Machine room dual-mode inspection equipment and machine room dual-mode inspection switching method

Abstract

The invention discloses machine room dual-mode inspection equipment and a machine room dual-mode inspection switching method, and relates to the technical field of machine room inspection, the machine room dual-mode inspection equipment comprises a track body hung on a ceiling, the track body is in sliding fit with an inspection main body, the bottom of the inspection main body is provided with an execution mechanism, and the tail end of the execution mechanism is connected with a camera shooting holder. Through a dual-mode switching structure of the track body and the unmanned aerial vehicle, the seamless switching of the hanging track inspection and the flight inspection is realized by combining a control separation and visual positioning technology, and the unmanned aerial vehicle has the advantages that the deployment cost is reduced, the coverage blind area is eliminated, and the inspection flexibility is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine room inspection, in particular to a machine room dual-mode inspection device and a machine room dual-mode inspection switching method. BACKGROUND

[0002] Nowadays, there are track-mounted inspection robots and ground walking inspection robots for machine room inspection. With the continuous expansion of data center scale (the annual growth rate of global super large machine rooms is 18%), machine room inspection technology is facing a fundamental conflict between efficiency and flexibility.

[0003] The traditional inspection scheme has significant limitations: manual inspection before 2000 relies on paper records, and daily walking over 10 kilometers leads to a data error rate of up to 15%; the track-mounted RailBot launched by Siemens in Germany in 2005 improves the detection accuracy to ±0.5℃, but the track deployment cost is as high as 800 yuan / m, and it cannot detect the back of the equipment under the track, with a 30% coverage blind area in a 1000㎡ machine room. Since 2010, ground wheeled robots (such as Shenzhen YOUI Intelligent PowerBot) have emerged, which realize autonomous navigation through laser SLAM, with a cost of 50,000 yuan per unit, but the dynamic obstacle avoidance response time is more than 0.5 seconds, and in the IDC 2022 test, the inspection interruption rate reached 30% due to temporary cable interference.

[0004] The contradictions of existing technologies are mainly reflected in two aspects: first, there is an efficiency-cost paradox between track-mounted and mobile types, with the former having a single square meter deployment cost of more than 500 yuan, and the latter having an effective inspection time ratio of less than 60%; second, the detection range is limited, and the mainstream equipment can only cover the 0.3-2m area, while the PDU failure rate of the cabinet top power distribution unit (PDU) is as high as 25% (according to the China Data Center Industry Development White Paper 2023).

[0005] The industry urgently needs an inspection scheme that has full coverage capability (0.3-4.5m height detection), real-time response characteristics (fault positioning time ≤5 minutes) and low-cost deployment advantage (single square meter cost ≤200 yuan). However, existing technologies cannot meet the above needs at the same time, for example, simply increasing the track density will make the track cost of a 1000㎡ machine room exceed 500,000 yuan, and the multi-robot cooperative scheme faces the technical bottleneck of high complexity of scheduling algorithm. This contradiction directly restricts the improvement of the intelligent operation and maintenance level of data centers, and becomes a key problem that needs to be broken through in this field. SUMMARY

[0006] The purpose of the present application is to solve the problems raised in the background art, and a machine room dual-mode inspection device is proposed.

[0007] The technical solution adopted by the present application to solve its technical problems is: A machine room dual-mode inspection device, comprising a track body hung on the ceiling, a track body on which a track body is slidably connected, the track body is provided with an execution mechanism at the bottom, and the execution mechanism is connected with a camera holder at the end.

[0008] Further, the track body is an I-shaped section aluminum alloy profile, the side is provided with a power supply strip, and the bottom is provided with an AprilTag mark; the top of the track body is provided with a camera.

[0009] Further, the track body is an I-shaped section aluminum alloy profile, the side is provided with a power supply strip, and the bottom is provided with an AprilTag mark; the top of the track body is provided with a camera.

[0010] Further, the track body is an I-shaped section aluminum alloy profile, the side is provided with a power supply strip, and the bottom is provided with an AprilTag mark; the top of the track body is provided with a camera.

[0011] Further, the lower installation cavity is provided with the execution mechanism, the execution mechanism comprises a slide rail, the slide rail is fixedly connected to the bottom of the partition plate, a slide block is slidably connected to the slide rail, two parallel arranged racks are installed on the slide block, a rotating shaft is arranged in the lower installation cavity, an installation plate is fixedly connected to the middle of the rotating shaft, a gear is arranged on each side of the installation plate, the gears are engaged with the racks, an electric cylinder is arranged on the installation plate, an end plate is arranged at the end of the telescopic rod of the electric cylinder, and a camera holder is arranged on the end plate.

[0012] Further, a guide assembly is arranged between the installation plate and the end plate, and two guide assemblies are arranged on both sides of the electric cylinder.

[0013] Further, the guide assembly comprises an outer tube and an inner rod, the outer tube is fixedly connected to the installation plate, the inner rod is slidably connected to the outer tube, and the end of the inner rod is fixedly connected to the end plate.

[0014] Further, a rubber strip is arranged between the two racks, and the rubber strip is fixedly connected to the slide block.

[0015] A machine room dual-mode inspection switching method, for the machine room dual-mode inspection device as claimed in claims 1-8, comprising the following steps: S1. When the rail-mounted mode is switched to flight mode, the drive motor operates at a constant torque. Rotate the bidirectional lead screw; monitor the contact force between the gripper and the track using a force sensor. ;when Upon successful disengagement; the rotor is started to idle; fuselage vibration is monitored via IMU, and when the vibration amplitude... Takeoff is permitted at this time; S2. When the flight mode is switched to the rail-mounted mode, the camera of the inspection body identifies the AprilTag mark (10cm×10cm) on the rail; the pose [x,y,θ] of the mark relative to the camera is calculated using OpenCV. Generate docking trajectory r(t):

[0016] in, denoted as visual positioning error, and k as a correction coefficient.

[0017] Compared with the prior art, the beneficial effects of the present invention are: the present invention achieves seamless switching between track inspection and flight inspection by using a dual-mode switching structure of the track body and the UAV, combined with force control detachment and visual positioning technology, which has the advantages of reducing deployment costs, eliminating coverage blind spots, and improving inspection flexibility. Attached Figure Description

[0018] Fig. 1 This is the front view of the present invention; Fig. 2 This is a schematic diagram of the clamping mechanism. Fig. 3 This is a schematic diagram of the actuator. The components are as follows: 100, Inspection body; 200, Clamping mechanism; 21, Bidirectional lead screw; 22, Drive motor; 23, Left lead sleeve; 231, Clockwise lead screw; 232, Left gripper; 24, Right lead sleeve; 241, Counterclockwise lead screw; 242, Right gripper; 300, Track body; 400, Actuating mechanism; 401, Slide rail; 402, Slider; 403, Rack; 405, Mounting plate; 406, Gear; 407, Rotating shaft; 408, Electric cylinder; 409, Outer tube; 410, Inner rod; 411, End plate; 500, Camera pan / tilt head. Detailed Implementation

[0019] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. The present application is further illustrated with reference to the drawings and embodiments. In the prior art, the machine room inspection technology has experienced the evolution process from manual recording to automatic equipment. The early manual inspection has the problems of low efficiency and high data error rate. Although the track-mounted robot improves the detection accuracy, the track deployment cost is high and there is a coverage blind area. The ground wheeled robot reduces the cost through autonomous navigation, but the dynamic obstacle avoidance capability is insufficient, resulting in a high interruption rate during inspection. When it is necessary to simultaneously meet the high-precision detection, global coverage and low-cost deployment in a complex machine room environment, the prior art cannot effectively solve the contradiction between track area detection and equipment height range limitation.

[0020] To solve the above problems, the research and development personnel found that the traditional scheme has a fundamental conflict between fixed track and mobility. By analyzing the advantages and disadvantages of track-type and flying-type equipment, it is considered to integrate the two modes in the same equipment. The key breakthrough is how to realize seamless switching between the two modes, while ensuring the protection and accurate positioning of the track contact surface. The design idea turns to use force feedback control to realize flexible disengagement, and introduces a visual positioning system to improve the docking accuracy, and finally forms a technical scheme of dual-mode cooperative work.

[0021] As shown in Figs. 1-3 A machine room dual-mode inspection device, comprising a track body 300 hung on the ceiling, a inspection main body 100 is slidably connected on the track body, an execution mechanism 400 is arranged at the bottom of the inspection main body, and a camera holder 500 is connected to the end of the execution mechanism.

[0022] The track body is an I-shaped section aluminum alloy profile, a power supply strip is arranged on the side surface, and an AprilTag mark is installed at the bottom. Correspondingly, a camera is arranged at the top of the inspection main body to identify the AprilTag mark.

[0023] The I-shaped section aluminum alloy profile refers to a track structure with a specific cross-sectional shape, which can be manufactured by extrusion molding process, and the cross-sectional shape can provide stable sliding contact surface and carrying capacity. The AprilTag marker refers to a preset visual positioning mark, which can be a black and white contrast two-dimensional code pattern, and the relative position of the device can be calculated by image recognition algorithm. The power supply strip refers to a conductive component extending along the track, which can be a copper alloy slide wire structure, providing continuous power supply for the mobile device. The camera holder refers to an adjustable shooting device, which can be a three-axis stabilized holder, equipped with an optical zoom lens and an infrared sensor module.

[0024] Specifically, the track body forms a stable guide structure through the I-shaped section design, and the aluminum alloy material reduces the overall weight while ensuring strength. The inspection main body is connected to the track through the top clamping mechanism in a detachable manner, and the actuator adjusts the spatial position of the camera holder through multi-stage transmission. When the device is in the hanging rail mode, the power supply strip continuously supplies power to the inspection main body, and the AprilTag marker is positioned in real time by the top camera. When the flight mode is switched, the clamping mechanism realizes smooth disengagement through force feedback control, and the visual system guides the device to fly to the target area. The cooperative operation of the two working modes makes the device not only accurate in detecting along the preset track, but also quickly responds to the inspection demand outside the track area.

[0025] Compared with the prior art, the traditional hanging rail device is limited by the track layout and cannot detect blind areas, while the ground robot cannot effectively cover the three-dimensional space. The scheme integrates a dual-mode working system, which expands the degree of freedom of movement while maintaining the stability of the track device. The introduction of the visual positioning system replaces the traditional mechanical positioning method, significantly improving the spatial positioning accuracy. The design of the detachable connection mechanism overcomes the risk of damage to the track surface by rigid structure, prolonging the service life of the device.

[0026] Through the above technical solutions, the machine room environment is detected and covered in three dimensions, while maintaining the detection accuracy of the track device and expanding the operating range. The dual-mode cooperative working mechanism effectively solves the contradiction between fixed track layout and temporary detection demand, reducing the overall deployment cost. The combination of visual positioning and force feedback control improves the reliability of mode switching, ensuring stable operation of the device in different working states.

[0027] In at least one embodiment, the inspection body is a drone, the clamping mechanism is internally formed with a mounting cavity, a middle partition plate is arranged in the middle of the mounting cavity, the middle partition plate divides the mounting cavity into an upper mounting cavity and a lower mounting cavity, the drone is internally provided with a clamping mechanism 200, a bidirectional screw rod 21 is rotatably connected in the upper mounting cavity, one end of the bidirectional screw rod is arranged on a bearing seat, and the other end is connected with a driving motor 22, the bidirectional screw rod comprises a clockwise screw rod 231 and an anticlockwise screw rod 241, a left screw sleeve 23 is threadedly connected on the clockwise screw rod, a right screw sleeve 24 is threadedly connected on the anticlockwise screw rod, a left clamping jaw 232 is fixedly connected at the top of the left screw sleeve, and a right clamping jaw 242 is fixedly connected at the top of the right screw sleeve, and in cooperation therewith, a vertical sliding groove is formed at the top of the upper mounting cavity to accommodate the movement of the left clamping jaw and the right clamping jaw.

[0028] In an embodiment, force sensors are arranged on the left clamping jaw and the right clamping jaw.

[0029] In an embodiment, the left clamping jaw and the right clamping jaw are provided with conductive contacts to contact the power supply strip of the track to obtain power.

[0030] The drone is a prior art, four rotor arms are connected with the main body frame; the rotor arms adopt carbon fiber pipe materials, internal wiring is connected with the motor and the main body battery; an IMU (inertial measurement unit), a barometer and an obstacle avoidance radar are integrated to realize autonomous hovering and path planning.

[0031] The bidirectional screw rod is a transmission component for realizing the synchronous reverse movement of the left screw sleeve and the right screw sleeve through clockwise and anticlockwise thread structures, and functions to control the symmetrical opening and closing movement of the clamping jaw through a single driving source. The force sensor is a detection device for monitoring the contact force between the clamping jaw and the track in real time, and can specifically adopt a strain gauge type sensor to realize, and functions to realize closed-loop control of the clamping force through feedback of the contact force to avoid damage to the track surface caused by rigid disengagement. The vertical sliding groove is a guide structure for limiting the movement of the clamping jaw in the vertical direction, and can specifically adopt a rectangular cross-section groove body to realize, and functions to ensure that the clamping jaw maintains parallel contact with the side surface of the track during the opening and closing process to prevent the clamping jaw from being stuck due to deflection. Specifically, when it is necessary to switch from the track-hanging mode to the flight mode, the driving motor drives the bidirectional screw rod to rotate at a constant torque, drives the left screw sleeve and the right screw sleeve to move in opposite directions, and makes the left clamping jaw and the right clamping jaw synchronously disengage from the clamping position on the side surface of the track. In this process, the force sensor continuously monitors the change in the contact force between the clamping jaw and the track, and determines that the disengagement is completed when the contact force decreases to a preset threshold. Subsequently, the rotor system enters an idle state, the inertial measurement unit collects the body vibration data in real time, and allows the take-off action to be performed when the vibration amplitude is stable within a safe range. Further, the left clamping jaw and the right clamping jaw are clamped on both sides of the track body and can move along the track body.

[0032] Specifically, the left and right clamping jaws are connected to the left and right threaded segments of the bidirectional screw through the wire sleeve. When the driving motor drives the bidirectional screw to rotate, the left and right clamping jaws move synchronously towards or away from each other under the drive of the screw, thereby realizing the clamping or loosening action. In the clamping state, the groove structure on the inner side of the clamping jaw forms a close fit with the lower flange of the I-shaped cross section of the track body, so that the inspection main body can be stably suspended on the track. When the inspection main body needs to move along the track, the thrust generated by the rotor is transmitted to the track body through the clamping jaw, and the low-friction liner at the bottom of the clamping jaw is in contact with the surface of the track, realizing the smooth movement of the inspection main body on the track. In at least one embodiment, the lower mounting cavity is provided with the actuating mechanism, which includes a sliding rail 401 fixedly connected to the bottom of the partition plate, a sliding block 402 slidingly fitted on the sliding rail, and two parallel toothed racks 403 mounted on the sliding block. The lower mounting cavity is also provided with a rotating shaft 407, the middle part of which is fixedly connected to a mounting plate 405, and each side of the mounting plate is provided with a gear 406 meshing with the toothed racks. A rotary electric cylinder is arranged in the lower mounting cavity, and the telescopic rod of the rotary electric cylinder is connected to the sliding block. The rotary electric cylinder can drive the toothed racks to move, so that the mounting plate rotates around the rotating shaft. An electric cylinder 408 is arranged on the mounting plate, and the end of the telescopic rod of the electric cylinder is provided with an end plate 411, and the end plate is provided with a camera holder 500.

[0033] The sliding rail refers to a guide structure extending in a straight line direction, which can be formed by processing aluminum alloy profiles, and is used to constrain the movement trajectory of the sliding block. The sliding block refers to a moving part that forms a sliding fit with the sliding rail, which can be made of polytetrafluoroethylene composite material to realize low-friction movement. The toothed rack refers to a transmission component with a continuous tooth profile structure, which can be manufactured by powder metallurgy process to convert linear motion into rotary motion by meshing with the gear. The rotating shaft refers to a mechanical component that supports rotary motion, which can be made of stainless steel bearings matched with carbon steel shafts to transmit the rotation angle of the mounting plate. The mounting plate refers to a support structure that carries the electric cylinder, which can be made of honeycomb aluminum plate to reduce the overall weight while ensuring strength. The electric cylinder refers to an actuator that converts electrical energy into linear motion, which can be made of a servo motor matched with a ball screw structure to realize precise control of the position of the end plate.

[0034] Further, the mounting plate and the end plate are provided with guide assemblies, and the two guide assemblies are respectively located on the two sides of the electric cylinder.

[0035] Further, the guide assembly includes an outer tube 409 and an inner rod 410, the outer tube is fixedly connected to the mounting plate, the inner rod is slidingly fitted in the outer tube, and the end of the inner rod is fixedly connected to the end plate.

[0036] The outer tube refers to a rigid support structure mounted on the actuator mounting plate, which can be implemented by a stainless steel round tube, and is used to provide axial movement guidance for the inner rod. The inner rod refers to a rod-shaped component in sliding cooperation with the outer tube, which can be implemented by an aluminum alloy material, and the end thereof is fixedly connected with the camera holder end plate, and is used to transfer the extension and retraction movement of the electric cylinder. The cooperation structure of the outer tube and the inner rod can constrain the straightness of the movement trajectory when the electric cylinder drives the end plate to move, and prevent the camera holder from deflecting or vibrating. Further, a rubber strip 402 is arranged between the two racks, and the rubber strip is fixed on the sliding block.

[0037] Specifically, the rubber strip is installed at the gap position between the two parallel racks, and when the sliding block moves along the sliding rail, the rubber strip is always in the space between the rack and the electric cylinder. During the operation of the device, if the electric cylinder produces lateral displacement due to vibration or position deviation, the elastic deformation of the rubber strip can effectively block the direct contact between the electric cylinder and the sliding block, thereby avoiding component damage caused by rigid collision. This structure eliminates the motion interference by physical isolation, while maintaining the stability of the rack transmission system. Through the above technical solution, the present application can avoid unexpected contact between the electric cylinder and the sliding block, prevent the precision of the transmission system from being reduced or the components from being damaged due to collision, and improve the operation reliability of the device.

[0038] A machine room inspection dual-mode switching method, comprising the following steps: S1, when the hanging rail mode is switched to the flight mode, the driving motor is driven at a constant torque The bidirectional screw is rotated; the contact force between the clamping jaw and the rail is monitored by a force sensor When the contact force is less than or equal to a predetermined value (such as 5N), it is confirmed that the disengagement is successful; the rotor is started to an idle state (20% of the rated speed); the vibration of the machine body is monitored by an IMU, and when the vibration amplitude is less than or equal to a predetermined value (such as 0.1g), the takeoff is allowed. The constant torque control refers to avoiding mechanical impact by limiting the output torque of the driving motor, which can be implemented by adjusting the motor current by using a closed-loop PID controller. This method can prevent instantaneous overload when the clamping jaw is disengaged. The force sensor monitors the contact force, which refers to real-time acquisition of mechanical signals by a piezoelectric sensor installed at the clamping jaw connection. This method can quantitatively judge the separation state of the clamping jaw and the rail by using a strain gauge and a signal amplifier combination circuit. The IMU monitors the vibration, which refers to acquiring three-axis acceleration data by using an inertial measurement unit. This method can detect the unbalanced state of the rotor system by using a MEMS sensor in combination with a low-pass filter algorithm.

[0039] ​​The above design solves the problem of track scratching caused by traditional rigid loosening. Through force sensor feedback, it realizes "zero impact" disengagement. Force control switching reduces the depth of track surface scratches from 0.5mm to 0.05mm, extending the service life of the track by 3 times. The vibration monitoring function avoids switching failure caused by unbalanced rotors, and the actual switching success rate is improved from 85% to 99%.

[0040] S2, when the flight mode is switched to the track hanging mode, the camera of the inspection main body recognizes the AprilTag mark (size 10cmx10cm) on the track; the pose of the mark relative to the camera [x, y, θ] is solved by OpenCV; The docking trajectory r(t) is generated:

[0041] wherein, is the visual positioning error, and k is the correction coefficient (such as 2.0).

[0042] The above design solves the ±5cm error problem of traditional proximity switches when docking on the track. The AprilTag visual mark is introduced to realize millimeter-level positioning. Visual guidance reduces the docking error from ±5cm to ±2mm, meeting the automatic clamping requirements of the clamping jaw. The single docking time is shortened from 8s to 3s, reducing the interruption time of the inspection by 60%.

[0043] AprilTag mark recognition refers to positioning a preset two-dimensional code mark through machine vision technology. Specifically, image processing functions in the OpenCV library can be used to achieve this. This method provides a reference coordinate system for spatial positioning. Docking trajectory generation refers to dynamically adjusting the motion path based on visual positioning error. Specifically, a cubic spline interpolation algorithm can be used to construct a smooth path curve. This method can compensate for the measurement deviation of the visual system. Specifically, during the mode switching process, the force feedback mechanism is used to achieve controlled disengagement during the track-to-flight phase. The motor slowly releases the clamping force under constant torque, and when the contact force drops below the safety threshold, the rotor start program is triggered. Meanwhile, vibration monitoring ensures stable flight attitude. During the flight-to-track phase, visual positioning is used to establish a spatial mapping relationship, and a motion trajectory containing error compensation is dynamically generated based on the marker pose, so that the clamping jaw accurately aligns with the track clamping position. Both switching processes use multi-sensor data fusion to achieve closed-loop control, and force control and visual positioning form a complementary verification mechanism. Compared with the prior art, the traditional track-hanging robot relies on mechanical limit switches for mode switching, which has the problems of low positioning accuracy and easy mechanical wear. The present scheme combines contact force control and spatial positioning by introducing force and visual fusion sensing technology, forming a non-contact high-precision switching mechanism.

[0044] Through the technical scheme, the application effectively solves the problems of positioning misalignment and mechanical damage of the dual-mode inspection equipment in the mode switching process, realizes impact-free disengagement and millimeter-level docking accuracy, and guarantees reliable operation of the equipment in a complex machine room environment. The scheme improves the adaptability of the equipment to the track structure by fusing multi-modal sensing data, reduces the maintenance demand caused by mechanical collision, and provides a safe and efficient switching control method for machine room global inspection.

[0045] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A dual-mode inspection device for a computer room, comprising a track body suspended from the ceiling, characterized in that, An inspection body is slidably fitted onto the track body. An execution mechanism is provided at the bottom of the inspection body, and a camera pan-tilt unit is connected to the end of the execution mechanism.

2. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, The track body is an I-shaped aluminum alloy profile with a power supply bar on the side and an AprilTag mark installed at the bottom; a camera is installed on the top of the inspection body.

3. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, The inspection body is a drone. The clamping mechanism has an internal mounting cavity. A partition plate is provided in the middle of the mounting cavity, which divides the mounting cavity into an upper mounting cavity and a lower mounting cavity. The drone has a clamping mechanism inside. A bidirectional lead screw is rotatably connected in the upper mounting cavity. One end of the bidirectional lead screw is mounted on a bearing seat, and the other end is connected to a drive motor. The bidirectional lead screw includes a clockwise lead screw and a counterclockwise lead screw. A left threaded sleeve is threaded on the clockwise lead screw, and a right threaded sleeve is threaded on the counterclockwise lead screw. A left gripper is fixedly connected to the top of the left threaded sleeve, and a right gripper is fixedly connected to the top of the right threaded sleeve. A vertical sliding groove is formed at the top of the upper mounting cavity to accommodate the movement of the left and right grippers.

4. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, The left and right grippers engage with each other on both sides of the track body and can move along the track body.

5. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, The lower mounting cavity is equipped with the actuator, which includes a slide rail fixedly connected to the bottom of the partition plate. A slider is slidably fitted on the slide rail, and two parallel racks are mounted on the slider. The lower mounting cavity is equipped with a rotating shaft, and a mounting plate is fixedly connected to the middle of the rotating shaft. A gear is provided on each side of the mounting plate, and the gear meshes with the rack. An electric cylinder is provided on the mounting plate, and an end plate is provided at the end of the telescopic rod of the electric cylinder. A camera pan-tilt unit is provided on the end plate.

6. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, A guide assembly is provided between the mounting plate and the end plate, and the two guide assemblies are respectively located on both sides of the electric cylinder.

7. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, The guide assembly includes an outer tube and an inner rod. The outer tube is fixedly connected to the mounting plate, and the inner rod is slidably fitted inside the outer tube. The end of the inner rod is fixedly connected to the end plate.

8. The dual-mode inspection equipment for computer rooms according to claim 1, characterized in that, A rubber strip is provided between the two racks, and the rubber strip is fixed to the slider.

9. A method for switching between dual-mode inspection in a data center, used in the dual-mode inspection equipment for data centers as described in claims 1 to 8, characterized in that, Includes the following steps: S1. When the rail-mounted mode is switched to flight mode, the drive motor operates at a constant torque. Rotate the bidirectional lead screw; monitor the contact force between the gripper and the track using a force sensor. ;when Upon successful disengagement; the rotor is started to idle; fuselage vibration is monitored via IMU, and when the vibration amplitude... Takeoff is permitted at this time; S2. When the flight mode is switched to the rail-mounted mode, the camera of the inspection body identifies the AprilTag mark (10cm×10cm) on the rail; the pose [x,y,θ] of the mark relative to the camera is calculated using OpenCV. Generate docking trajectory r(t): ， denoted as visual positioning error, and k as a correction coefficient.

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