasks assigned to the vehicle and the distance the vehicle has traveled, the predictive model can determine how quickly the vehicle will drain its battery and determine which of the most efficient ways to charge the battery. good time.

In an example embodiment, the vehicle may include a position detection system. The position detection system assists the vehicle in navigating it to the desired location. For example, the control system may determine the location of the vehicle based on GPS signals. As another example, the control system may determine the location of the vehicle based on the relative location of the vehicle compared to the location of one or more wireless access points (ie, the localization of the vehicle relative to the access points). Using this location (and possibly a map), the control system can guide the vehicle to a desired location. RSSI, fingerprint analysis, angle of arrival ("AoA"), and time of flight ("ToF") are four exemplary techniques that can aid in this determination. In these embodiments, the vehicle may connect to one or more wireless access points at the location, and perform any of the specified localization techniques to determine the relative location of the vehicle.

In RSSI technology, the strength of the received signal is measured from several different access points. Then, a propagation model is used to determine the distance between the vehicle and each access point. Next, trilateration techniques can be used to calculate an estimated vehicle position relative to a known position of the access point. The fingerprint analysis technique consists of two steps. In the first step, at various locations in the building, Wi-Fi signals are sampled from the collection of access points to create a location fingerprint. In a second step, which is an on-line localization step, fingerprint information is collected around the location for localization and comparison with the sampled location fingerprints. In AoA techniques, multiple antennas are used to estimate the angle of arrival of multipath signals received at an antenna array in an access point. Subsequently, the position of the vehicle is calculated using triangulation techniques. In ToF technology, the travel time of the signal to the vehicle and the return time from the vehicle are measured. Using these measurements, the distance between the vehicle and the access point is determined, and therefore, trilateration techniques can be used to calculate the estimated position of the vehicle relative to the access point.

In one example, the vehicle may use laser-based mapping techniques to create a map and navigate to locations via the map. The map may identify the location of certain objects and/or facilities, such as the location of each of charging centers, computing device storage bins, and containers with which the vehicle will interact. Once mapped, the vehicle can be directed to move autonomously to each of these locations, charge its battery, retrieve and store computing devices, and perform other functions. In one example, one or more facility maps may be stored within the vehicle. This may allow the vehicle to be used in multiple locations without needing to learn and/or relearn the layout of each location.

In an example embodiment, the vehicle may include a platform. The platform can be movable, eg, the platform can be moved vertically and/or horizontally relative to the housing. Vertical and/or horizontal movement of the platform may facilitate placement of computing devices on the platform. These computing devices can be received from a storage unit or an overhead crane robot. For example, by moving the platform up and down, the carrier can adjust its height so that a computing device can be placed on the platform from a storage bin or an overhead crane robot. In an example embodiment, the platform can be rotated horizontally or even tilted to facilitate placement of a computing device on the platform or to facilitate placement of a computing device on a truck attached to the computing device put.

In one example, the carrier can include a robotic arm (eg, a gripper arm) that can receive and/or place a computing device on the platform. The robotic arm can have various degrees of freedom. The robotic arm can also interact with the overhead crane robot and/or storage unit. In one example, the robotic arm can protrude beyond the end of the platform to allow retrieval and placement of computing devices in the storage unit. In one example, the control system may command the robotic arm to move and/or receive a computing device. In one example, the control system and management system may align the carrier with the container such that the overhead crane robot at the carrier location is aligned with the robotic arm. In this example, the container and carrier can communicate and use various sensors to minimize any misalignment. For example, the carrier and the container can be aligned if the distance between a predefined point on the carrier and a predefined point on the container is within a predefined threshold.

In one example, the control system and management system can communicate information so that the vehicle can position itself near the container's storage bin. The carrier can also be aligned with the height and position of the platform so that the platform can receive computing devices from the storage bin. In one example, the container can reposition the storage bin and open the bin door so that the bin can place the computing device on the platform of the carrier. For example, the management system may direct the storage bin to move (eg, lower or higher) and/or rotate so that it is close to the carrier (and/or robotic arm) and, thus, ensure that the Smooth placement of a computing device on a platform of a vehicle.

In one example, the carrier may include a housing with a door. In this example, the door can be opened and/or closed, eg, using an actuator. Once the door is open, the platform can be moved out of the housing. The door can also be closed once the platform is moved into the housing. In one example, the door can be opened and the platform can be lifted out of the housing. The vehicle can receive a computing device (directly or via a robotic arm). The computing device can be placed on the platform. Once the computing device is placed on the platform, the platform can be lowered and the door can be closed. Once the door is closed, the computing device can be secured within the housing to prevent unauthorized access and environmental elements. In one example, the carrier can include one or more sensors that can detect when a computing device is placed on the platform. Once the carrier detects the placement of a computing device on the platform, the carrier can lower the platform and close the door (eg, if the carrier is not expected to receive any other computing devices). Similarly, once the sensors detect that a computing device has been lifted from the platform, the carrier can lower the platform and close the door (eg, if other computing devices are not expected to be lifted).

In an example embodiment, a facility may include multiple vehicles and one or more containers. Each carrier may include a control system, and each container may include a management system. The vehicles and containers can communicate with a central server (and/or one or more management systems) for managing the vehicles and tasks. The central server can monitor each vehicle and manage its operation. For example, the central server assigns tasks to each vehicle based on a determination that the assigned vehicle is the most suitable vehicle for performing the task. In one example, a task may be, for example, picking a computing device from a storage location and delivering the computing device to a container; picking a computing device from a container and delivering the computing device to a storage location; taking a tour ; provide information from a specified location in one of the facilities, etc. In one example, the central server may be based on the proximity of each vehicle to the container, the number of tasks performed by the vehicle, the number of tasks to be used for the vehicle, the state of charge of the vehicle's battery, whether any pending The number of other vehicles assigned to the mission, the average number of missions assigned to other vehicles, etc. assign missions to vehicles.

The central server may optimize one or more goals. For example, the central server can minimize the time that a task or average task is performed by the vehicle. As another example, a central server may minimize the number of vehicles in operation in a given average time for performing a task. As another example, a central server can maximize the presence of vehicles in different locations in a facility, eg, to collect data or record video using cameras. As another example, the central server can maximize the operating time of all vehicles by minimizing battery usage (without requiring the battery to be charged). As another example, a central server may minimize the wait time for a vehicle to obtain a location at a charging facility.

In one example embodiment, the central server may receive data from one or more containers, and based on the data, may assign tasks to one or more vehicles. In one example, the container's management system may provide the central server with data such as voltage or current read in a computing device, tank temperature, tank pressure, faults in the device, and the like. Using this data, the central server can determine a task, such as replacing or removing a computing device. The central server can then delegate the task to a vehicle, and the vehicle can access the container to remove or replace the computing device. In one example, the management system can pass tasks to a central server, and the central server can delegate the tasks to a vehicle. In one example, the system of the present disclosure may not utilize a central server. In this example, the management system of the container (or management systems of the containers) and/or the control system of the vehicle (and/or the control systems of the vehicles) may perform the tasks described herein.

In one example, the central server can integrate the vehicles into a fleet-based solution. This may allow the carrier to move computing devices or other equipment between various container locations, service centers, storage locations, and other locations. In one example, each vehicle can transport a computing device, enter a facility, and exit the facility. These functions can be coordinated through a central server. In one example, the facility for using the vehicle may include specialized doors and/or hallways designed to allow entry and exit of the vehicle. Such doors may include roll-up mechanisms to allow passage of vehicles, or may include specialized trapdoors designed to allow movement of vehicles or, in other circumstances, passage of persons. In one example, a verification mechanism may be implemented at the entrance to a facility. For example, there may be a non-secure door and a secure door. Non-secure doors can be opened and allow vehicles to enter the secret door. After confirming that only the vehicle has entered and not an unauthorized intruder, the security door can be opened. Verification agencies can use RFID scanning to detect the identity of the vehicle. The verification body may also use a thermal detection system, an imaging system, or another system to detect the presence of an intruder in the secret door.

In one example embodiment, the vehicle may include a monitor, camera, microphone, and speakers. These devices enable remote operators to interact with, accompany, monitor, and assist local operators, eg, in the direction of a centralized operations center or other location. These devices would allow work to be performed by "less skilled" staff under the supervision of "more skilled" staff at remote and marginal locations, thereby allowing for a reduction in the need for "more skilled" staff.

In one example embodiment, a truck may be coupled to the vehicle. Similar to the platform used for the vehicle, the truck may also include a platform for holding the computing device. In one example, the platform can be raised and lowered like a vehicle. In one example, a truck may include a door and a housing. In one example, the truck may include a handle on one side to assist movement by a human operator, and a mechanical interface on the other side that may be used to automatically attach to a vehicle. The wagon can be later placed, released and retrieved by the vehicle or human operator. In one example, it may be advantageous to use a truck as one of the means by which people move computing devices to and from different facilities. These computing devices can be large and heavy, and as such, trucks are ideal for transporting computing devices between facilities by people and/or vehicles.

In one example, the truck may include an RFID chip that informs the vehicle of the identity of the truck. The vehicle can track the load placed in the truck and report this information to the central server.

1-3 show exemplary embodiments of a carrier. In FIG. 1, a carrier 100 is shown. The carrier 100 can include a housing 110 that includes a camera 112 . Housing 110 is coupled to wheel 111 . The vehicle 100 may further include a platform 120 . In this example, platform 120 is raised relative to housing 110 .

FIG. 2 shows a carrier with a housing 230 according to an example embodiment. The housing 230 may accommodate the platform 120 when the platform 120 is lowered. Housing 230 may also house a number of computing devices. FIG. 3 shows a carrier with a closed door 340 according to an example embodiment. In this example, platform 120 is lowered and housed in housing 230 . Door 340 secures the computing device from unauthorized access or environmental elements.

100,200: Vehicle 110: Shell 111: Wheel 112: Camera 120: Platform 230: Shell 340: Door

For the purpose of describing the manner in which the above and other advantages and features may be obtained, a more specific description of the subject matter briefly described above will be presented with reference to the specific embodiments illustrated in the accompanying drawings. Understanding that these drawings depict only typical embodiments and are therefore not to be considered limiting in scope, embodiments will be described and explained with additional specificity and detail through the use of the accompanying drawings, wherein:

1 shows a carrier according to an example embodiment.

2 shows a carrier with a housing, according to an example embodiment.

3 shows a vehicle with a closed door, according to an example embodiment.

100: Vehicle

110: Shell

111: Wheel

112: Camera

120: Platform

Claims (21)

A system comprising: A container containing: a storage tank, wherein the storage tank is configured to hold a liquid phase and a gas phase of a fluid; a structure within the storage tank configured to hold one or more computer components at least partially submerged in the liquid phase of the fluid during an operation of the system; a robot configured to pick up one of the computer components; and a management system configured to regulate a temperature of the storage tank; and A vehicle, including: a shell; a platform; a sensor; a transceiver; and A control system configured to receive a signal from the management system. The system of claim 1, wherein the vehicle is configured to receive a command from the management system. The system of claim 2, wherein in response to receiving the command, the control system of the vehicle is configured to approximate a vehicle location of the container. The system of claim 3, wherein in response to reaching the carrier location of the container, the management system is configured to direct the robot to pick up the computer component and deliver the computer component to the carrier location of the container . The system of claim 1, wherein the management system is configured to transmit a command to the control system in response to detection of an operating condition. The system of claim 5, wherein the operating condition is a voltage, a current, a temperature, or a pressure exceeding a threshold value. The system of claim 1, wherein the vehicle is configured to adjust a height of the platform to receive the computer component from the robot. The system of claim 5, wherein the sensor is configured to detect a placement of the computer component on the platform. The system of claim 1, wherein the vehicle further comprises a housing. The system of claim 9, wherein in response to detection of a placement of the computer component on the platform, the control system is configured to lower the platform. The system of claim 1, wherein the vehicle further comprises a door. The system of claim 11, wherein in response to lowering the platform, the control system is configured to close the door. The system of claim 11, wherein the control system is configured to open the door in response to reaching a carrier position of the container. The system of claim 1, wherein the vehicle further comprises a robotic arm. The system of claim 14, wherein the robotic arm is configured to receive the computer component from the robot. The system of claim 15, wherein the robotic arm is configured to place the computer component on the platform. The system of claim 1, wherein the management system is configured to determine a relative position of the vehicle. The system of claim 17, wherein the management system is configured to construct a map for a location. The system of claim 18, wherein the management system is configured to use the relative location of the vehicle and the map to navigate the vehicle to a desired location. The system of claim 1, wherein the vehicle further comprises a monitor, a speaker, a microphone, and a camera. A vehicle for use with a liquid immersion cooling system, comprising: a shell; a platform; a sensor; a transceiver; and A control system configured to receive a navigation signal from a management system of a liquid immersion cooling system, and wherein the vehicle is configured to move to a location based on the navigation signal.

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