Intelligent evaluation system and method based on inspection robot and star flash positioning

Abstract

According to the intelligent evaluation system and method based on the inspection robot and the star flash positioning, a VLC digital transmitting terminal is deployed in a machine room and used for receiving machine room moving ring wireless signals collected by various sensors, converting the machine room moving ring wireless signals into optical signals and sending the optical signals to a VLC digital receiving terminal deployed on the inspection robot; transmitting to the inspection robot; the binocular camera is deployed on the inspection robot and is used for collecting and analyzing machine room environment information and controlling the inspection robot to move according to an analysis result; and the inspection robot inspects the machine room under the guidance of the binocular camera, carries out source positioning on a wireless signal corresponding to the received optical signal by adopting a star flash technology, and evaluates the performance of the machine room according to the optical signal and positioning information. According to the invention, accurate identification of a multi-sensor data source is ensured, and the accuracy of fault positioning is improved; the environment performance and the network performance of the machine room can be comprehensively evaluated, and the intelligent degree of operation and maintenance is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent operation and maintenance robots, and in particular to an intelligent evaluation system and method based on inspection robots and star flash positioning. Background Art

[0002] With the popularity of robots in computer room inspections, existing robots usually integrate visual recognition algorithms to conduct refined inspections of equipment in computer rooms, mainly to save manual inspection workload, realize trackless navigation, autonomous inspections, asset inventory, and dynamic environment monitoring, etc., especially the integration of voice interaction, so that intelligent inspection robots can fully fit more application scenarios. However, at present, intelligent inspection robots still do not have the functions of autonomous root cause analysis of faults and environmental network assessment, and the accuracy of inspections is also limited by the current scenarios of dense deployment of electronic tags. The evaluation of computer rooms in the field of intelligent operation and maintenance should focus on the environment and network. However, the current evaluation system is often relatively simple, and the evaluation methods are not intelligent enough. The monitoring points are often relatively fixed. Once the monitoring object is changed, the hardware facilities required for monitoring must be redeployed. In addition, the signal transmission and positioning methods are not fast and efficient enough, and are not suitable for indoor short-distance environments with multiple signal sources. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides an intelligent evaluation system and method based on a patrol robot and star flash positioning.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] In the first aspect, the present invention provides an intelligent evaluation system based on a patrol robot and star flash positioning, comprising: a patrol robot, a VLC digital transmitter, a VLC digital receiver, a binocular camera and various sensors; the VLC digital transmitter is deployed in a computer room, for receiving the computer room dynamic ring wireless signals collected by various sensors, and converting them into optical signals and sending them to the VLC digital receiver deployed on the patrol robot, and the VLC digital receiver transmits the received optical signals to the patrol robot; the binocular camera is deployed on the patrol robot, for collecting and analyzing computer room environmental information, and controlling the movement of the patrol robot according to the analysis results; the patrol robot conducts computer room inspections under the guidance of the binocular camera, uses star flash technology to locate the source of the wireless signal corresponding to the received optical signal, and evaluates the computer room performance according to the optical signal and positioning information.

[0006] Optionally, the sensor includes a temperature sensor, a humidity sensor and an air monitoring sensor, which are respectively used to collect temperature data, humidity data and air quality data of the computer room.

[0007] Optionally, the VLC digital transmitting end and the VLC digital receiving end transmit signals by flashing an LED light source at high frequency.

[0008] Optionally, when the attenuation of the optical signal received by the VLC digital receiving end is lower than -3dB, a resending command is fed back to the VLC digital transmitting end.

[0009] Optionally, the binocular camera includes a pan-tilt, a rotation control module, a binocular camera head, a ranging module and a walking control module; the binocular camera is deployed on the inspection robot through the pan-tilt to collect computer room environment information; the rotation control module realizes the rotation of the binocular camera by controlling the rotation of the pan-tilt; the ranging module analyzes the computer room environment information collected by the binocular camera to obtain the path distance information between the inspection robot and the target; the walking control module controls the inspection robot to move toward the target according to the path distance information.

[0010] Optionally, the star flash technology used by the inspection robot for source positioning is a channel model of IEEE 802.15.3a.

[0011] Optionally, the inspection robot evaluates the performance of the computer room according to the optical signal and the positioning information, including evaluating the environmental performance of the computer room according to the optical signal and evaluating the network performance of the computer room according to the optical signal and the positioning information.

[0012] Optionally, the inspection robot evaluates the environmental performance of the computer room according to the optical signal, specifically:

[0013] The inspection robot parses various types of computer room dynamic environment information from the optical signal, performs comprehensive calculations on the various types of computer room dynamic environment information according to preset weights and evaluation criteria of the various types of computer room dynamic environment information, and obtains a comprehensive score of the computer room environmental performance.

[0014] Optionally, the inspection robot evaluates the network performance of the computer room according to the optical signal and the positioning information, specifically:

[0015] The inspection robot parses the signal delay information, signal strength information and network connectivity rate based on the received optical signal, parses the communication distance information between the VLC digital transmitter and the VLC digital receiver based on the positioning information, inputs the signal delay information, signal strength information, network connectivity rate and communication distance information as input parameters into the embedded network performance evaluation model, and calculates the comprehensive score of the computer room network performance.

[0016] In a second aspect, the present invention provides an intelligent evaluation method using the evaluation system as described in the first aspect, comprising the following steps:

[0017] Various sensors and several VLC digital transmitters are deployed adaptively at various monitoring points in the computer room;

[0018] Start the inspection robot and binocular camera;

[0019] The binocular camera collects the environment information of the computer room in real time and sends it to the distance measurement module for analysis. If the distance measurement module determines that the binocular camera has not collected the target monitoring point, the rotation control module controls the pan / tilt to rotate until the binocular camera collects the target monitoring point. The distance measurement module determines the position of the target monitoring point based on the computer room environment information and obtains the path distance information between the inspection robot and the target monitoring point. The walking control module controls the inspection robot to move to the target monitoring point based on the path distance information.

[0020] When the inspection robot moves to the signal coverage range of the target monitoring point, the VLC digital receiving end receives the optical signal of the VLC digital transmitting end of the target monitoring point and transmits it to the inspection robot. The inspection robot locates the target monitoring point through the channel model of IEEE 802.15.3a.

[0021] After the inspection robot traverses each monitoring point in the computer room, it evaluates the performance of the computer room based on the optical signals and positioning information collected from each monitoring point.

[0022] The beneficial effects of the present invention are:

[0023] 1) The present invention constructs a mobile robot system based on binocular vision, and uses a binocular camera to guide the inspection work of the inspection robot, which is conducive to the flexible switching of targets and can accurately collect data from multiple sensors without omission; and under such a configuration, the positions of monitoring points and sensors can be changed as needed, thereby improving the environmental adaptability of the system.

[0024] 2) The present invention uses the channel model of short-distance, high-speed data transmission in the star flash technology to locate the source, ensuring the accurate identification of multi-sensor data sources within the range, and providing intelligent assistance for the accurate location of operation and maintenance faults;

[0025] 3) The present invention constructs an indoor visible light communication system that transmits signals by flashing an LED light source at a high frequency, which has a faster transmission speed and is more suitable for rapid collection of indoor environmental data;

[0026] 4) The present invention constructs an evaluation model based on multi-sensor data and network information, which can effectively evaluate the environmental performance and network performance of the computer room at the same time according to the data collected during the inspection process, quickly locate the problems in the computer room, and ensure the efficient operation and maintenance of the computer room. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the architecture diagram of the intelligent evaluation system based on inspection robots and Star Flash positioning.

[0028] Figure 2 This is the structural diagram of the binocular camera.

[0029] Figure 3 This is an architectural diagram of the intelligent evaluation method based on inspection robots and star flash positioning. DETAILED DESCRIPTION

[0030] The present invention will now be described in further detail with reference to the accompanying drawings.

[0031] In one embodiment, the present invention proposes an intelligent evaluation system based on inspection robots and star flash positioning, such as Figure 1 As shown, it includes: an inspection robot, a VLC digital transmitter, a VLC digital receiver, a binocular camera and various sensors; the VLC digital transmitter is deployed in the computer room to receive the computer room dynamic ring wireless signals collected by various sensors, and converts them into optical signals and sends them to the VLC digital receiver deployed on the inspection robot, and the VLC digital receiver transmits the received optical signals to the inspection robot; the binocular camera is deployed on the inspection robot to collect and analyze the computer room environment information, and control the movement of the inspection robot according to the analysis results; the inspection robot inspects the computer room under the guidance of the binocular camera, uses the star flash technology to locate the source of the wireless signal corresponding to the received optical signal, and evaluates the computer room performance according to the optical signal and positioning information.

[0032] The dynamic environment data of the computer room mainly includes temperature, humidity, air quality, etc. Therefore, the sensors are set to include temperature sensors, humidity sensors and air monitoring sensors, which are used to collect the temperature data, humidity data and air quality data of the computer room respectively.

[0033] The VLC digital transmitter deployed indoors receives the wireless signals sent by the room's dynamic environment temperature, humidity, air monitoring and other sensors, converts them into optical signals and sends them to the VLC digital receiver deployed on the inspection robot. The indoor visible light communication system transmits signals by making the LED light source flash at high frequency, so the response speed of the LED light source will have an important impact on the system data transmission rate. Generally, the response characteristics of the fluorescent LED light source can be represented by the response time of the LED chip to the square wave signal obtained by actual testing, including the response rise time and fall time, which are the time required for the output light intensity of the LED light source to increase from 20% of the peak value to 80% and from 80% to 20% under the driving control of the square wave signal; in addition, its response characteristics can also be represented by the cutoff frequency when the sine wave signal is input, that is, when the input signal frequency continues to increase, the light intensity of the LED light source decreases to the sine wave frequency corresponding to 50% (-3dB). When the signal attenuation at the receiving end is lower than -3dB, the signal transmission is unstable, and the resend command can be executed.

[0034] like Figure 2As shown, the binocular camera includes a pan-tilt, a rotation control module, a binocular camera head, a distance measurement module and a walking control module; the binocular camera is deployed on the inspection robot through the pan-tilt to collect the computer room environment information; the rotation control module realizes the rotation of the binocular camera by controlling the rotation of the pan-tilt; the distance measurement module analyzes the computer room environment information collected by the binocular camera to obtain the path distance information between the inspection robot and the target; the walking control module controls the inspection robot to move toward the target according to the path distance information.

[0035] The binocular camera collects environmental information and completes analysis to achieve control of the robot's movement. The binocular camera has two cameras with a pan / tilt, and the left and right eyes work together to achieve real-time tracking and three-dimensional ranging of moving targets. Compared with monocular vision, binocular vision can provide more accurate three-dimensional information. The acquisition of three-dimensional information provides a basis for the control of the robot. However, due to the complexity of the structure, measurement errors will also be introduced and the measurement efficiency will be reduced. Therefore, this embodiment innovatively deploys VLC digital transmitters and receivers indoors and combines the 800a short-range communication protocol for communication and coordinate positioning to improve efficiency.

[0036] After the inspection robot receives the light source signal, it locates the source of the wireless signal. At present, it is difficult for traditional positioning technology to accurately locate multiple transmitting signal sources in the area (1-3 meters). The Star Flash Alliance was officially established on September 22, 2020, and currently has more than 140 member units. Star Flash technology can meet the needs of smart cars, smart terminals, smart manufacturing, etc. for high-quality short-range wireless connections. Therefore, this embodiment adopts the IEEE 802.15.3a channel model. IEEE 802.15.3a is a channel model for short-distance (within 10m) and high-speed data transmission (110~480Mbit / s). This model retains the characteristics of multipath clustered arrival and energy obeying a double exponential distribution in the SV model. At the same time, it makes certain corrections based on the actual measurement results, changing the statistical characteristics of multipath attenuation from the original Rayleigh distribution to the existing log-normal distribution, and changing the channel coefficient to be expressed in real numbers. This ensures the accurate identification of multi-sensor data sources within the range, and improves intelligent assistance for the precise positioning of operation and maintenance faults. The channel model can be expressed as Where X represents the log-normal shadow attenuation, α k，l represents the multipath attenuation coefficient, α k，l =p k，l β k，l , p k，l represents a discrete random variable with equal probability of taking +1 and -1, β k，l Represents the channel coefficient of the hth path following the log-normal distribution.

[0037] Finally, all data is calculated through the evaluation system to obtain the health status of the computer room's networking environment, enabling the inspection robot to intelligently evaluate the health status of the network environment and provide intelligence for the field of intelligent operation and maintenance.

[0038] On the one hand, the inspection robot parses various types of computer room dynamic environment information from the optical signal, and comprehensively calculates various types of computer room dynamic environment information according to the preset weights and evaluation standards of each type of computer room dynamic environment information to obtain a comprehensive score of the computer room environmental performance.

[0039] On the other hand, the inspection robot parses the signal delay information, signal strength information and network connectivity rate according to the received optical signal, and parses the communication distance information between the VLC digital transmitter and the VLC digital receiver according to the positioning information, and inputs the signal delay information, signal strength information, network connectivity rate and communication distance information as input parameters into the embedded network performance evaluation model to calculate the comprehensive score of the computer room network performance. In some embodiments, a networked effectiveness evaluation method (Measures of SOS Net.worked Effectiveness, MONE) can be used. In MONE, MONE=(G SOS , M), G SOS Represents the system network model, M = {Metric1, Metric2, ..., Metric n} represents a set of networking performance indicators.

[0040] In another embodiment, the present invention proposes an intelligent evaluation method based on inspection robots and star flash positioning, such as Figure 3 As shown, it is realized by the intelligent evaluation system based on the inspection robot and star flash positioning based on the above-mentioned embodiment, which specifically includes the following steps:

[0041] Various sensors and several VLC digital transmitters are deployed adaptively at various monitoring points in the computer room;

[0042] Start the inspection robot and binocular camera;

[0043] The binocular camera collects the environment information of the computer room in real time and sends it to the distance measurement module for analysis. If the distance measurement module determines that the binocular camera has not collected the target monitoring point, the rotation control module controls the pan / tilt to rotate until the binocular camera collects the target monitoring point. The distance measurement module determines the position of the target monitoring point based on the computer room environment information and obtains the path distance information between the inspection robot and the target monitoring point. The walking control module controls the inspection robot to move to the target monitoring point based on the path distance information.

[0044] When the inspection robot moves to the signal coverage range of the target monitoring point, the VLC digital receiving end receives the optical signal of the VLC digital transmitting end of the target monitoring point and transmits it to the inspection robot. The inspection robot locates the target monitoring point through the channel model of IEEE 802.15.3a.

[0045] After the inspection robot traverses each monitoring point in the computer room, it evaluates the performance of the computer room based on the optical signals and positioning information collected from each monitoring point.

[0046] The implementation structure and principle of this method are the same as those of the above-mentioned embodiment, so they will not be described again here.

[0047] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. An intelligent evaluation system based on inspection robots and star flash positioning, characterized in that: include: Inspection robot, VLC digital transmitter, VLC digital receiver, binocular camera and various sensors; The VLC digital transmitter is deployed in the computer room to receive the computer room dynamic ring wireless signals collected by various sensors, and convert them into optical signals and send them to the VLC digital receiver deployed on the inspection robot. The VLC digital receiver transmits the received optical signals to the inspection robot; the binocular camera is deployed on the inspection robot to collect and analyze the computer room environment information, and control the movement of the inspection robot according to the analysis results; the inspection robot conducts computer room inspections under the guidance of the binocular camera, uses star flash technology to locate the source of the wireless signal corresponding to the received optical signal, and evaluates the computer room performance based on the optical signal and positioning information.

2. An intelligent evaluation system based on inspection robots and star flash positioning as claimed in claim 1, characterized in that: The sensors include a temperature sensor, a humidity sensor and an air monitoring sensor, which are used to collect temperature data, humidity data and air quality data of the computer room respectively.

3. The intelligent evaluation system based on inspection robot and star flash positioning as claimed in claim 1, characterized in that: The VLC digital transmitting end and the VLC digital receiving end transmit signals through the high-frequency flashing of the LED light source.

4. An intelligent evaluation system based on inspection robots and star flash positioning as claimed in claim 3, characterized in that: When the attenuation of the optical signal received by the VLC digital receiving end is lower than -3dB, a resending command is fed back to the VLC digital transmitting end.

5. The intelligent evaluation system based on inspection robot and star flash positioning as claimed in claim 1, characterized in that: The binocular camera includes a pan-tilt, a rotation control module, a binocular camera head, a distance measurement module and a walking control module; the binocular camera is deployed on the inspection robot through the pan-tilt to collect computer room environment information; the rotation control module realizes the rotation of the binocular camera by controlling the rotation of the pan-tilt; the distance measurement module analyzes the computer room environment information collected by the binocular camera to obtain the path distance information between the inspection robot and the target; the walking control module controls the inspection robot to move toward the target according to the path distance information.

6. The intelligent evaluation system based on inspection robot and star flash positioning as claimed in claim 1, characterized in that: The star flash technology used by the inspection robot for source positioning is the channel model of IEEE 802.15.3a.

7. The intelligent evaluation system based on inspection robot and star flash positioning as claimed in claim 1, characterized in that: The inspection robot evaluates the performance of the computer room according to the optical signal and the positioning information, including evaluating the environmental performance of the computer room according to the optical signal and evaluating the network performance of the computer room according to the optical signal and the positioning information.

8. An intelligent evaluation system based on inspection robots and star flash positioning as claimed in claim 7, characterized in that: The inspection robot evaluates the environmental performance of the computer room according to the optical signal, specifically: The inspection robot parses various types of computer room dynamic environment information from the optical signal, performs comprehensive calculations on the various types of computer room dynamic environment information according to preset weights and evaluation criteria of the various types of computer room dynamic environment information, and obtains a comprehensive score of the computer room environmental performance.

9. The intelligent evaluation system based on inspection robot and star flash positioning as claimed in claim 7, characterized in that: The inspection robot evaluates the network performance of the computer room based on the optical signal and positioning information, specifically: The inspection robot parses the signal delay information, signal strength information and network connectivity rate based on the received optical signal, parses the communication distance information between the VLC digital transmitter and the VLC digital receiver based on the positioning information, inputs the signal delay information, signal strength information, network connectivity rate and communication distance information as input parameters into the embedded network performance evaluation model, and calculates the comprehensive score of the computer room network performance.

10. An intelligent evaluation method using the evaluation system as claimed in claim 5, characterized in that: The steps include: Various sensors and several VLC digital transmitters are deployed adaptively at various monitoring points in the computer room; Start the inspection robot and binocular camera; The binocular camera collects the environment information of the computer room in real time and sends it to the distance measurement module for analysis. If the distance measurement module determines that the binocular camera has not collected the target monitoring point, the rotation control module controls the pan / tilt to rotate until the binocular camera collects the target monitoring point. The distance measurement module determines the position of the target monitoring point based on the computer room environment information and obtains the path distance information between the inspection robot and the target monitoring point. The walking control module controls the inspection robot to move to the target monitoring point based on the path distance information. When the inspection robot moves to the signal coverage range of the target monitoring point, the VLC digital receiving end receives the optical signal of the VLC digital transmitting end of the target monitoring point and transmits it to the inspection robot. The inspection robot locates the target monitoring point through the channel model of IEEE 802.15.3a. After the inspection robot traverses each monitoring point in the computer room, it evaluates the performance of the computer room based on the optical signals and positioning information collected from each monitoring point.

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