A computer room inspection robot based on troubleshooting

Abstract

The present invention proposes a machine room inspection robot based on troubleshooting, which relates to the field of machine room inspection image processing technology. The robot comprises a walking unit and a main control system. The upper surface of the walking unit is provided with a body and a lifting unit. The two side surfaces of the body are provided with a first ranging sensor. The telescopic end of the lifting unit is fixed with a first rotating unit. The rotating end of the first rotating unit is installed with a second rotating unit. The rotating ends on both sides of the second rotating unit are respectively installed with a sign information reading camera and a cabinet environment camera. The machine room inspection robot based on troubleshooting can make the cabinet environment camera directly face the center of the cabinet when performing inspection and photography operations. The cabinet environment camera can also take pictures of the same cabinet at the same spatial position and the same angle during multiple inspection operations to ensure that accurate inspection images are obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of computer room inspection image processing, and in particular to a computer room inspection robot based on fault troubleshooting. Background Art

[0002] With the continuous development of cloud computing technology (i.e., large-scale distributed systems), the scale of data center construction has continued to expand, and the area of ​​computer rooms has also continued to grow. At the same time, many data centers are relatively old, and their equipment has entered a period of aging, with frequent failures. Manual inspections are cumbersome and suffer from problems such as limited frequency, low accuracy, and slow speed. Therefore, in recent years, robots for computer room inspections have gradually begun to be used in computer room inspections.

[0003] Under the guidance of the navigation system, the computer room inspection robot can reach the designated inspection location according to the preset route. At the same time, it uses the camera component to identify the cabinet outline, the electrical components inside the cabinet, and the status of the electrical component signal lights, so as to identify the electrical components with lit fault signal lights. The staff can then perform maintenance to ensure the efficient operation of the computer room.

[0004] However, since the cabinets in the computer room are generally arranged in a relatively neat manner and there is a lot of electromagnetic interference, the current indoor navigation and positioning technologies (such as visual navigation positioning, ultrasonic positioning, Bluetooth positioning and WiFi positioning) are difficult to achieve high-precision navigation and positioning when used in computer room inspection robots. Although the robot can reach the designated inspection location, it is difficult for the inspection camera to shoot directly at the center of the cabinet. Because the signal lights of multiple electrical components in the cabinet are not on the same plane, when the shooting angle of the inspection camera is tilted or deviated, it is difficult to obtain accurate inspection images, which can easily cause misjudgment of the image processing system.

[0005] In addition, when processing inspection images through the image processing system, in order to ensure the accuracy of the judgment of the current image, it is often necessary to compare the current image with the historical image. This requires that the inspection camera take pictures of the same cabinet at the same spatial position and the same angle during multiple inspection operations.

[0006] To sum up, in order to enable the inspection camera of the inspection robot to shoot directly at the center of the cabinet, and to enable the inspection camera to take pictures of the same cabinet at the same spatial position and the same angle during multiple inspection operations to ensure accurate inspection images, a computer room inspection robot based on troubleshooting is proposed. Summary of the Invention

[0007] In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a machine room inspection robot based on fault detection, comprising a walking part and a main control system, wherein the upper surface of the walking part is provided with a body and a lifting part, and the two sides of the body are provided with a first ranging sensor, the telescopic end of the lifting part is fixed with a first rotating part, the rotating end of the first rotating part is installed with a second rotating part, and the rotating ends on both sides of the second rotating part are respectively installed with a sign information reading camera and a cabinet environment camera. The second rotating part can drive the sign information reading camera and the cabinet environment camera to rotate to adjust the vertical shooting angle of the sign information reading camera and the cabinet environment camera, and the rotation axes of the sign information reading camera and the cabinet environment camera are located on the same rotation axis. The first rotating part drives the second rotating part, the sign information reading camera and the cabinet environment camera to rotate synchronously, and the horizontal shooting angle of the sign information reading camera and the cabinet environment camera can be adjusted.

[0008] When performing inspection and photography operations, the walking part walks parallel to the front of the cabinet, and the distance between it and the cabinet is a fixed value. The cabinet environment camera shoots perpendicular to the cabinet door. The cabinet environment camera is equipped with a thermal imaging sensor and a CCD sensor for obtaining the environment image of the cabinet. The environment image includes infrared images of electrical components inside the cabinet, signal light images of electrical components inside the cabinet, and an outline image of the cabinet body.

[0009] Among them, the thermal imaging sensor and CCD sensor set in the cabinet environment camera are integrated in the same lens module, and the lens module and the first ranging sensor are on the same vertical plane, that is, the length between the first ranging sensor and the lens module in the cabinet environment camera and the cabinet door is equal.

[0010] The main control system includes a data processor, which is electrically connected to an image processing module, a mapping module, a centering control module, a controller and a storage module. The image processing module is electrically connected to a temperature calibration module. Both the image processing module and the temperature calibration module are electrically connected to the mapping module. The centering control module is also electrically connected to the image processing module and the controller respectively. The data processor is electrically connected to the first ranging sensor, and the controller is electrically connected to the walking part, the lifting part, the first rotating part and the second rotating part respectively.

[0011] Specifically, a navigation unit is provided on the top of the machine body, and a set of second ranging sensors are provided on both sides of the walking unit. Both the navigation unit and the second ranging sensors are electrically connected to a data processor. The navigation unit is a navigation device that combines a visual navigation system with a wireless navigation system, used to plan an inspection route for the machine and guide it to a designated inspection location. This device can be implemented using existing technology. A set of second ranging sensors measures the distance between the walking unit and the cabinet. The data processor's control program and controller control the posture of the walking wheels in the walking unit, ensuring that the walking unit moves parallel to the front of the cabinet and maintains a fixed distance from the cabinet.

[0012] Specifically, a touch screen is further provided in the middle of the fuselage, and the touch screen is electrically connected to the data processor. The touch screen is used to view the inspection data of the robot and adjust the operating parameters of the robot.

[0013] When the walking unit reaches the designated detection position:

[0014] Step 1: Use the nameplate information reading camera to identify the cabinet nameplate on the cabinet door. The angle between the nameplate information reading camera and the ground plane is maintained at 45 degrees. Then, the controller controls the extension of the lifting part to make the nameplate information reading camera and the cabinet environment camera rise synchronously. The extension value of the lifting part is marked as H1, until the cabinet nameplate is located at the horizontal center line of the shooting format of the nameplate information reading camera. Then, the image processing module performs grayscale processing and edge processing on the image taken by the nameplate information reading camera and feeds it back to the data processor to generate the corresponding cabinet identification information.

[0015] Step 2: Use the cabinet environment camera to capture the image of the cabinet body, and then use the image processing module to perform grayscale processing and edge processing on the image captured by the cabinet environment camera and then feed it back to the data processor to generate the cabinet contour image A. During this process, the height value of the cabinet's effective environmental image sampling format is set to H. Through the centering control module and the information fed back by the image processing module and the data processor, the controller controls the lifting part to shorten, and the shortened length of the lifting part is set to Z, so that the nameplate information reading camera and the cabinet environment camera are synchronously lowered until the height value of the cabinet environment camera from the ground is 0.5H, so that the cabinet environment camera is facing the horizontal center line of the cabinet's effective environmental image sampling format.

[0016] The height of the effective environmental image sampling area of ​​the cabinet is:

[0017] H=H0+H1+tan45°(L0+Y);

[0018] Where:

[0019] H0 is the initial height value of the cabinet environment camera;

[0020] H1 is the extension value of the lifting part in step 1, that is, the elevation value of the cabinet environment camera;

[0021] L0 is the distance between the first ranging sensor and the cabinet door, that is, the length between the lens module inside the cabinet environment camera and the cabinet door;

[0022] Y is the length of the lens module inside the cabinet environment camera from the rotation axis of the cabinet environment camera.

[0023] In summary, in step 2, the shortening value of the lifting portion is: Z = H0 + H1 - 0.5H.

[0024] Step 3: Through the centering control module and in conjunction with the information fed back by the image processing module and the data processor, the walking part moves forward and backward until the outline image of the cabinet is symmetrical about the vertical center line of the cabinet environment camera shooting format, so that the cabinet environment camera is located in the middle of the cabinet's effective environment image sampling format, and then the image of the cabinet body is captured again. The image captured by the cabinet environment camera is grayscale processed and edge processed by the image processing module and then fed back to the data processor to generate the cabinet outline image B.

[0025] Step 4: Use the cabinet environment camera to capture the signal light image of the electrical components inside the cabinet and the infrared image of the electrical components inside the cabinet, and use the image processing module to perform grayscale processing and edge processing on the infrared image to generate contour images of multiple electrical components. At the same time, use the temperature calibration module to perform temperature calibration on the infrared image of the electrical components inside the cabinet to generate temperature information images of multiple electrical components. Then, use the mapping module to embed the cabinet identification information, the contour images of the multiple electrical components inside the cabinet, the signal light image and the temperature information image into the cabinet contour image B to generate an inspection image containing the cabinet identification information and the signal light status and temperature status of the multiple electrical components inside the cabinet corresponding to the contour of the electrical components.

[0026] Combining the principles of steps 1 to 4, after acquiring the inspection image of the current cabinet, the navigation unit controls the walking unit to move to the next inspection position and perform the above operations on the adjacent cabinet, so that the cabinet environment camera of the inspection robot can directly capture the center of the cabinet. During multiple inspection operations, the storage module stores the control information of the corresponding cabinet from the previous inspection operation, so that the cabinet environment camera can capture the same cabinet at the same spatial position and angle during multiple inspection operations, ensuring accurate inspection images.

[0027] Furthermore, it also includes a wireless communication module, which is electrically connected to the data processor. The wireless communication module communicates wirelessly with the PC monitoring software through the cloud server, which is conducive to remote inspection and remote control of the robot.

[0028] Compared with the existing technology, this computer room inspection robot based on troubleshooting has the following beneficial effects:

[0029] 1. This computer room inspection robot based on troubleshooting can make the cabinet environment camera shoot directly at the center of the cabinet during inspection and photography operations, and make the cabinet environment camera take pictures of the same cabinet at the same spatial position and angle during multiple inspection operations to ensure that accurate inspection images are obtained.

[0030] Second, based on the above-mentioned effects, the present invention uses an image processing module to perform grayscale and edge processing on the image captured by the cabinet environment camera, and then feeds it back to the data processor to generate a cabinet outline image B. The cabinet environment camera then captures signal light images and infrared images of the electrical components within the cabinet. The image processing module then performs grayscale and edge processing on the infrared images to generate multiple electrical component outline images. Simultaneously, a temperature calibration module performs temperature calibration on the infrared images of the electrical components within the cabinet to generate multiple electrical component temperature information images. A mapping module then embeds the cabinet identification information, the multiple electrical component outline images, the signal light images, and the temperature information images within the cabinet into the cabinet outline image B, generating an inspection image that includes the cabinet identification information, the signal light status, and the temperature status of the multiple electrical components within the cabinet, corresponding to the electrical component outline. This facilitates post-processing of the inspection image and reduces misjudgments by the image processing system.

[0031] Other advantages, objects and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be learned from the practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The three-dimensional structure of the walking part of the present invention Figure 1 ;

[0033] Figure 2 The three-dimensional structure of the walking part in the present invention Figure 2 ;

[0034] Figure 3 This is the electrical system diagram of the main control system in the present invention;

[0035] Figure 4Take a three-dimensional picture of the inspection status of the inspection robot in the computer room after it reaches the designated inspection position;

[0036] Figure 5 A rear view diagram of the inspection and photography status of the computer room inspection robot after it arrives at the designated inspection position;

[0037] Figure 6 This is a top-down schematic diagram of the inspection and photography status of the computer room inspection robot after it reaches the designated inspection position.

[0038] In the picture:

[0039] 1. Walking unit; 2. Body; 3. First distance measuring sensor; 4. Lifting unit; 5. First rotating unit; 6. Second rotating unit; 7. Nameplate information reading camera; 8. Cabinet environment camera;

[0040] 9. Main control system; 91. Data processor; 92. Image processing module; 922. Temperature calibration module; 93. Mapping module; 94. Centering control module; 95. Controller; 96. Storage module;

[0041] 10. Navigation unit; 11. Second distance measuring sensor; 12. Touch screen; 13. Cabinet; 14. Cabinet identification plate; 15. Wireless communication module; 16. Cloud server; 17. PC monitoring software. DETAILED DESCRIPTION

[0042] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] See also Figures 1 to 6The present invention provides the following implementation scheme: a computer room inspection robot based on troubleshooting, comprising a walking unit 1 and a main control system 9. The upper surface of the walking unit 1 is provided with a body 2 and a lifting unit 4. The two sides of the body 2 are provided with a first distance measuring sensor 3. The telescopic end of the lifting unit 4 is fixed with a first rotating unit 5. The rotating end of the first rotating unit is mounted with a second rotating unit 6. The rotating ends of the second rotating unit 6 are respectively mounted with a sign information reading camera 7 and a cabinet environment camera 8. The second rotating unit 6 can drive the sign information reading camera 7 and the cabinet environment camera 8 to rotate to adjust the vertical shooting angle of the sign information reading camera 7 and the cabinet environment camera 8. The rotation axes of the sign information reading camera 7 and the cabinet environment camera 8 are located on the same rotation axis. The first rotating unit 5 drives the second rotating unit 6, the sign information reading camera 7 and the cabinet environment camera 8 to rotate synchronously, which can adjust the horizontal shooting angle of the sign information reading camera 7 and the cabinet environment camera 8.

[0044] The cabinet environment camera 8 uses a wide-angle lens to ensure that the cabinet 13 is completely located within its shooting frame.

[0045] like Figure 4 As shown, when performing inspection and photography operations, the walking part 1 walks parallel to the front of the cabinet 13, and the distance between it and the cabinet 13 is a fixed value. The cabinet environment camera 8 shoots perpendicularly to the cabinet door of the cabinet 13. The cabinet environment camera 8 is equipped with a thermal imaging sensor and a CCD sensor for obtaining an environmental image of the cabinet 13. The environmental image includes an infrared image of the electrical components inside the cabinet 13, a signal light image of the electrical components inside the cabinet 13, and a contour image of the cabinet body of the cabinet 13.

[0046] Among them, the thermal imaging sensor and CCD sensor set in the cabinet environment camera 8 are integrated in the same lens module, and the lens module and the first ranging sensor 3 are on the same vertical plane, that is, the length value between the first ranging sensor 3 and the lens module in the cabinet environment camera 8 and the cabinet door 13 is equal.

[0047] Please refer to Figure 3 The main control system 9 includes a data processor 91, which is electrically connected to an image processing module 92, a mapping module 93, a centering control module 94, a controller 95 and a storage module 96. The image processing module 92 is electrically connected to a temperature calibration module 922. Both the image processing module 92 and the temperature calibration module 922 are electrically connected to the mapping module 93. The centering control module 94 is also electrically connected to the image processing module 92 and the controller 95 respectively. The data processor 91 is electrically connected to the first ranging sensor 3, and the controller 95 is electrically connected to the walking part 1, the lifting part 4, the first rotating part 5 and the second rotating part 6 respectively.

[0048] Specifically, a navigation unit 10 is provided on the top of the machine body 2, and a set of second distance measuring sensors 11 are provided on both sides of the walking unit 1. Both the navigation unit 10 and the second distance measuring sensors 11 are electrically connected to the data processor 91. The navigation unit 10 is a navigation device that combines a visual navigation system with a wireless navigation system. It is used to plan an inspection route for the machine and ensure it reaches a designated inspection position. It can be implemented using existing technology. The set of second distance measuring sensors 11 measures the distance between the walking unit 1 and the cabinet 13. The control program of the data processor 91 and the controller 95 control the posture of the walking wheels in the walking unit 1, ensuring that the walking unit 1 moves parallel to the front of the cabinet 13 and maintains a fixed distance (e.g., 85 cm) between the walking unit 1 and the cabinet 13. In actual operation, the distance between the walking unit 1 and the cabinet 13 is generally 80 to 100 cm.

[0049] Specifically, a touch screen 12 is also provided in the middle of the fuselage 2, and the touch screen 12 is electrically connected to the data processor 91. The touch screen 12 is used to view the inspection data of the robot and adjust the operating parameters of the robot, which can be implemented in combination with existing technologies.

[0050] When the walking unit 1 reaches the designated detection position:

[0051] Step 1: The cabinet identification plate 14 on the cabinet door of the cabinet 13 is identified by the identification plate information reading camera 7. The angle between the identification plate information reading camera 7 and the ground plane is maintained at 45 degrees. Then, the controller 95 controls the elevating portion 4 to extend so that the identification plate information reading camera 7 and the cabinet environment camera 8 are raised synchronously. The extension value of the elevating portion 4 is marked as H1 until the cabinet identification plate 14 is located at the horizontal center line of the image format of the identification plate information reading camera 7 (such as Figure 4 and Figure 5 As shown), this process can be achieved by the image processing module 92 and the data processor 91 processing the image information of the identification plate information reading camera 7, and then combining the centering control module 94 and the controller 95 to control the working state of the lifting part 4; the image processing module 92 then performs grayscale processing and edge processing on the picture taken by the identification plate information reading camera 7 and feeds it back to the data processor 91 to generate the corresponding identification information of the cabinet 13.

[0052] Step 2: The cabinet environment camera 8 captures the image of the cabinet 13, and then the image processing module 92 performs grayscale processing and edge processing on the image captured by the cabinet environment camera 8 and feeds it back to the data processor 91 to generate the outline image A of the cabinet 13. Figure 5, assuming that the height value of the effective environmental image sampling format of the cabinet 13 is H, the controller 95 controls the lifting part 4 to shorten through the centering control module 94 and in conjunction with the information fed back by the image processing module 92 and the data processor 91, and the shortened length value of the lifting part 4 is Z, so that the nameplate information reading camera 7 and the cabinet environment camera 8 are synchronously lowered until the height value of the cabinet environment camera 8 from the ground is 0.5H, so that the cabinet environment camera 8 is exactly opposite the horizontal center line of the effective environmental image sampling format of the cabinet 13.

[0053] Among them, the height value of the effective environmental image sampling format of cabinet 13 is:

[0054] H=H0+H1+tan45°(L0+Y);

[0055] Where:

[0056] H0 is the initial height value of the cabinet environment camera 8;

[0057] H1 is the extension value of the lifting part 4 in step 1, that is, the elevation value of the cabinet environment camera 8;

[0058] L0 is the distance between the first distance measuring sensor 3 and the cabinet door 13, that is, the length between the lens module in the cabinet environment camera 8 and the cabinet door 13;

[0059] Y is the length between the lens module inside the cabinet environment camera 8 and the rotation axis of the cabinet environment camera 8 .

[0060] like Figure 5 As shown, for ease of understanding, the height value of the effective environmental image sampling format of the cabinet 13 is H=H0+H1+L2. Since the angle between the nameplate information reading camera 7 and the ground plane is maintained at 45°, after the lifting part 4 is extended to the height value of H1, the cabinet nameplate 14 is located at the horizontal center line of the shooting format of the nameplate information reading camera 7, so L2=L1=L0+Y=tan45°(L0+Y), so H=H0+H1+tan45°(L0+Y).

[0061] In summary, in step 2, the shortening value of the lifting portion 4 is: Z = H0 + H1 - 0.5H. That is, by controlling the shortening value Z of the lifting portion 4 by the controller 95, the cabinet environment camera 8 can be aligned with the horizontal centerline of the effective environmental image sampling area of ​​the cabinet 13.

[0062] Step 3: The centering control module 94 cooperates with the information fed back by the image processing module 92 and the data processor 91 to move the walking unit 1 forward and backward until the outline image of the cabinet 13 is symmetrical about the vertical center line of the cabinet environment camera 8, so that the cabinet environment camera 8 is located in the middle of the effective environment image sampling area of ​​the cabinet 13 (such as Figure 6This process is accomplished by processing the image information from the cabinet environment camera 8 using the image processing module 92 and the data processor 91, and then controlling the operating state of the lifting unit 4 in conjunction with the centering control module 94 and the controller 95. An image of the cabinet 13 is then captured again. The image captured by the cabinet environment camera 8 is then grayscale processed and edge processed by the image processing module 92 and fed back to the data processor 91 to generate a contour image B of the cabinet 13.

[0063] Step 4: The cabinet environment camera 8 captures signal light images and infrared images of the electrical components within the cabinet 13. The image processing module 92 performs grayscale and edge processing on the infrared images to generate multiple electrical component outline images. Simultaneously, the temperature calibration module 922 performs temperature calibration on the infrared images of the electrical components within the cabinet 13 to generate multiple electrical component temperature information images. The mapping module 93 then embeds the cabinet 13 identification information, the multiple electrical component outline images, the signal light image, and the temperature information image into the cabinet 13 outline image B, generating an inspection image that includes the cabinet 13 identification information, the signal light status, and the temperature status of the multiple electrical components within the cabinet 13, and corresponds to the electrical component outline. This facilitates post-processing of the inspection image and reduces misjudgments by the image processing system.

[0064] In conjunction with steps 1 through 4, after obtaining the inspection image of the current cabinet 13, the navigation unit 10 controls the walking unit 1 to move to the next inspection position and perform the above operations on the adjacent cabinet 13, so that the cabinet environment camera 8 of the inspection robot can directly capture the center of the cabinet. During multiple inspection operations, the storage module 96 stores the control information of the corresponding cabinet 13 from the previous inspection operation. This allows the cabinet environment camera 8 to capture the same cabinet at the same spatial position and angle during multiple inspection operations, ensuring accurate inspection images. The data processor 91 then performs analysis and processing to determine whether the corresponding cabinet is faulty.

[0065] Furthermore, it also includes a wireless communication module 15, which is electrically connected to the data processor 91. The wireless communication module 15 communicates wirelessly with the PC monitoring software 17 through the cloud server 16, which is conducive to remote inspection and remote control of the robot.

[0066] The working principle has been shown in order above. It should be noted that the modules, camera components, navigation components, sensors, image processing, information processing and wireless communication technologies mentioned in the present invention can all be implemented based on existing information technology, electrical technology and related communication protocols, interaction protocols, control protocols and other related technologies, and will not be described in detail in the present invention.

[0067] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

Claims

1. A method for inspecting a computer room using a robot for troubleshooting. The robot comprises a walking unit and a main control system. The walking unit has a main body and a lifting unit disposed on its upper surface. First distance measuring sensors are disposed on both sides of the main body. A first rotating unit is fixed to the telescopic end of the lifting unit. A second rotating unit is mounted on the rotating end of the first rotating unit. A sign information reading camera and a cabinet environment camera are mounted on the rotating ends of the second rotating unit, respectively. The method is characterized in that: When performing inspection and photography operations, the walking unit moves parallel to the front of the cabinet, and the distance between it and the cabinet is a fixed value. The cabinet environment camera shoots perpendicular to the cabinet door. The cabinet environment camera is equipped with a thermal imaging sensor and a CCD sensor for acquiring an environmental image of the cabinet. The environmental image includes an infrared image of the electrical components inside the cabinet, an image of the signal lights of the electrical components inside the cabinet, and an outline image of the cabinet body. The main control system includes a data processor, the data processor is electrically connected to an image processing module, a mapping module, a centering control module, a controller and a storage module, the image processing module is electrically connected to a temperature calibration module, the image processing module and the temperature calibration module are both electrically connected to the mapping module, the centering control module is also electrically connected to the image processing module and the controller respectively, the data processor is electrically connected to the first ranging sensor, and the controller is electrically connected to the walking part, the lifting part, the first rotating part and the second rotating part respectively; The thermal imaging sensor and CCD sensor provided in the cabinet environment camera are integrated in the same lens module, and the lens module and the first ranging sensor are on the same vertical plane, that is, the first ranging sensor and the lens module in the cabinet environment camera are at the same distance from the cabinet door; The robot's inspection methods include: When the walking unit reaches the designated detection position: First, the cabinet identification plate on the cabinet door is identified by the identification plate information reading camera. The angle between the identification plate information reading camera and the ground plane is maintained at 45 degrees. Then, the controller controls the extension of the lifting part to make the identification plate information reading camera and the cabinet environment camera rise synchronously until the cabinet identification plate is located at the horizontal center line of the image frame of the identification plate information reading camera. Then, the image processing module performs grayscale processing and edge processing on the image taken by the identification plate information reading camera and feeds it back to the data processor to generate the identification information of the cabinet. The cabinet environment camera then captures an image of the cabinet body. The image captured by the cabinet environment camera is then grayscale processed and edge processed by the image processing module and fed back to the data processor to generate a cabinet outline image A. During this process, the centering control module, in conjunction with the information fed back by the image processing module and the data processor, controls the controller to shorten the lifting part, so that the nameplate information reading camera and the cabinet environment camera are synchronously lowered until the cabinet environment camera is aligned with the horizontal center line of the cabinet's effective environmental image sampling format. The height of the effective environmental image sampling area of ​​the cabinet is: H=H0+H1+tan45°(L0+Y); Where: H0 is the initial height value of the cabinet environment camera; H1 is the extension value of the lifting part in step 1, that is, the elevation value of the cabinet environment camera; L0 is the distance between the first ranging sensor and the cabinet door, that is, the length between the lens module inside the cabinet environment camera and the cabinet door; Y is the length of the lens module inside the cabinet environment camera from the rotation axis of the cabinet environment camera; Then the shortening value of the lifting part is: Z = H0 + H1 - 0.5H; Then, the centering control module, in conjunction with the information fed back by the image processing module and the data processor, moves the walking unit forward and backward until the cabinet's outline image is symmetrical about the vertical center line of the cabinet environment camera's shooting format, so that the cabinet environment camera is located in the middle of the cabinet's effective environment image sampling format. Then, the cabinet body image is captured again, and the image processing module performs grayscale processing and edge processing on the image captured by the cabinet environment camera, and then feeds it back to the data processor to generate the cabinet outline image B; Finally, the cabinet environment camera is used to capture the signal light images of the electrical components inside the cabinet and the infrared images of the electrical components inside the cabinet, and the image processing module performs grayscale processing and edge processing on the infrared images to generate contour images of multiple electrical components. At the same time, the temperature calibration module is used to perform temperature calibration on the infrared images of the electrical components inside the cabinet to generate temperature information images of multiple electrical components. Then, the mapping module is used to embed the cabinet identification information, the contour images of multiple electrical components inside the cabinet, the signal light image and the temperature information image into the cabinet contour image B to generate an inspection image containing the cabinet identification information and the signal light status and temperature status of multiple electrical components inside the cabinet corresponding to the contour of the electrical components.

2. The inspection method of a computer room inspection robot based on troubleshooting according to claim 1, characterized in that: The robot also includes a wireless communication module, which is electrically connected to the data processor and communicates wirelessly with the PC monitoring software through the cloud server.

3. The inspection method of a computer room inspection robot based on troubleshooting according to claim 1, characterized in that: A navigation unit is provided on the top of the fuselage, and a group of second distance measuring sensors are provided on both sides of the walking unit. The navigation unit and the second distance measuring sensors are both electrically connected to the data processor.

4. The inspection method of a computer room inspection robot based on troubleshooting according to claim 1, characterized in that: A touch screen is also provided in the middle of the fuselage, and the touch screen is electrically connected to the data processor.

Images