Automatic server racking method, device and equipment and medium

Abstract

The invention discloses an automatic server shelving method and device, equipment and a medium, and relates to the technical field of robots, and the method comprises the steps: carrying out the rotation scanning of a current environment through a sensing system after a server shelving instruction is received, constructing a target map of the current environment based on an obtained scanning result and a preset map construction algorithm, obtaining first position information of the target server and second position information of the target cabinet; according to the target map and the first position information, the mobile chassis moves from the current position to a storage position of the target server, so that the target server is grabbed through a mechanical arm and a sensing system; based on the target map and the second position information, the target server is carried to the front of the target cabinet through the mobile chassis and the sensing system; and racking the target server into the target cabinet through the mechanical arm according to the mounting requirements of the target cabinet and the target server. In this way, the efficient and accurate server racking requirement can be met.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, equipment and medium for automatically placing a server on a shelf. Background Art

[0002] Driven by the wave of digitalization, the scale of data centers has exploded. As the core equipment of data centers, the number of servers is also continuing to rise. Under such a large scale, server installation has become an extremely important and arduous task in data center operations. The traditional way of installing servers mainly relies on manual operation. Due to the large size and heavy weight of the server, the operator needs to spend a lot of energy to move it, and during the installation process, the position needs to be adjusted many times to ensure accurate installation, which makes the installation time of each server relatively long and the overall work efficiency is low. In addition, due to the high accuracy requirements of the installation position of the server, manual operation is prone to errors, which may cause poor cable connection between servers, affect data transmission, and may even cause server failures, thereby affecting the stable operation of the entire data center.

[0003] In summary, how to meet the demand for efficient and accurate server listing is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for automatically putting servers on shelves, which can meet the needs of efficient and accurate server putting on shelves. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a method for automatically placing a server on a shelf, which is applied to a control system of a server placing robot, wherein the server placing robot further includes a mobile chassis, a mechanical arm, a sensing system, and a power supply system; wherein the method includes:

[0006] After receiving the server installation instruction, the current environment is rotated and scanned by the perception system to construct a target map of the current environment based on the obtained scanning results and a preset map construction algorithm, and obtain the first position information of the target server and the second position information of the target cabinet;

[0007] According to the target map and the first location information, the mobile chassis moves from the current location to the storage location of the target server, so as to grasp the target server through the mechanical arm and the perception system;

[0008] Based on the target map and the second location information, the target server is moved to the front of the target cabinet by using the mobile chassis and the sensing system;

[0009] Through the robotic arm, the target server is mounted into the target cabinet according to the installation requirements of the target cabinet and the target server.

[0010] Optionally, the step of performing a rotational scan of the current environment by the perception system to construct a target map of the current environment based on the obtained scan results and a preset map construction algorithm, and obtaining first position information of the target server and second position information of the target cabinet includes:

[0011] Initialize the server mounting robot and perform a self-check on the server mounting robot to obtain a self-check result;

[0012] If the self-check result indicates that the self-check is passed, use the lidar in the perception system to perform a rotational scan of the current environment to obtain point cloud data of the current environment;

[0013] Construct the target map of the current environment using the preset map construction algorithm and the point cloud data;

[0014] Collect image data of the current environment through the camera in the perception system to identify the target server and the target cabinet in the target map based on the image data, and determine the first position information of the target server and the second position information of the target cabinet.

[0015] Optionally, the step of moving from the current position to the storage location of the target server by the mobile chassis according to the target map and the first position information includes:

[0016] Plan a first target path to the storage location of the target server according to the target map and the first position information; the first target path is a path planned based on the spatial layout factors of the target map and satisfying preset safety conditions and preset efficiency conditions;

[0017] Through the mobile chassis, move to the storage location according to the first target path, and during the movement, continuously monitor the path condition of the first target path through the ultrasonic sensor of the perception system, so as to adjust and optimize the first target path when an abnormality of the first target path is detected.

[0018] Optionally, the step of grasping the target server by the robotic arm and the perception system includes:

[0019] Adjust the robotic arm to a preset position and a preset angle for grasping the target server;

[0020] If the end effector of the robotic arm is a suction cup type end effector, when the suction cup type end effector contacts the target server, air is pumped out through the vacuum pump of the suction cup type end effector, so as to grab the target server through the suction cup type end effector by using the generated negative pressure;

[0021] If the end effector of the robotic arm is a mechanical claw type end effector, the opening and closing degree of the mechanical claw of the mechanical claw type end effector is adjusted according to the structure of the target server, so as to grab the target server through the mechanical claw type end effector;

[0022] During the process of grabbing the target server, the grabbing force of the end effector is continuously monitored through the force sensor of the perception system, so as to adjust the grabbing force when it is detected that the grabbing force is not within the preset threshold range.

[0023] Optionally, the step of transporting the target server to in front of the target cabinet by the mobile chassis and the perception system based on the target map and the second position information includes:

[0024] Planning a second target path to the target cabinet according to the target map and the second position information; the second target path is a path planned based on the spatial layout factors of the target map and meeting the preset safety conditions and preset efficiency conditions;

[0025] By the mobile chassis, transporting the target server to in front of the target cabinet according to the second target path, and during the transportation process, controlling the robotic arm to keep the grabbing of the target server stable through the position sensor and the force sensor of the perception system.

[0026] Optionally, the step of mounting the target server into the target cabinet by the robotic arm according to the installation requirements of the target cabinet and the target server includes:

[0027] Adjusting the position and angle of the target server grabbed by the robotic arm according to the installation requirements of the target cabinet and the target server, so as to align the target server with the guide rail in front of the target cabinet;

[0028] Pushing the target server on the guide rail by the robotic arm, so as to mount the target server into the target cabinet, and during the process of mounting the target server, continuously monitoring the position state and the mounting progress of the target server by using the perception system, so as to adjust the position of the target server by the robotic arm until the target server is successfully mounted when it is detected that the target server is not successfully mounted into the target cabinet.

[0029] Optionally, after the target server is placed on the target cabinet according to the installation requirements of the target cabinet and the target server, the following steps are further included:

[0030] Plan a third target path to return to the current position according to the target map; the third target path is a path that meets the preset safety conditions and preset efficiency conditions based on the spatial layout factors of the target map;

[0031] Move to the current position along the third target path through the mobile chassis, and continuously monitor the path conditions of the third target path through the ultrasonic sensor of the perception system during the movement, so as to adjust and optimize the third target path when abnormalities are detected in the third target path;

[0032] After returning to the current position, detect the battery power of the server mounting robot through the power system to obtain a corresponding detection result;

[0033] If the detection result indicates that the battery power is insufficient, automatically start the charging program to charge the server mounting robot;

[0034] If the detection result indicates that the battery power is sufficient, control the server mounting robot to enter the standby state.

[0035] In a second aspect, the present application provides a server automatic mounting device, which is applied to the control system of a server mounting robot. The server mounting robot further includes a mobile chassis, a robotic arm, a perception system, and a power system; wherein, the device includes:

[0036] An environment scanning module, configured to rotate and scan the current environment through the perception system after receiving a server mounting instruction, construct a target map of the current environment based on the obtained scanning result and a preset map construction algorithm, and obtain the first position information of the target server and the second position information of the target cabinet;

[0037] A position movement module, configured to move from the current position to the storage location of the target server through the mobile chassis according to the target map and the first position information, so as to grab the target server through the robotic arm and the perception system;

[0038] A server handling module, configured to transport the target server to the front of the target cabinet through the mobile chassis and the perception system based on the target map and the second position information;

[0039] A server racking module, configured to rack the target server into the target cabinet according to the installation requirements of the target cabinet and the target server by means of the robotic arm.

[0040] In a third aspect, the present application provides an electronic device, including:

[0041] A memory, configured to store a computer program;

[0042] A processor, configured to execute the computer program to implement the foregoing server automatic racking method.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, configured to store a computer program; wherein, when the computer program is executed by a processor, the foregoing server automatic racking method is implemented.

[0044] In this embodiment, after receiving a server racking instruction, the current environment is rotationally scanned by the sensing system to construct a target map of the current environment based on the obtained scanning result and a preset map construction algorithm, and the first position information of the target server and the second position information of the target cabinet are obtained; according to the target map and the first position information, the mobile chassis is moved from the current position to the storage location of the target server to grab the target server by means of the robotic arm and the sensing system; based on the target map and the second position information, the target server is transported to the front of the target cabinet by means of the mobile chassis and the sensing system; and the target server is racked into the target cabinet according to the installation requirements of the target cabinet and the target server. As can be seen from the above, after receiving a server racking instruction, the present application rotationally scans the current environment by means of the sensing system of the server racking robot to construct a target map of the current environment based on the obtained scanning result and a preset map construction algorithm, and obtains the first position information of the target server and the second position information of the target cabinet, so as to move to the target server according to the target map and the first position information, grab the target server by means of the robotic arm and the sensing system, transport the target server to the front of the target cabinet by means of the mobile chassis and the sensing system based on the target map and the second position information, and rack the target server into the target cabinet according to the installation requirements of the target cabinet and the target server. In this way, through the above process of the present application, the server racking work is realized by using the server racking robot, the server and the cabinet are accurately positioned through the sensing system and the preset map construction algorithm, the racking task can be efficiently completed, the racking time is reduced, the work efficiency is improved, the labor cost can also be reduced, the intelligent development of the server racking work is promoted, and the efficient and accurate server racking requirements are met. Brief Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0046] Figure 1 It is a flowchart of a method for automatically racking a server disclosed in this application;

[0047] Figure 2 It is a timing diagram of a method for automatically racking a server disclosed in this application;

[0048] Figure 3 It is a timing diagram of a process for initializing a robot and scanning the environment disclosed in this application;

[0049] Figure 4 It is a timing diagram of a process for a robot to move to the server storage location disclosed in this application;

[0050] Figure 5 It is a timing diagram of a process for a robot to grasp a server disclosed in this application;

[0051] Figure 6 It is a timing diagram of a process for a robot to carry a server disclosed in this application;

[0052] Figure 7 It is a timing diagram of a process for a robot to rack a server disclosed in this application;

[0053] Figure 8 It is a timing diagram of a process for a robot to return to standby disclosed in this application;

[0054] Figure 9 It is a schematic structural diagram of a device for automatically racking a server disclosed in this application;

[0055] Figure 10 It is a structural diagram of an electronic device disclosed in this application. Detailed Embodiments

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0057] The traditional method of installing servers on the rack mainly relies on manual operation. Due to the large size and heavy weight of the servers, operators need to spend a lot of effort to move them. Moreover, during the installation process, the position needs to be adjusted multiple times to ensure accurate installation, resulting in a relatively long installation time for each server and low overall work efficiency. In addition, due to the high precision requirement for the installation position of the servers, manual operation is prone to errors, which may lead to poor cable connection between servers, affecting data transmission, and even may cause server failures, thus affecting the stable operation of the entire data center.

[0058] To overcome the above technical problems, this application provides a method for automatically installing servers on the rack to meet the requirements of efficient and accurate server installation on the rack.

[0059] See Figure 1 As shown, the embodiment of the present invention discloses a method for automatically installing servers on the rack, which is applied to the control system of a server installation robot. The server installation robot also includes a mobile chassis, a robotic arm, a sensing system, and a power system. Among them, the method includes:

[0060] Step S11: After receiving the server installation instruction, perform a rotational scan of the current environment through the sensing system to construct a target map of the current environment based on the obtained scan result and a preset map construction algorithm, and obtain the first position information of the target server and the second position information of the target cabinet.

[0061] In this embodiment, after the control system of the server installation robot receives the server installation instruction, the sensing system performs a rotational scan of the current environment to construct a target map of the current environment based on the obtained scan result and a preset map construction algorithm, and obtain the first position information of the target server and the second position information of the target cabinet. Among them, the preset map construction algorithm can be the Simultaneous Localization and Mapping technology (i.e., SLAM); the target map can be a two-dimensional map or a three-dimensional map; the position information can also include the corresponding device attitude information.

[0062] It should be noted that the hardware part of the server racking robot mainly consists of a mobile chassis, a robotic arm, a perception system, a control system, and a power system. Among them, the mobile chassis adopts a four-wheel drive method, with good stability and mobility. Obstacle avoidance devices such as lidar and ultrasonic sensors are installed on the mobile chassis, which can sense the surrounding environment in real time, automatically plan obstacle avoidance paths, and ensure the safe movement of the robot in a complex data center environment. At the same time, it is equipped with high-precision encoders for accurately measuring the moving distance and angle of the robot to achieve precise positioning. The robotic arm adopts a multi-joint structure with multiple degrees of freedom, which can move and operate flexibly in space. High-precision motors and reducers are installed at the joints of the robotic arm to ensure the motion accuracy and load capacity of the robotic arm. The end effector is customized according to the shape and material of the server. For example, a suction cup type end effector is used for servers with a smooth surface, and a mechanical claw type end effector is used for servers with a specific structure to ensure reliable grasping. Force sensors and position sensors are also installed on the robotic arm to monitor the grasping force and the position state of the robotic arm in real time for precise control. The perception system consists of lidar, cameras, ultrasonic sensors, and force sensors. The lidar is used to construct a two-dimensional or three-dimensional map of the data center, obtain environmental information and object positions in real time. The cameras are used to identify the characteristics of servers and cabinets, such as the model identification of servers and the numbers of cabinets, to assist the robot in precise positioning and operation. The ultrasonic sensors are used for short-distance obstacle avoidance to prevent the robot from colliding with surrounding objects. The force sensors are installed at the end of the robotic arm to monitor the force when grasping the server and avoid damaging the server. The control system, as the core of the robot, is used to receive the data collected by the perception system, analyze and process it, and control the movement of the mobile chassis and the robotic arm according to preset algorithms and task instructions. Advanced artificial intelligence algorithms, such as deep learning algorithms, are used to identify and analyze the collected image and sensor data to improve the robot's autonomous decision-making ability and operation accuracy. At the same time, the control system also has a remote communication function, which can interact with the management system of the data center through a wireless network, receive task instructions, and upload the working status information of the robot. The power system uses a high-performance lithium battery pack to provide power support for the server racking robot, ensuring a stable energy supply for the robot during long-term operation. At the same time, it has a battery power monitoring and charging management function. When the battery power is lower than the set threshold, the robot automatically returns to the charging point for charging to ensure the continuous working ability of the robot. As Figure 2 The following shows a timing diagram of the process of the server automatic racking method provided by this application.

[0063] Specifically, initialize the server racking robot through the control system and perform self-check on the server racking robot to obtain a self-check result. If the self-check result indicates that the self-check is passed, rotate and scan the current environment through the lidar in the perception system to obtain the point cloud data of the current environment. Use a preset map construction algorithm and the point cloud data to construct the target map of the current environment. Collect the image data of the current environment through the camera in the perception system to identify the target server and the target cabinet in the target map according to the image data, and determine the first position information of the target server and the second position information of the target cabinet. That is, after the server racking robot is started, first initialize the server racking robot and perform self-check on the hardware devices of the server racking robot, including but not limited to the mobile chassis, the robotic arm, the perception system, and the control system, etc., to obtain the corresponding self-check result. If the self-check result indicates that the self-check is passed, start rotating and scanning the current environment through the lidar of the perception system to obtain the point cloud data of the current environment, and use a preset map construction algorithm and the point cloud data to construct the target map of the current environment. At the same time, collect the image data of the current environment through the camera of the perception system to perform feature recognition and marking on the target server and the target cabinet in the target map according to the image data, and determine the first position information of the target server and the second position information of the target cabinet. As Figure 3 Shown is a flow timing diagram of robot initialization and environment scanning provided by this application. It should be noted that if the self-check result indicates that the self-check fails, process the current self-check error and record the corresponding error log so that the staff can conduct an audit and investigation based on the error log. In this way, in this embodiment, the lidar in the perception system is used to dynamically construct the current environment, and the camera in the perception system is used to accurately locate the target server and the target cabinet, which can assist the server racking robot in performing the server racking work, reduce the error probability, and ensure accuracy; automatically process and record the corresponding error log when the self-check fails so that the staff can conduct an audit and investigation based on the error log.

[0064] Step S12: According to the target map and the first position information, move from the current position to the storage location of the target server through the mobile chassis, so as to grab the target server through the robotic arm and the perception system.

[0065] In this embodiment, according to the constructed target map and the first position information, the mobile chassis moves from the current position of the server racking robot to the storage location of the target server, so as to grab the target server through the robotic arm and the perception system.

[0066] It should be noted that the processing flow for controlling the server racking robot to move from the current position to the storage location of the target server is as follows: Plan a first target path to the storage location of the target server based on the target map and the first position information; the first target path is a path planned based on the spatial layout factors of the target map and meeting the preset safety conditions and preset efficiency conditions; through the mobile chassis, move to the storage location according to the first target path, and during the movement, continuously monitor the path condition of the first target path through the ultrasonic sensor of the perception system, so as to adjust and optimize the first target path when it is detected that the first target path is abnormal. Among them, the spatial layout factors include but are not limited to factors such as obstacle distribution and aisle width. That is, the control system plans an optimal first target path to the storage location of the target server according to the target map and the first position information. During the path planning process, factors such as obstacle distribution and aisle width in the data center are considered to ensure the safety and efficiency of the path. If it is determined that the currently planned first target path is not the optimal path, re-planning is carried out until a safe and efficient first target path is generated. Subsequently, through the mobile chassis, according to the planned first target path, the motor drives the wheels to rotate, so that the server racking robot accurately moves from the current position to the storage location. As Figure 4 shown in the flow timing diagram of a robot moving to the server storage location provided by this application. It should be further noted that during the movement of the server racking robot, the surrounding environment, that is, the path condition of the first target path, can be continuously monitored through the ultrasonic sensor of the perception system. If it is detected that the first target path is abnormal, such as when new obstacles appear, the first target path is adjusted and optimized in a timely manner to ensure the safety of the server racking robot during the movement.

[0067] It should be noted that the processing flow of grasping the target server by the robotic arm and the sensing system is as follows: Adjust the robotic arm to a preset position and a preset angle for grasping the target server; If the end effector of the robotic arm is a suction cup type end effector, when the suction cup type end effector contacts the target server, evacuate air through the vacuum pump of the suction cup type end effector to grasp the target server by using the generated negative pressure through the suction cup type end effector; If the end effector of the robotic arm is a mechanical claw type end effector, adjust the opening and closing degree of the mechanical claw of the mechanical claw type end effector according to the structure of the target server to grasp the target server by the mechanical claw type end effector; During the process of grasping the target server, continuously monitor the grasping force of the end effector through the force sensor of the sensing system, so as to adjust the grasping force when it is monitored that the grasping force does not reach within the preset threshold range. That is, when the server racking robot reaches the storage location, the robotic arm is adjusted to a suitable preset position and a preset angle for grasping the target server under the drive of the control system, and the end effector of the robotic arm selects a suitable grasping method according to the type of the server. For example, if the end effector is a suction cup type end effector, after the suction cup type end effector contacts the surface of the target server, evacuate air through the vacuum pump of the suction cup type end effector to grasp the target server in an adsorption manner by using the generated negative pressure through the suction cup type end effector; If the end effector is a mechanical claw type end effector, adjust the opening and closing degree of the mechanical claw of the mechanical claw type end effector according to the structure of the target server to firmly grasp the target server by the mechanical claw type end effector. It should be pointed out that during the process of grasping the target server, in this embodiment, the grasping force of the end effector can be monitored in real time through the force sensor of the sensing system to ensure firm grasping and prevent damage to the server. If it is monitored that the grasping force does not reach within the preset threshold range, the grasping force is adjusted in time to re-grasp until the grasping force reaches within the preset threshold range, and it is determined that the grasping is successful. Such as Figure 5The following is a flow timing diagram of a robot server grabbing provided by the present application. In this way, based on factors such as the obstacle distribution and passage width in the current environment, path planning is performed to ensure the safety and efficiency of the path; during the process of the robot moving on the server rack, the surrounding environment is continuously monitored through the sensing system so as to make timely adjustments in case of abnormalities, thereby ensuring the safety of the robot on the server rack during the moving process; the appropriate server grabbing method is selected according to the type of the server to ensure the firmness of the grabbed server and avoid the occurrence of server damage caused by loose grabbing; during the process of grabbing the server, the grabbing force is continuously monitored through the force sensor and adjusted to ensure firm grabbing without damaging the server.

[0068] Step S13: Based on the target map and the second position information, use the mobile chassis and the sensing system to carry the target server in front of the target cabinet.

[0069] In this embodiment, after grabbing the target server by the robotic arm, based on the constructed target map and the second position information, use the mobile chassis and the sensing system to carry the target server in front of the target cabinet. Specifically, plan a second target path to the target cabinet according to the target map and the second position information; the second target path is a path that meets the preset safety conditions and preset efficiency conditions planned based on the spatial layout factors of the target map; through the mobile chassis, carry the target server in front of the target cabinet according to the second target path, and during the carrying process, control the robotic arm to keep the grabbing of the target server stable through the position sensor and the force sensor of the sensing system. That is, according to the target map and the second position information, consider the spatial layout factors of the target map to plan the optimal second target path for carrying the target server to the target cabinet, and then through the mobile chassis, carry the target server in front of the target cabinet according to the planned second target path, and during the carrying process, continuously monitor the surrounding environment through the sensing system so as to make timely adjustments to the second target path in case of abnormalities, ensure the safety of the carrying process, avoid the occurrence of server damage caused by accidents, and at the same time the robotic arm keeps the grabbing of the target server stable through the position sensor and the force sensor of the sensing system to prevent the target server from shaking or falling. For example Figure 6The following is a process timing diagram of a robot handling server provided by the present application. In this way, during the process of handling the target server, the perception system continuously monitors the surrounding environment to ensure the safety of the handling process and avoid damage to the target server due to accidents. The sensors of the perception system keep the manipulator firmly grasping the target server to prevent the target server from shaking or falling.

[0070] Step S14: Use the manipulator to place the target server into the target cabinet according to the installation requirements of the target cabinet and the target server.

[0071] In this embodiment, the manipulator places the target server into the target cabinet according to the installation requirements of the target cabinet and the target server. Among them, the installation requirements include the installation rail position of the target cabinet and the installation requirements of the target server.

[0072] Specifically, adjust the position and angle of the target server grasped by the manipulator according to the installation requirements of the target cabinet and the target server to align the target server with the rail in front of the target cabinet. Push the target server on the rail through the manipulator to place the target server into the target cabinet. During the process of placing the target server, use the perception system to continuously monitor the position status and placement progress of the target server. So that when it is detected that the target server is not successfully placed into the target cabinet, adjust the position of the target server through the manipulator until the target server is successfully placed. That is, adjust the position and angle of the target server grasped by the manipulator according to the installation requirements of the target cabinet and the target server to accurately align it with the installation rail in front of the target cabinet. Then, the manipulator gently and slowly pushes the target server on the installation rail to install it at the designated position inside the target cabinet, completing the task of placing the target server into the target cabinet. It should be noted that during the process of placing the target server, this embodiment can also use the camera and sensors of the perception system to monitor the placement progress and the position status of the target server in real time. So that when it is detected that the target server is not successfully placed into the target cabinet, adjust the position of the target server through the manipulator until the target server is successfully placed to ensure the accuracy of the placement. As Figure 7 The following is a process timing diagram of a robot placing a server provided by the present application.

[0073] It should be noted that the processing flow after completing the task of installing the target server into the target cabinet is as follows: Plan the third target path to return to the current location according to the target map; the third target path is a path planned based on the spatial layout factors of the target map and meeting the preset safety conditions and preset efficiency conditions; through the mobile chassis, move to the current location according to the third target path, and during the movement, continuously monitor the path conditions of the third target path through the ultrasonic sensor of the perception system, so as to adjust and optimize the third target path when it is detected that the third target path is abnormal; after returning to the current location, detect the battery power of the server installation robot through the power system to obtain the corresponding detection result; if the detection result indicates that the battery power is insufficient, automatically start the charging program to charge the server installation robot; if the detection result indicates that the battery power is sufficient, control the server installation robot to enter the standby state. That is, after completing the installation task of the target server, the server installation robot plans the optimal third target path to return to the current location according to the return instruction of the control system, and moves to the current location according to the third target path through the mobile chassis, that is, the initial standby position. At the same time, during the movement, in this embodiment, the environment can also be continuously monitored through the perception system, that is, the path conditions of the third target path are monitored, so as to adjust and optimize the third target path when it is detected that the third target path is abnormal and complete the obstacle avoidance operation. In addition, after returning to the current location, this embodiment can control the server installation robot to enter the standby state, wait for the next task instruction, and at the same time detect the battery power of the server installation robot through the power system. If the obtained detection result indicates that the battery power is insufficient, automatically start the charging program to charge the server installation robot to avoid the situation that the server installation task cannot be completed due to insufficient power; if the battery power is sufficient, keep its standby state. As Figure 8The following is a flow timing diagram of a robot returning to standby provided by the present application. In this way, through an advanced sensing system and precise control algorithms, the robot can achieve high-precision operations, avoid problems such as inaccurate installation positions that may occur in manual operations, and ensure the quality of server rack installation; the server rack installation work can be completed by the server rack installation robot, reducing the need for manual operations, lowering the physical requirements for operators, and saving labor costs; through components such as robotic arms, the grasping, handling, and rack installation operations of the server can be completed quickly and accurately, greatly shortening the time for server rack installation and improving the deployment efficiency of the data center; through the sensing system, obstacle avoidance and firm grasping are carried out during the process of moving and grasping the server, reducing the safety risks during the process of manually handling the server, protecting the personal safety of the operators, and at the same time reducing the risk of server damage due to improper handling.

[0074] As can be seen from the above, after receiving the server shelving instruction, the embodiment of the present application performs a rotational scan of the current environment through the sensing system of the server shelving robot, constructs the target map of the current environment based on the obtained scan results and the preset map construction algorithm, and obtains the first position information of the target server and the second position information of the target cabinet, so as to move to the target server through the mobile chassis according to the target map and the first position information, and grab the target server through the robotic arm and the sensing system, and based on the target map and the second position information, transport the target server to the front of the target cabinet through the mobile chassis and the sensing system, and shelve the target server into the target cabinet according to the installation requirements of the target cabinet and the target server.In this way, through the above process of the embodiments of the present application, on the one hand, the lidar in the perception system is used to dynamically construct the current environment, and the camera in the perception system is used to accurately locate the target server and the target cabinet, which can assist the server racking robot in the server racking work, reduce the error probability and ensure the accuracy; on the one hand, when the self-check fails, it automatically processes and records the corresponding error logs for the staff to conduct audit and troubleshooting based on the error logs; on the one hand, path planning is carried out based on factors such as the obstacle distribution and passage width in the current environment, which can ensure the safety and efficiency of the path; on the one hand, during the movement of the server racking robot, the surrounding environment is continuously monitored through the perception system so as to adjust in time when abnormalities occur, thereby ensuring the safety of the server racking robot during the movement; on the one hand, the appropriate server grasping method is selected according to the type of the server, which can ensure the firmness of grasping the server and avoid the situation of server damage caused by loose grasping; on the one hand, during the process of grasping the server, the grasping force is continuously monitored through the force sensor and adjusted to ensure firm grasping without damaging the server; on the one hand, during the process of carrying the target server, the surrounding environment is continuously monitored through the perception system to ensure the safety of the carrying process and avoid the situation of damage to the target server caused by accidents; on the one hand, the sensor of the perception system keeps the manipulator stable in grasping the target server to prevent the target server from shaking or falling; on the one hand, through the advanced perception system and precise control algorithm, the robot can achieve high-precision operations, avoid problems such as inaccurate installation positions that may occur in manual operations, and ensure the quality of server racking; on the one hand, the server racking work can be achieved through the server racking robot, reducing the need for manual operations, lowering the physical requirements for operators, and saving labor costs; on the one hand, through components such as the manipulator, the server can be quickly and accurately grasped, carried and racked, greatly shortening the time for server racking and improving the deployment efficiency of the data center; on the other hand, through the perception system to avoid obstacles and firmly grasp during the movement and grasping of the server, the safety risks in the process of manual server handling are reduced, the personal safety of the operators is protected, and at the same time the risk of server damage due to improper handling is reduced, promoting the intelligent development of the server racking work, and thus meeting the requirements for efficient and accurate server racking.

[0075] Correspondingly, referring to Figure 9 As shown, the embodiments of the present application further provide a server automatic racking device, which is applied to the control system of a server racking robot. The server racking robot further includes a mobile chassis, a manipulator, a perception system and a power system; wherein, the device includes:

[0076] An environment scanning module 11, configured to perform a rotational scan of the current environment through the sensing system after receiving a server racking instruction, so as to construct a target map of the current environment based on the obtained scan result and a preset map construction algorithm, and obtain first position information of a target server and second position information of a target cabinet;

[0077] A position movement module 12, configured to move from the current position to the storage location of the target server through the mobile chassis according to the target map and the first position information, so as to grab the target server through the robotic arm and the sensing system;

[0078] A server handling module 13, configured to transport the target server to in front of the target cabinet through the mobile chassis and the sensing system based on the target map and the second position information;

[0079] A server racking module 14, configured to rack the target server into the target cabinet through the robotic arm according to the installation requirements of the target cabinet and the target server.

[0080] As can be seen from the above, after receiving a server racking instruction in the embodiment of the present application, the sensing system of the server racking robot performs a rotational scan of the current environment, so as to construct a target map of the current environment based on the obtained scan result and a preset map construction algorithm, and obtain first position information of a target server and second position information of a target cabinet, so as to move to the target server through the mobile chassis according to the target map and the first position information, and grab the target server through the robotic arm and the sensing system, so as to transport the target server to in front of the target cabinet through the mobile chassis and the sensing system based on the target map and the second position information, and rack the target server into the target cabinet according to the installation requirements of the target cabinet and the target server. In this way, through the above process of the embodiment of the present application, the server racking work is realized by using the server racking robot. The server and the cabinet are accurately positioned through the sensing system and the preset map construction algorithm, the racking task can be efficiently completed, the racking time is reduced, the work efficiency is improved, the labor cost can also be reduced, the intelligent development of the server racking work is promoted, and further the high-efficiency and accurate server racking requirements are met.

[0081] In some specific embodiments, the environment scanning module 11 may specifically include:

[0082] A robot self-check unit, configured to initialize the server racking robot and perform a self-check on the server racking robot to obtain a self-check result;

[0083] A rotational scanning unit, configured to perform rotational scanning on the current environment through a lidar in the perception system to obtain point cloud data of the current environment if the self-check result indicates that the self-check is passed;

[0084] A map construction unit, configured to construct a target map of the current environment by using a preset map construction algorithm and the point cloud data;

[0085] A data acquisition unit, configured to acquire image data of the current environment through a camera in the perception system, to identify a target server and a target cabinet in the target map according to the image data, and to determine first position information of the target server and second position information of the target cabinet.

[0086] In some specific embodiments, the position movement module 12 may specifically include:

[0087] A first path planning unit, configured to plan a first target path to the storage location of the target server according to the target map and the first position information; the first target path is a path planned based on the spatial layout factors of the target map and satisfying preset safety conditions and preset efficiency conditions;

[0088] A first path monitoring unit, configured to move to the storage location according to the first target path through the mobile chassis, and during the movement, continuously monitor the path condition of the first target path through an ultrasonic sensor of the perception system, so as to adjust and optimize the first target path when an abnormality of the first target path is detected.

[0089] In some specific embodiments, the position movement module 12 may specifically include:

[0090] A robotic arm adjustment unit, configured to adjust the robotic arm to a preset position and a preset angle for grasping the target server;

[0091] A server grasping unit, configured to, if the end effector of the robotic arm is a suction cup type end effector, perform air extraction through a vacuum pump of the suction cup type end effector when the suction cup type end effector contacts the target server, so as to grasp the target server by using the generated negative pressure through the suction cup type end effector;

[0092] An opening / closing degree adjustment unit, configured to, if the end effector of the robotic arm is a mechanical claw type end effector, adjust the mechanical claw opening / closing degree of the mechanical claw type end effector according to the structure of the target server, so as to grasp the target server by the mechanical claw type end effector;

[0093] The grasping force monitoring unit is used to continuously monitor the grasping force of the end effector through the force sensor of the sensing system during the process of grasping the target server, so as to adjust the grasping force when it is detected that the grasping force does not reach within the preset threshold range.

[0094] In some specific embodiments, the server handling module 13 may specifically include:

[0095] The second path planning unit is used to plan a second target path to the target cabinet according to the target map and the second position information; the second target path is a path that meets the preset safety conditions and preset efficiency conditions planned based on the spatial layout factors of the target map;

[0096] The server handling unit is used to transport the target server to in front of the target cabinet through the mobile chassis according to the second target path, and during the transportation process, control the robotic arm to keep the grasping of the target server stable through the position sensor and force sensor of the sensing system.

[0097] In some specific embodiments, the server racking module 14 may specifically include:

[0098] The server adjustment unit is used to adjust the position and angle of the target server grasped by the robotic arm according to the installation requirements of the target cabinet and the target server, so as to align the target server with the guide rail in front of the target cabinet;

[0099] The server pushing unit is used to push the target server on the guide rail through the robotic arm to rack the target server into the target cabinet, and during the process of racking the target server, continuously monitor the position state and racking progress of the target server by using the sensing system, so as to adjust the position of the target server through the robotic arm until the target server is successfully racked when it is detected that the target server is not successfully racked into the target cabinet.

[0100] In some specific embodiments, the server automatic racking device may further include:

[0101] The third path planning unit is used to plan a third target path to return to the current position according to the target map; the third target path is a path that meets the preset safety conditions and preset efficiency conditions planned based on the spatial layout factors of the target map;

[0102] The second path monitoring unit is configured to move to the current position along the third target path through the mobile chassis, and during the movement, continuously monitor the path condition of the third target path through the ultrasonic sensor of the perception system, so as to adjust and optimize the third target path when an abnormality occurs in the monitored third target path;

[0103] The power detection unit is configured to detect the battery power of the server racking robot through the power system after returning to the current position, so as to obtain a corresponding detection result;

[0104] The program startup unit is configured to automatically start a charging program to charge the server racking robot if the detection result indicates that the battery power is insufficient;

[0105] The robot standby unit is configured to control the server racking robot to enter a standby state if the detection result indicates that the battery power is sufficient.

[0106] Furthermore, an embodiment of the present application also discloses an electronic device, Figure 10 which is a structural diagram of an electronic device 20 shown according to an exemplary embodiment. The content in the figure should not be considered as any limitation to the scope of use of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the server automatic racking method disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0107] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present application, and no specific limitation is imposed on it here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application requirements, and no specific limitation is made here.

[0108] In addition, as a carrier for resource storage, the memory 22 may be a read-only memory, a random access memory, a magnetic disk, or an optical disc, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be short-term storage or permanent storage.

[0109] Among them, the operating system 221 is used to manage and control each hardware device and computer program 222 on the electronic device 20, and it can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the server automatic racking method executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0110] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the server automatic racking method disclosed above is implemented. For the specific steps of this method, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0111] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For related parts, reference can be made to the description in the method part.

[0112] Those skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0113] The steps of the methods or algorithms described in combination with the embodiments disclosed in this article can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0114] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0115] The technical solutions provided in this application have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. An automatic server racking method, characterized in that, A control system applied to a server racking robot, which also includes a mobile chassis, a robotic arm, a sensing system, and a power system; wherein, the method includes: After receiving a server racking instruction, rotate and scan the current environment through the sensing system to construct a target map of the current environment based on the obtained scan results and a preset map construction algorithm, and obtain the first position information of the target server and the second position information of the target cabinet; According to the target map and the first position information, move from the current position to the storage location of the target server through the mobile chassis, so as to grab the target server through the robotic arm and the sensing system; Based on the target map and the second position information, transport the target server to in front of the target cabinet through the mobile chassis and the sensing system; Through the robotic arm, rack the target server into the target cabinet according to the installation requirements of the target cabinet and the target server.

2. The server automatic racking method according to claim 1, wherein, The rotating and scanning the current environment through the sensing system to construct a target map of the current environment based on the obtained scan results and a preset map construction algorithm, and obtaining the first position information of the target server and the second position information of the target cabinet includes: Initialize the server racking robot and perform a self-check on the server racking robot to obtain a self-check result; If the self-check result indicates that the self-check is passed, rotate and scan the current environment through the lidar in the sensing system to obtain the point cloud data of the current environment; Use a preset map construction algorithm and the point cloud data to construct a target map of the current environment; Collect image data of the current environment through the camera in the sensing system, so as to identify the target server and the target cabinet in the target map according to the image data, and determine the first position information of the target server and the second position information of the target cabinet.

3. The server automatic racking method according to claim 1, characterized in that The moving from the current position to the storage location of the target server through the mobile chassis according to the target map and the first position information includes: Plan a first target path to the storage location of the target server according to the target map and the first position information; the first target path is a path planned based on the spatial layout factors of the target map and meeting the preset safety conditions and preset efficiency conditions; Through the mobile chassis, move to the storage location according to the first target path, and during the movement, continuously monitor the path condition of the first target path through the ultrasonic sensor of the sensing system, so as to adjust and optimize the first target path when it is detected that the first target path is abnormal.

4. The server automatic racking method according to claim 1, wherein The grabbing the target server through the robotic arm and the sensing system includes: Adjust the robotic arm to a preset position and a preset angle for grabbing the target server; If the end effector of the robotic arm is a suction cup type end effector, when the suction cup type end effector contacts the target server, air is pumped out through the vacuum pump of the suction cup type end effector to grab the target server by using the generated negative pressure through the suction cup type end effector; If the end effector of the robotic arm is a mechanical claw type end effector, the opening and closing degree of the mechanical claw of the mechanical claw type end effector is adjusted according to the structure of the target server to grab the target server through the mechanical claw type end effector; During the process of grabbing the target server, the grasping force of the end effector is continuously monitored through the force sensor of the sensing system, so as to adjust the grasping force when it is detected that the grasping force does not reach within the preset threshold range.

5. The server automatic racking method according to claim 1, characterized in that The moving the target server to in front of the target cabinet by the mobile chassis and the sensing system based on the target map and the second position information includes: Planning a second target path to the target cabinet according to the target map and the second position information; the second target path is a path planned based on the spatial layout factors of the target map and meeting the preset safety conditions and preset efficiency conditions; Moving the target server to in front of the target cabinet by the mobile chassis according to the second target path, and during the moving process, controlling the robotic arm to keep the grasping of the target server stable through the position sensor and the force sensor of the sensing system.

6. The server automatic racking method according to claim 1, wherein The mounting the target server onto the target cabinet by the robotic arm according to the installation requirements of the target cabinet and the target server includes: Adjusting the position and angle of the target server grabbed by the robotic arm according to the installation requirements of the target cabinet and the target server to align the target server with the guide rail in front of the target cabinet; Pushing the target server on the guide rail by the robotic arm to mount the target server onto the target cabinet, and during the process of mounting the target server, continuously monitoring the position state and mounting progress of the target server by using the sensing system, so as to adjust the position of the target server by the robotic arm until the target server is successfully mounted when it is detected that the target server is not successfully mounted onto the target cabinet.

7. The server automatic racking method according to any one of claims 1 to 6, characterized in that, After mounting the target server onto the target cabinet according to the installation requirements of the target cabinet and the target server, it further includes: Planning a third target path to return to the current position according to the target map; the third target path is a path planned based on the spatial layout factors of the target map and meeting the preset safety conditions and preset efficiency conditions; Moving to the current position by the mobile chassis according to the third target path, and during the moving process, continuously monitoring the path condition of the third target path through the ultrasonic sensor of the sensing system, so as to adjust and optimize the third target path when it is detected that the third target path is abnormal. After returning to the current position, the battery power of the server racking robot is detected by the power supply system to obtain a corresponding detection result; If the detection result indicates that the battery power is insufficient, the charging program is automatically started to charge the server racking robot; If the detection result indicates that the battery power is sufficient, the server racking robot is controlled to enter the standby state.

8. An automatic server racking device, characterized in that A control system applied to a server racking robot, and the server racking robot further includes a mobile chassis, a robotic arm, a sensing system, and a power supply system; wherein, the device includes: An environment scanning module, configured to, after receiving a server racking instruction, perform rotational scanning on the current environment through the sensing system, construct a target map of the current environment based on the obtained scanning result and a preset map construction algorithm, and obtain the first position information of the target server and the second position information of the target cabinet; A position movement module, configured to move from the current position to the storage location of the target server through the mobile chassis according to the target map and the first position information, so as to grab the target server through the robotic arm and the sensing system; A server handling module, configured to transport the target server to the front of the target cabinet through the mobile chassis and the sensing system based on the target map and the second position information; A server racking module, configured to rack the target server into the target cabinet through the robotic arm according to the installation requirements of the target cabinet and the target server.

9. An electronic device, characterized in that, Includes: A memory, configured to store a computer program; A processor, configured to execute the computer program to implement the server automatic racking method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, For storing a computer program; wherein, when the computer program is executed by a processor, the server automatic racking method according to any one of claims 1 to 7 is implemented.

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