Automatic inspection system for machine room operation and maintenance management

Abstract

The invention discloses an automatic inspection system for machine room operation and maintenance management, which relates to the technical field of machine room operation and maintenance management and comprises a route acquisition module, a rated control steering angle acquisition module, a benchmarking route acquisition module, an inspection robot calibration line acquisition module, a deviation angle acquisition module, a module for acquiring an angle needing to be adjusted and an updating module. Angles needing to be adjusted corresponding to the intermediate control nodes are used as new rated control steering angle values corresponding to the intermediate control nodes, so that the rated control steering angle values corresponding to the intermediate control nodes are adjusted and updated. The robot can operate according to the corrected parameters when steering at the node subsequently, so that the robot can steer according to the corrected angle when passing through the same node subsequently, the steering of the robot on the preset inspection route is more accurate, the inspection precision is remarkably improved, and the inspection efficiency is improved. Accurate monitoring of machine room equipment state and environment data is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of computer room operation and maintenance management, and in particular is an automatic inspection system for computer room operation and maintenance management. Background Art

[0002] With the rapid development and popularization of information technology, computer rooms have become the core platform for business management of various enterprises and institutions. In order to ensure the security, stability and high-speed transmission of Internet data, the data room, as a transit processing room, needs to build a corresponding communication room to transit and process Internet data. The scale of the communication room will also increase accordingly with the increase in the data transmission volume and data transmission rate of Internet data. In order to ensure the normal operation of the communication room, the communication room needs to be operated and managed accordingly. At present, the operation and maintenance management of the communication room is mainly carried out by professional inspection robots to conduct regular inspections of the communication room according to the predetermined inspection route, so as to monitor the actual operation status of the room.

[0003] The patent publication number CN114415674A discloses a computer room operation and maintenance system. It includes: a server, a monitoring host, at least one sensor and a patrol robot; the sensor is arranged in the computer room, and is used to collect environmental data in the computer room; the monitoring host is connected in communication with the sensor, and is used to receive environmental data collected by the sensor; the server is connected in communication with the monitoring host, and is used to receive environmental data sent by the monitoring host; the patrol robot is connected in communication with the server, and is used to: receive patrol instructions sent by the server; respond to the patrol instructions, monitor the status of the equipment in the computer room according to the target patrol route and the target patrol point; send the status information of the equipment in the computer room to the server, which can reduce labor costs and improve the efficiency of computer room operation and maintenance.

[0004] However, in the process of patrol robots performing computer room operation and maintenance management, in the complex and changeable computer room environment, due to factors such as ground bumps, defects of the patrol robot itself or control system errors, the patrol robot often has a deviation from the predetermined angle during driving. If this deviation is not corrected in time, the patrol robot will not be able to reach the predetermined position during subsequent steering control, thereby affecting the accuracy and effect of the inspection. Based on this, an automated patrol system for computer room operation and maintenance management is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an automated inspection system for computer room operation and maintenance management, which solves the technical problem that in a complex and changeable computer room environment, the inspection robot's driving direction deviates from a predetermined angle due to factors such as ground bumps, defects of the inspection robot itself, or control system errors.

[0006] An automated inspection system for computer room operation and maintenance management, comprising:

[0007] The route acquisition module is used to obtain the initial point, end point and each intermediate control node of the inspection route of the inspection robot in the machine room;

[0008] A rated control steering angle acquisition module is used to obtain the rated control steering angles corresponding to each intermediate control node of the inspection robot in the inspection route;

[0009] A benchmark route acquisition module is used to obtain the benchmark routes corresponding to each intermediate control node in the inspection route;

[0010] The inspection robot calibration line acquisition module is used to acquire the inspection robot calibration line according to the contour line of the inspection robot;

[0011] The deviation angle acquisition module is used to repeatedly acquire and analyze the angle between the inspection robot's calibration line and the calibration route of each intermediate control node, so as to obtain the deviation angle of the inspection robot at each intermediate control node;

[0012] The module for obtaining the angle to be adjusted is used to obtain the angle to be adjusted corresponding to each intermediate control node in the inspection route of the inspection robot;

[0013] The updating module is used to update the rated control steering angle values ​​corresponding to each intermediate control node in the inspection route of the inspection robot according to the required adjustment angle.

[0014] As a further solution of the present invention: the specific method of obtaining the corresponding benchmark routes of each intermediate control node in the inspection route is:

[0015] The initial point on the inspection route is taken as the first node, and the end point is taken as the last node. The node numbers An corresponding to the initial point, the end point and each intermediate control node are obtained in order from front to back. n refers to different nodes, where n = 1, 2, ..., a, a is the total number of nodes on the inspection route, a is a positive integer, and a>2; the initial point and the end point on the inspection route and each intermediate control node are connected in pairs in order from front to back to obtain segment lines, and each segment line is numbered in order from front to back to obtain the segment numbers Bz corresponding to each segment line, where z = 1, 2, ..., b, b is the total number of segment lines on the inspection route, b is a positive integer, b = a-1, b>1, and the segment line with the same z in the segment number Bz and n in the node number An is matched as the corresponding intermediate control node's benchmark route, so as to obtain the benchmark routes corresponding to each intermediate control node in the inspection route.

[0016] As a further solution of the present invention: the specific method of obtaining the calibration line of the inspection robot according to the contour line of the inspection robot is:

[0017] The midpoint of the front end line of the inspection robot's contour is taken as the calibration point, and then a perpendicular line perpendicular to the front end line is drawn through this point. This perpendicular line is taken as the inspection robot's calibration line, and the calibration point is taken as the endpoint R of the calibration line.

[0018] As a further solution of the present invention: the specific method of obtaining the deviation angle of the inspection robot at each intermediate control node is:

[0019] S1: Randomly select one of the intermediate control nodes in the inspection route as the analysis node without replacement, and obtain the corresponding calibration route of the analysis node as the analysis route. After the calibration line D of the inspection robot is controlled and turned at the analysis node, the angle Fe between the calibration line D and the analysis route is obtained e times, where e is the preset number of times, e>2;

[0020] S2: Obtain the value Fv of the angle Fe that meets the preset screening condition T1, where v is the number of values ​​in Fe that meet the preset screening condition T1, e≥v≥1, when the number v is greater than the preset threshold value Y1, the mean value Fp of Fe is defined as the deviation angle H1 corresponding to the inspection robot at the analysis node, when the number v is less than the preset threshold value Y1, the mean of the maximum and minimum values ​​in Fe is defined as the deviation angle H1 corresponding to the inspection robot at the analysis node;

[0021] S3: Repeat steps S1-S2 to obtain the deviation angle Hr corresponding to each intermediate control node in the inspection route of the inspection robot, where r refers to a different intermediate control node, r is a positive integer, and r>1.

[0022] As a further solution of the present invention: the specific method of obtaining the angle between the inspection robot calibration line and the analysis route after the inspection robot calibration line is controlled to turn at the analysis node is:

[0023] The endpoint R of the inspection robot's calibration line D is overlapped with the endpoint corresponding to the analysis node on the analysis route. When the calibration line D is located above the analysis route, the product of the angle value between the calibration line D and the analysis route and +1 is used as the angle between the inspection robot's calibration line D and the analysis route after the control turning at the analysis node. When the calibration line D is located below the analysis route, the product of the angle value between the calibration line D and the analysis route and -1 is used as the angle between the inspection robot's calibration line D and the analysis route after the control turning at the analysis node. When the calibration line D coincides with the analysis route, 0 is used as the angle between the inspection robot's calibration line D and the analysis route after the control turning at the analysis node.

[0024] As a further solution of the present invention: the preset condition T1 is specifically: |Fe-Fp|≥Y2, wherein Y2 is a preset value.

[0025] As a further solution of the present invention: the specific method of obtaining the angles to be adjusted corresponding to each intermediate control node of the inspection robot in the inspection route is:

[0026] The sum of the rated control steering angle corresponding to each intermediate control node in the inspection route and the deviation angle corresponding to each intermediate control node in the inspection route is used as the required adjustment angle corresponding to each intermediate control node in the inspection route.

[0027] As a further solution of the present invention: the specific method of updating the rated control steering angle values ​​corresponding to each intermediate control node in the inspection route of the inspection robot is:

[0028] Based on the required adjustment angle calculated by the required adjustment angle acquisition module, the required adjustment angle at each intermediate control node is directly used as a new rated control steering angle value to replace the original rated control steering angle value.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The present invention directly reflects the difference between the actual steering and the rated control steering of the inspection robot at each intermediate control node through the deviation angle, and can accurately understand the steering deviation degree of the robot at each key position, so as to make targeted adjustments, so that the robot can more accurately turn to the predetermined direction when passing the same node in the future, ensuring that it strictly follows the preset inspection route and reducing path deviation;

[0031] (2) The present invention adjusts and updates the rated control steering angle values ​​corresponding to each intermediate control node by taking the required adjustment angle corresponding to each intermediate control node as the new rated control steering angle values ​​corresponding to each intermediate control node, so that the robot can operate according to the corrected parameters when turning at the node subsequently, so that the robot can turn according to the corrected angle when passing the same node subsequently, and the robot can turn more accurately on the predetermined inspection route, thereby significantly improving the inspection accuracy and ensuring accurate monitoring of the equipment status and environmental data of the computer room. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the system framework structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the inspection route of the present invention;

[0034] Figure 3 A schematic diagram of a calibration line of the inspection robot of the present invention;

[0035] Figure 4 This is a schematic diagram of the analysis route and angle of the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Example 1: Please refer to Figure 1-Figure 4 ,This application provides an automated inspection system for computer room operation and maintenance management, including;

[0038] The route acquisition module is used to acquire the inspection route of the inspection robot in the machine room. The inspection route includes the initial point and the end point of the inspection route and each intermediate control node;

[0039] A rated control steering angle acquisition module is used to acquire the rated control data corresponding to each intermediate control node of the inspection robot in the inspection route. The rated control data includes the rated control steering angle, which is pre-set based on the ideal inspection route and the steering capability of the robot.

[0040] The benchmark route acquisition module obtains the benchmark routes corresponding to each intermediate control node in the inspection route according to the position of each intermediate control node in the inspection route. The specific method is as follows:

[0041] According to the initial point and the end point on the inspection route and each intermediate control node, the initial point is taken as the first node of the inspection route, and the end point is taken as the last node of the inspection route. The initial point and the end point on the inspection route and each intermediate control node are numbered in order from front to back, thereby obtaining node numbers corresponding to the initial point and the end point and each intermediate control node, respectively, and the initial point and the end point on the inspection route and each intermediate control node are connected in pairs in order from front to back to obtain a section line, thereby obtaining multiple section lines, and each section line is numbered in order from front to back, thereby obtaining section numbers corresponding to each section line;

[0042] The node numbers corresponding to the initial point, the end point and each intermediate control node are marked as An, n refers to different nodes, where n = 1, 2, ..., a, a is the total number of nodes on the inspection route, a is a positive integer, a>2;

[0043] The road section numbers corresponding to the road sections on the inspection route are marked as Bz, where z refers to different road sections, where z=1, 2, ..., b, b is the total number of road sections on the inspection route, b is a positive integer, b=a-1, b>1;

[0044] Match the road segment line with the same z in the road segment number Bz and n in the node number An as the corresponding reference route of the intermediate control node, and then obtain the reference routes corresponding to each intermediate control node in the inspection route;

[0045] The inspection robot calibration line acquisition module acquires the inspection robot calibration line according to the inspection robot's contour line. The specific method is as follows:

[0046] Get the contour line of the inspection robot, take the midpoint of the front end line of the robot contour line as the calibration point, make a vertical line L perpendicular to the front end line of the robot contour line through the calibration point, take the vertical line L as the inspection robot calibration line D, and take the calibration point R as the end point R of the calibration line D;

[0047] The deviation angle acquisition module acquires and analyzes the angles between the inspection robot calibration line and the calibration routes corresponding to each intermediate control node in the inspection route for multiple times, and then obtains the deviation angles corresponding to each intermediate control node in the inspection route of the inspection robot. The specific method is as follows:

[0048] S1: Randomly select one of the intermediate control nodes in the inspection route as the analysis node without replacement, and obtain the corresponding benchmark route of the analysis node as the analysis route;

[0049] The included angles between the inspection robot calibration line D and the analysis route are obtained after the inspection robot calibration line D is controlled to turn at the analysis node for e times, and are marked as Fe, where e is the preset number, e>2;

[0050] The specific method for obtaining the angle between the inspection robot calibration line D and the analysis route after the inspection robot is controlled to turn at the analysis node is:

[0051] The endpoint R of the inspection robot calibration line D is overlapped with the endpoint corresponding to the analysis node on the analysis route. This step ensures that the two lines start calculating the angle at the same starting point or end point. When the calibration line D is located above the analysis route, the product of the angle value between the calibration line D and the analysis route and +1 is used as the angle between the inspection robot calibration line D and the analysis route after the control steering at the analysis node. When the calibration line D is located below the analysis route, the product of the angle value between the calibration line D and the analysis route and -1 is used as the angle between the inspection robot calibration line D and the analysis route after the control steering at the analysis node. When the calibration line D coincides with the analysis route, the angle between the inspection robot calibration line D and the analysis route after the control steering at the analysis node is 0.

[0052] For example, assuming that the angle between the calibration line D and the analysis route is 30°, and the calibration line D is located above the analysis route, then the obtained angle is 30°×1=30°. If the calibration line D is located below the analysis route and the angle is still 30°, then the obtained angle is 30°×(-1)=-30°. This method can clearly distinguish the angles corresponding to different positional relationships of the calibration line D relative to the analysis route;

[0053] It should be noted that the angle between the inspection robot's calibration line D and the analysis route after the inspection robot controls the steering at the analysis node can be calculated by integrating the angle measurement software and utilizing the robot's own sensor data, such as laser radar, visual sensor, etc., in combination with the built-in algorithm. The angle can also be obtained by installing actual angle measurement equipment on the robot. For example, installing a high-precision angle sensor at the joint or specific position of the robot can provide the system with accurate angle data for subsequent deviation angle calculation and other operations. The above methods are all existing and mature technologies, so no further description is given here.

[0054] S2: Obtain the numerical value Fv of the angle Fe that meets the preset screening condition T1, where v is the number of numerical values ​​in Fe that meet the preset screening condition T1, e≥v≥1, and compare the number v with the preset threshold value Y1. When the number v is greater than the preset threshold value Y1, it means that the number of numerical values ​​in Fe that meet the preset screening condition T1 is large, and the mean value of Fe is representative, and then the mean value Fp of Fe is defined as the deviation angle H1 corresponding to the inspection robot at the analysis node. When the number v is less than the preset threshold value Y1, it means that the number of numerical values ​​in Fe that meet the preset screening condition T1 is small, and the mean value of Fe is not representative, and then the mean of the maximum and minimum values ​​in Fe is defined as the deviation angle H1 corresponding to the inspection robot at the analysis node, that is, H1=(Fmin+Fmax) / 2, where Fmax and Fmin are the maximum and minimum values ​​in Fe respectively;

[0055] Here, the preset condition T1 is specifically: |Fe-Fp|≥Y2, where Y2 is a preset value, and the specific values ​​of Y1 and Y2 are formulated by relevant personnel according to actual needs;

[0056] S3: Repeat steps S1-S2 to obtain the deviation angle Hr corresponding to each intermediate control node in the inspection route of the inspection robot, where r refers to a different intermediate control node, r is a positive integer, and r>1;

[0057] The deviation angle directly reflects the difference between the actual steering and the rated control steering of the inspection robot at each intermediate control node. By obtaining the deviation angle, the steering deviation degree of the robot at each key position can be accurately understood, so that targeted adjustments can be made, so that the robot can more accurately turn to the predetermined direction when passing the same node in the future, ensuring that it strictly follows the preset inspection route and reduces path deviation.

[0058] Embodiment 2: As the embodiment 2 of the present invention, when the present application is specifically implemented, compared with the embodiment 1, the technical solution of this embodiment is different from that of the embodiment 1 only in that this embodiment further includes a module for obtaining an angle to be adjusted and an updating module;

[0059] The angle acquisition module needs to adjust the angle corresponding to each intermediate control node in the inspection route of the inspection robot according to the rated control steering angle corresponding to each intermediate control node in the inspection route and the deviation angle corresponding to each intermediate control node in the inspection route of the inspection robot. The specific method is as follows:

[0060] The rated control steering angle corresponding to each intermediate control node of the inspection robot in the inspection route is marked as Gr;

[0061] The sum of the rated control steering angle corresponding to each intermediate control node of the inspection robot in the inspection route and the deviation angle corresponding to each intermediate control node of the inspection robot in the inspection route is taken as the required adjustment angle Ur corresponding to each intermediate control node of the inspection robot in the inspection route, that is, Ur=Gr+Hr;

[0062] The updating module is used to update the rated control steering angle values ​​corresponding to each intermediate control node in the inspection route of the inspection robot according to the required adjustment angle Ur corresponding to each intermediate control node in the inspection route of the inspection robot, and the specific method is as follows:

[0063] The required adjustment angle Ur corresponding to each intermediate control node is used as the new rated control steering angle value corresponding to each intermediate control node, so as to adjust and update the rated control steering angle value corresponding to each intermediate control node, so that the robot can operate according to the corrected parameters when turning at the node later, so that the robot can turn according to the corrected angle when passing the same node later, and continuously optimize the steering control of the inspection robot, and adjust the steering angle of the inspection robot at each intermediate control node to ensure the accuracy of the inspection path. Accurate path control means that the robot can reach each predetermined detection point more reliably and will not miss any key equipment or areas, thereby ensuring comprehensive and complete detection of equipment status and environmental data in the computer room, which helps to discover potential problems in a timely manner and improve the effectiveness of computer room operation and maintenance management.

[0064] Embodiment 3: As the embodiment 3 of the present invention, when the present application is implemented specifically, compared with the embodiments 1 and 2, the technical solution of this embodiment is to combine the solutions of the above-mentioned embodiments 1 and 2 for implementation.

[0065] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0066] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automated inspection system for computer room operation and maintenance management, characterized in that: include: The route acquisition module is used to obtain the initial point, end point and each intermediate control node of the inspection route of the inspection robot in the machine room; A rated control steering angle acquisition module is used to obtain the rated control steering angles corresponding to each intermediate control node of the inspection robot in the inspection route; A benchmark route acquisition module is used to obtain the benchmark routes corresponding to each intermediate control node in the inspection route; The inspection robot calibration line acquisition module is used to acquire the inspection robot calibration line according to the contour line of the inspection robot; The deviation angle acquisition module is used to repeatedly acquire and analyze the angle between the inspection robot's calibration line and the calibration route of each intermediate control node, so as to obtain the deviation angle of the inspection robot at each intermediate control node; The module for obtaining the angle to be adjusted is used to obtain the angle to be adjusted corresponding to each intermediate control node in the inspection route of the inspection robot; The updating module is used to update the rated control steering angle values ​​corresponding to each intermediate control node in the inspection route of the inspection robot according to the required adjustment angle.

2. The automated inspection system for computer room operation and maintenance management according to claim 1, characterized in that: The specific method of obtaining the corresponding benchmark routes of each intermediate control node in the inspection route is: The initial point on the inspection route is taken as the first node, and the end point is taken as the last node. The node numbers An corresponding to the initial point, the end point and each intermediate control node are obtained in order from front to back. n refers to different nodes, where n = 1, 2, ..., a, a is the total number of nodes on the inspection route, a is a positive integer, and a>2; the initial point and the end point on the inspection route and each intermediate control node are connected in pairs in order from front to back to obtain segment lines, and each segment line is numbered in order from front to back to obtain the segment numbers Bz corresponding to each segment line, where z = 1, 2, ..., b, b is the total number of segment lines on the inspection route, b is a positive integer, b = a-1, b>1, and the segment line with the same z in the segment number Bz and n in the node number An is matched as the corresponding intermediate control node's benchmark route, so as to obtain the benchmark routes corresponding to each intermediate control node in the inspection route.

3. The automated inspection system for computer room operation and maintenance management according to claim 2, characterized in that: The specific method of obtaining the calibration line of the inspection robot according to the contour line of the inspection robot is: The midpoint of the front end line of the inspection robot's contour is taken as the calibration point, and then a perpendicular line perpendicular to the front end line is drawn through this point. This perpendicular line is taken as the inspection robot's calibration line, and the calibration point is taken as the endpoint R of the calibration line.

4. The automated inspection system for computer room operation and maintenance management according to claim 3, characterized in that: The specific method of obtaining the deviation angle of the inspection robot at each intermediate control node is: S1: Randomly select one of the intermediate control nodes in the inspection route as the analysis node without replacement, and obtain the corresponding calibration route of the analysis node as the analysis route. After the calibration line D of the inspection robot is controlled and turned at the analysis node, the angle Fe between the calibration line D and the analysis route is obtained e times, where e is the preset number of times, e>2; S2: Obtain the value Fv of the angle Fe that meets the preset screening condition T1, where v is the number of values ​​in Fe that meet the preset screening condition T1, e≥v≥1, when the number v is greater than the preset threshold value Y1, the mean value Fp of Fe is defined as the deviation angle H1 corresponding to the inspection robot at the analysis node, when the number v is less than the preset threshold value Y1, the mean of the maximum and minimum values ​​in Fe is defined as the deviation angle H1 corresponding to the inspection robot at the analysis node; S3: Repeat steps S1-S2 to obtain the deviation angle Hr corresponding to each intermediate control node in the inspection route of the inspection robot, where r refers to a different intermediate control node, r is a positive integer, and r>1.

5. The automated inspection system for computer room operation and maintenance management according to claim 4, characterized in that: The specific method of obtaining the angle between the inspection robot calibration line and the analysis route after controlling the steering at the analysis node is as follows: The endpoint R of the inspection robot's calibration line D is overlapped with the endpoint corresponding to the analysis node on the analysis route. When the calibration line D is located above the analysis route, the product of the angle value between the calibration line D and the analysis route and +1 is used as the angle between the inspection robot's calibration line D and the analysis route after the control turning at the analysis node. When the calibration line D is located below the analysis route, the product of the angle value between the calibration line D and the analysis route and -1 is used as the angle between the inspection robot's calibration line D and the analysis route after the control turning at the analysis node. When the calibration line D coincides with the analysis route, 0 is used as the angle between the inspection robot's calibration line D and the analysis route after the control turning at the analysis node.

6. The automated inspection system for computer room operation and maintenance management according to claim 4, characterized in that: The preset condition T1 is specifically: |Fe-Fp|≥Y2, where Y2 is a preset value.

7. The automated inspection system for computer room operation and maintenance management according to claim 4, characterized in that: The specific method of obtaining the angles to be adjusted corresponding to each intermediate control node of the inspection robot in the inspection route is as follows: The sum of the rated control steering angle corresponding to each intermediate control node in the inspection route and the deviation angle corresponding to each intermediate control node in the inspection route is used as the required adjustment angle corresponding to each intermediate control node in the inspection route.

8. The automated inspection system for computer room operation and maintenance management according to claim 7, characterized in that: The specific method for updating the rated control steering angle values ​​corresponding to each intermediate control node in the inspection route of the inspection robot is as follows: Based on the required adjustment angle calculated by the required adjustment angle acquisition module, the required adjustment angle at each intermediate control node is directly used as a new rated control steering angle value to replace the original rated control steering angle value.

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