Server cold plate installation method, electronic device, storage medium, and program product

Abstract

This application discloses a server cold plate installation method, electronic device, storage medium, and program product, relating to the field of cold plate installation technology. This application achieves efficient collaborative operation by using a master-slave robot to perform parallel tasks such as cold plate grasping, handling, positioning, and installation. Through functional decoupling and intelligent collaboration between the two robots, it overcomes the bottleneck of single-device operation, significantly improving installation efficiency while ensuring accuracy. By coordinating image information with the two robots, it ensures good contact between the cold plate and the server, improving heat dissipation. Dynamic adjustment of parameters and task allocation strategies adapts to the installation needs of different server models and specifications and cold plates, improving applicability. Based on this, efficient, accurate, and safe installation of server cold plates can be achieved, thereby meeting the needs of the rapidly developing data center.

Description

Technical Field

[0001] This application relates to the field of cold plate mounting technology, and more particularly to a server cold plate mounting method, electronic equipment, storage medium, and software product. Background Technology

[0002] With the continuous increase in the power of data center servers, liquid cooling technology is being used more and more widely due to its high-efficiency heat dissipation capabilities. As a key component of the liquid cooling system, the installation quality of the liquid-cooled server cold plate directly affects the server's heat dissipation effect and operational stability. The installation of the cold plate mainly relies on manual operation, which has problems such as low installation efficiency, high labor intensity, and installation accuracy affected by human factors. Although some automated installation equipment has emerged in related technologies, these automated installation equipment are often complex in structure, high in cost, and have poor adaptability to different models and specifications of servers and cold plates, making it difficult to meet the diverse needs of actual production. In addition, automated installation technology lacks adaptive grasping and flexible installation operations, which cannot fully utilize the advantages of multiple robots and cannot meet the needs of large-scale and rapid server deployment in data centers. At the same time, the safety of the installation process also needs to be improved. There is a lack of safety protection measures for multi-robot collaborative operation, which can easily lead to collision accidents between robots or between robots and equipment. Summary of the Invention

[0003] This application provides a server cold plate installation method, electronic equipment, storage media, and software products to at least solve the problems of low efficiency, unstable accuracy, and poor security in related technologies.

[0004] This application provides a method for installing a server cold plate, applied to a server cold plate installation system. The server cold plate installation system includes at least a master robot and slave robots, including:

[0005] In response to receiving a server cold plate installation request, the system obtains the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, the cold plate, the main robot, and the slave robot.

[0006] The first image information is preprocessed to generate the second image information;

[0007] Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot.

[0008] According to the first planned path, the main robot is controlled to perform the first cold plate installation task, and according to the second planned path, the slave robot is controlled to perform the second cold plate installation task.

[0009] During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot.

[0010] This application also provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the following steps of the server cold plate mounting method:

[0011] In response to receiving a server cold plate installation request, the system obtains the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, the cold plate, the main robot, and the slave robot.

[0012] The first image information is preprocessed to generate the second image information;

[0013] Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot.

[0014] According to the first planned path, the main robot is controlled to perform the first cold plate installation task, and according to the second planned path, the slave robot is controlled to perform the second cold plate installation task.

[0015] During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot.

[0016] This application also provides a computer-readable storage medium storing a computer program, wherein when executed by a processor, the computer program implements the following steps of the server cold plate installation method:

[0017] In response to receiving a server cold plate installation request, the system obtains the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, the cold plate, the main robot, and the slave robot.

[0018] The first image information is preprocessed to generate the second image information;

[0019] Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot.

[0020] According to the first planned path, the main robot is controlled to perform the first cold plate installation task, and according to the second planned path, the slave robot is controlled to perform the second cold plate installation task.

[0021] During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot.

[0022] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the following steps of the server cold plate installation method:

[0023] In response to receiving a server cold plate installation request, the system obtains the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, the cold plate, the main robot, and the slave robot.

[0024] The first image information is preprocessed to generate the second image information;

[0025] Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot.

[0026] According to the first planned path, the main robot is controlled to perform the first cold plate installation task, and according to the second planned path, the slave robot is controlled to perform the second cold plate installation task.

[0027] During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot.

[0028] This application achieves efficient collaborative operation by using a master-slave robot to perform tasks such as grasping, transporting, positioning, and installing cold plates in parallel. Through functional decoupling and intelligent collaboration between the two robots, it overcomes the bottleneck of single-device operation, significantly improving installation efficiency while ensuring accuracy. By coordinating image information with the two robots, it ensures good contact between the cold plate and the server, improving heat dissipation. Through dynamic adjustment of parameters and task allocation strategies, it can adapt to the installation requirements of different models and specifications of servers and cold plates, improving applicability. Based on this, it can achieve efficient, accurate, and safe installation of server cold plates, thereby meeting the needs of the rapid development of data centers. Attached Figure Description

[0029] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1This is a schematic diagram of the overall structure of the server cold plate mounting system provided in the embodiments of this application;

[0031] Figure 2 This application provides a schematic diagram of the overall process of a server cold plate installation method according to an embodiment of the present application;

[0032] Figure 3 This application provides another overall flowchart illustrating a server cold plate installation method according to an embodiment of the present application;

[0033] Figure 4 This is a schematic diagram of the adaptive end effector structure of the main robot provided in the embodiments of this application;

[0034] Figure 5 This is a schematic diagram of the structure of an adaptive end effector for a robot provided in an embodiment of this application;

[0035] Figure 6 This is a schematic diagram illustrating the spacing between master and slave robots in collaborative operation, provided in an embodiment of this application.

[0036] Figure 7 This is a schematic diagram of master-slave robot collaborative operation provided in an embodiment of this application;

[0037] Figure 8 A schematic diagram of the collaborative installation of a cold plate by a master-slave robot provided in an embodiment of this application;

[0038] Figure 9 This is a diagram of the internal structure of an electronic device in one embodiment. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0040] It should be noted that, in the description of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. The terms "first," "second," etc., in this application are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0041] It should be noted that the terms "S1," "S2," etc., are used only for descriptive purposes and do not specifically refer to the order or sequence, nor are they intended to limit this application. They are merely for the convenience of describing the method of this application and should not be construed as indicating the sequential order of the steps. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0042] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] The server cold plate installation method provided in this application can be applied to, for example... Figure 1 The server cold plate installation system shown includes a master robot, a slave robot, a vision recognition module, adaptive end effectors for the master and slave robots, and a seventh-axis ground rail. A server is installed within the system to install liquid-cooled server cold plates. The master robot is the precision operating end, responsible for cold plate gripping, chip positioning, and pressure control. The slave robot is the auxiliary operating end, used for gripping cold plate connector fasteners, installing pipes, and positioning detection. The two robots achieve synchronized movements and real-time collision avoidance through a distributed control hub. Both the master and slave robots are multi-degree-of-freedom industrial robots. The master robot is equipped with an adaptive gripping end effector, and the slave robot is equipped with an adaptive gripping and positioning end effector. The end effector and the distributed control center are electrically connected to the master robot and the slave robot, respectively, for planning and coordinating the motion trajectory and action sequence of the two robots. The vision recognition module is electrically connected to the distributed control center for collecting information such as the position and attitude of the server, the cold plate and the robot. The devices electrically connected to the distributed control center also include force sensors, proximity sensors and emergency braking devices for safety monitoring and protection during the installation process, as well as positioning reference points set on the server and laser positioning instruments and vision systems installed on the robot for precise calibration of the cold plate installation position. The aforementioned adaptive gripping end effector has an adjustable gripper structure and pressure sensors.

[0044] like Figure 2 As shown, embodiments of this application provide a server cold plate installation method, which is applied to... Figure 1 Taking a server cold plate installation system as an example, this system includes at least a master robot and slave robots, and includes the following steps:

[0045] S1: In response to receiving a server cold plate installation request, obtain the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, cold plate, main robot, and slave robot.

[0046] It should be noted that the first image information can be obtained through a visual recognition module (such as a precision positioning camera).

[0047] S2: Preprocess the first image information to generate the second image information.

[0048] It should be noted that the preprocessing steps include grayscale processing and feature extraction processing. The second image information includes image feature information, which includes the server's installation location, the initial position and attitude of the cold plate, the initial position of the cold plate joint fastener, and the current positions of the master robot and the slave robot.

[0049] S3: Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot.

[0050] It should be noted that the first cold plate installation task includes grabbing and installing the cold plate, the second cold plate installation task includes grabbing and installing the cold plate joint fastener, the first planned path includes the cold plate grabbing and installation path, and the second planned path includes the cold plate joint fastener grabbing and installation path.

[0051] S4: According to the first planned path, control the main robot to perform the first cold plate installation task, and according to the second planned path, control the slave robot to perform the second cold plate installation task.

[0052] It should be noted that when the master and slave robots are performing installation tasks, collisions and damage to the cold plate hoses should be avoided.

[0053] S5: During the execution of the first cold plate installation task and / or the second cold plate installation task, adjust the first cold plate installation task and / or the second cold plate installation task according to the operating status parameters of the master robot and the slave robot.

[0054] It should be noted that the operating status parameters may include the safe distance between the master robot and the slave robot, as well as the installation force of the master and slave robots. The length of the cold plate hose also needs to be obtained. Based on this, the first cold plate installation task and / or the second cold plate installation task can be adjusted, such as adjusting the safe distance or adjusting the installation force.

[0055] In the above implementation, the tasks of grasping, transporting, positioning, and installing the cold plate are processed in parallel through the division of labor and cooperation between the master and slave robots, achieving efficient collaborative operation. By decoupling the functions of the two robots and intelligently coordinating them, the bottleneck of single-device operation is broken through, and the installation efficiency is greatly improved while ensuring accuracy. By coordinating image information with the two robots, good contact between the cold plate and the server can be ensured, improving the heat dissipation effect. Through dynamic adjustment of parameters and task allocation strategies, the installation requirements of different models and specifications of servers and cold plates can be adapted, improving applicability. Based on this, efficient, accurate, and safe installation of server cold plates can be achieved, thereby meeting the needs of the rapid development of data centers.

[0056] In some specific implementations, before obtaining the first image information corresponding to the server cold plate installation request, the method further includes:

[0057] Determine the server model and the cold plate model.

[0058] Specifically, the control system program is written to obtain data such as the current server model and cold plate from the MES (Manufacturing Execution System). The control system obtains data such as the server model and cold plate model through the corresponding API interface of the MES system using the appropriate programming language and communication protocol. By accessing http: / / mes_ip:port / api / cablelength?id=xxx using the GET method, where mes_ip is the IP address of the MES system, port is the port number, and id is the identifier of the cold plate, the information of the corresponding cold plate can be obtained.

[0059] In the above embodiments, by obtaining the server model and the cold plate model, parameters such as the cold plate installation location and size can be preliminarily determined, thereby improving the cold plate installation accuracy.

[0060] In some specific embodiments, preprocessing the first image information to generate the second image information includes:

[0061] The first image information is converted to grayscale. Grayscale conversion is a common method, and its specific processing procedure will not be described in detail here.

[0062] Based on the first image information after grayscale processing, image feature information is extracted to generate second image information. The image feature information includes the installation position of the server, the initial position and attitude of the cold plate, the initial position of the cold plate joint fastener, and the current position of the master robot and the slave robot.

[0063] In the aforementioned real-time method, by determining the relevant positions and specifications of the server, cold plate, cold plate connector fastener, master robot, and slave robot, the corresponding planning path can be subsequently determined for the installation of the cold plate and cold plate connector fastener.

[0064] In some specific implementations, determining the first planned path and the first cold plate installation task corresponding to the main robot based on the second image information includes:

[0065] In response to the fact that the main robot is the target of the installation task, the first cold plate installation task is determined to be grabbing the cold plate;

[0066] In response to the first cold plate installation task of grabbing the cold plate, the system obtains the server's installation position, the initial position and attitude of the cold plate, the initial position of the cold plate connector fastener, and the current position of the main robot.

[0067] Based on the server's installation location, the initial position and attitude of the cold plate, and the current position of the main robot, determine the first planned path for the main robot.

[0068] The position of the gripper can be determined based on the posture of the cold plate. Based on this position, the installation position of the server, the initial position of the cold plate, and the current position of the main robot, the optimal path for the main robot to run can be planned and determined. The optimal path must satisfy the requirement of the shortest running time or the shortest running path.

[0069] In some specific implementations, determining the second planned path and the second cold plate installation task corresponding to the robot based on the second image information includes:

[0070] In response to the fact that the execution target of the installation task is the robot, the second cold plate installation task is determined to be to grab the cold plate joint fastener;

[0071] In response to the second cold plate installation task, which involves grabbing the cold plate joint fastener, the system obtains the server's installation position, the initial position of the cold plate joint fastener, and the robot's current position.

[0072] Based on the server's installation location, the initial position of the cold plate joint fastener, and the robot's current position, determine the second planned path corresponding to the robot.

[0073] Specifically, based on the server's installation location, the initial position of the cold plate joint fastener, and the robot's current position, the optimal path for the robot's operation can be planned and determined. This optimal path must satisfy either the shortest running time or the shortest running path.

[0074] In the above implementation, based on the collected information and the preset task allocation strategy, the installation task is assigned to the master robot and the slave robot, and the corresponding motion path is given, so that the master and slave robots run according to the motion path, thereby improving the accuracy and efficiency of cold plate installation.

[0075] In some specific embodiments, the method further includes:

[0076] Determine the collaborative planning objective function corresponding to the first and second planning paths. The collaborative planning objective function includes:

[0077] ;

[0078] Where ω1, ω2, and ω3 represent weighting coefficients, v1 represents the robot's velocity vector to be optimized, v2 represents the robot's desired velocity vector, k represents obstacle markers, and r k Let r represent the radius of the k-th static obstacle. s p1 represents the robot's safe radius, and o represents the robot's current position coordinates. k Let I(·) represent the center coordinates of the k-th static obstacle, and VO represent the indicator function. s|m This represents the set of velocity obstacle cones generated by the master robot on the slave robot, and M represents the output value.

[0079] In response to the output value meeting the preset standard, the master robot is controlled to perform the first cold plate installation task according to the first planned path, and the slave robot is controlled to perform the second cold plate installation task according to the second planned path. The output value is used to characterize the overall cost, and the preset standard refers to the minimum overall cost.

[0080] In some specific implementations, the set of velocity obstacle cones generated by the master robot for the slave robot includes:

[0081] In response to the need for the slave robot to avoid the master robot, the set of velocity obstacle cones generated by the master robot on the slave robot is defined as follows:

[0082] ;

[0083] Where τ represents the prediction time window, p m The coordinates of the main robot's current position are represented by t, and time is represented by v. m The vector r represents the current velocity of the main robot. m This indicates the safe radius of the main robot.

[0084] In the above implementation, in the task of collaboratively installing server cold plates, the path planning of master and slave robots needs to be clearly divided and obstacle avoidance coordinated. The priority of master and slave robots can be managed through the above collaborative planning objective function, thereby ensuring installation efficiency while avoiding collisions.

[0085] In some specific embodiments, the method further includes:

[0086] Obtain multiple first planning paths and their corresponding second planning paths within a preset time period, and determine the time nodes of the first planning paths and their corresponding second planning paths. The preset time period can be set according to actual needs.

[0087] In response to the fact that the number of times a time node occurs within multiple preset time periods exceeds a first preset number threshold, the time node is marked. The first preset number threshold can be set according to actual needs.

[0088] Obtain the first planning path and its corresponding second planning path corresponding to multiple marked time nodes, and determine the number of repetitions of the first planning path and its corresponding second planning path;

[0089] In response to the repetition count exceeding the second preset threshold, a mapping relationship is generated and saved for the first planned path, its corresponding second planned path, and the time node. The second preset threshold can be set according to actual needs.

[0090] When the next time period arrives at the time node, the first planning path and its corresponding second planning path corresponding to the time node are extracted as the final planning path.

[0091] In the above implementation, by generating a mapping relationship, the corresponding planned path can be directly applied at the same time node within a time period without replanning, thereby improving the efficiency of cold plate installation.

[0092] In some specific embodiments, during the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot, including:

[0093] In response to the commencement of the first cold plate installation task and / or the second cold plate installation task, the operating status parameters of the master robot and the slave robot are determined, including the safe distance between the master robot and the slave robot, and the length of the cold plate hose;

[0094] In response to the safety distance being less than a first preset threshold and the flange center gap between the master robot and the slave robot being less than the length of the cold plate hose, the first cold plate installation task and / or the second cold plate installation task continue to be performed, wherein the first preset threshold can be set according to actual needs;

[0095] In response to the safety distance being greater than or equal to the first preset threshold, and / or, the flange center gap between the master robot and the slave robot being greater than or equal to the length of the cold plate hose, adjust the first cold plate installation task and / or the second cold plate installation task until the safety distance is less than the first preset threshold, and / or, the flange center gap between the master robot and the slave robot is less than the length of the cold plate hose.

[0096] In some specific embodiments, determining the safety distance between the master robot and the slave robot includes:

[0097] Based on the safety distance calculation function, determine the safety distance between the master robot and the slave robot. The safety distance calculation function includes:

[0098] Rsafe = Rdist - R1 - R2;

[0099] Where, Rsafe represents the safety distance between the master robot and the slave robot, Rdist represents the flange center gap between the master robot and the slave robot, R1 represents the distance from the flange center of the master robot to the outermost end of the gripper, and R2 represents the distance from the flange center of the slave robot to the outermost end of the gripper.

[0100] Specifically, as Figure 6 shown, judge the distance of the coordinated operation of the master and slave robots by obtaining the cold plate model and the length Lpipe of the cold plate hose. During the grasping process, calculate the safety distance Rsafe between the master and slave robots in real time. The safety distance is calculated as Rsafe = Rdist - R1 - R2, so that the robot keeps Rsafe greater than 10 mm (a reserved gap of 10 mm), and the coordinate distance Rdist between the master and slave robots is less than the length Lpipe of the hose, that is, Rdist < Lpipe. Therefore, 10 < Rsafe = Rdist - R1 - R2 < Lpipe - R1 - R2; during the coordinated grasping and handling process, the distance Rdist between the master and slave robots should be: R1 + R2 + 10 < Rdist < Lpipe.

[0101] In the above embodiments, during the cold plate installation process, by limiting the safety distance, the situation of robot collision and damage of the cold plate hose caused by pulling during the installation process is avoided, and the reliability of the cold plate installation is improved.

[0102] In some specific embodiments, during the execution of the first cold plate installation task and / or the second cold plate installation task, adjusting the first cold plate installation task and / or the second cold plate installation task according to the operating state parameters of the master robot and the slave robot includes:

[0103] In response to the start of the execution of the first cold plate installation task, determine the operating state parameters of the master robot. The operating state parameters include the cold plate installation force of the master robot;

[0104] In response to the cold plate installation force of the main robot being greater than or equal to the second preset threshold, the running speed of the main robot and the cold plate installation force are adjusted until the cold plate installation force is less than the second preset threshold.

[0105] In response to the main robot's cold plate installation force being less than the second preset threshold, the first cold plate installation task continues to be executed.

[0106] It should be noted that the second preset threshold can be set according to actual needs.

[0107] In some specific embodiments, the method further includes:

[0108] In response to the commencement of the second cold plate installation task, the operating status parameters of the main robot are determined, including the installation force of the cold plate joint fastener from the robot.

[0109] In response to the fact that the installation force of the cold plate joint fastener of the robot is greater than or equal to the third preset threshold, the running speed of the robot and the installation force of the cold plate joint fastener are adjusted until the installation force of the cold plate joint fastener is less than the third preset threshold. The third preset threshold can be set according to actual needs.

[0110] In response to the robot's cold plate joint fastener installation force being less than the third preset threshold, the second cold plate installation task continues.

[0111] Specifically, such as Figure 7 As shown, after the master and slave robots reach the position above the server, they accurately measure and locate the server mounting interface using the laser ranging component and vision system on the end effector, and transmit the data to the distributed control center. The distributed control center calculates the adjustment parameters of the cold plate based on the measurement data and controls the master and slave robots to adjust the position and posture of the cold plate, so that the cold plate is initially aligned with the server mounting interface. During the cold plate insertion process, the force sensors at the joints and end effectors of the master and slave robots monitor the magnitude of the insertion force in real time and feed the data back to the distributed control center. The distributed control center adjusts the robot's movement speed and force according to the preset insertion force threshold to ensure that the cold plate is installed smoothly and accurately. Through the closed-loop feedback of the force sensor and servo motor, the robot can adaptively adjust the force (force control accuracy ±1N) when installing the cold plate to avoid hard collisions. If the slot is slightly misaligned when installing the cold plate, the robot can automatically apply a lateral force Fcontact for fine adjustment. The lateral force is set to || Fcontact ||≤15N to avoid damage caused by excessive force or forced insertion.

[0112] Among them, such as Figure 8As shown, the main robot moves along the planned path to the cold plate gripping position. Its adaptive gripping end effector senses the size, shape, and weight of the cold plate through pressure sensors, automatically adjusting the gripping force and position of the jaws to complete the gripping of the cold plate. Then, the main robot transports the cold plate to the vicinity of the server installation area, awaiting the positioning preparation work completed by the secondary robot; among which, as... Figure 4 As shown, the main robot's adaptive end effector design consists of two sets of flexible grippers mounted on a miniature linear module. The gap between the two sets of flexible grippers can be adjusted via the linear module to accommodate different types of cold-rolled steel plates with varying spacing. The flexible grippers are composed of multiple flexible airbags arranged according to the cold-rolled steel plate layout, adapting to different plate sizes. Furthermore, the flexible grippers possess a certain degree of toughness, compensating for minor dimensional deviations during installation, further improving assembly success rate and reducing component damage. A force sensor is designed at the connection between the miniature linear module and the robot flange to detect minute force changes in real time throughout the operation. During cold-rolled steel plate installation, force feedback provides guidance to the robot's installation actions; for example... Figure 5 As shown, the robot's adaptive end effector design mainly consists of a miniature electromagnetic gripper, a cold plate joint fixing component, a distance sensor, a force sensor, and a vision system. When the robot grasps the cold plate joint, the miniature electromagnetic gripper generates magnetism to attract the joint to the fixing component. Considering the joint material, a vacuum suction cup is designed inside the joint fixing component, which can use negative pressure vacuum to adsorb the joint. During installation, the distance sensor can measure depth information in real time and provide Z-direction data guidance. During installation, the vision system takes pictures for positioning and provides accurate X / Y position information. A force sensor is designed at the robot flange to detect small force changes in real time throughout the operation. During the installation of the cold plate, force feedback can provide the robot with small-amplitude position compensation guidance, further improving the installation success rate.

[0113] In the above embodiments, by acquiring and adjusting the installation force during the installation of the cold plate, hard collisions can be avoided, thereby improving the success rate of cold plate installation.

[0114] In some specific embodiments, the method further includes:

[0115] In response to the completion of both the first and second cold plate installation tasks, the cold plate installation results are verified.

[0116] Upon successful verification, the cold plate installation process data and cold plate installation result data are synchronously saved to the database.

[0117] Specifically, once the cold plate is fully installed and fixed, a photo is taken to check whether it is installed in place. The photo results and installation force data are then uploaded to the MES system. The control system uses machine learning algorithms to analyze historical operating data and optimize control strategies, such as the robot trajectory during the assembly process of various cold plates, the safe distance for collaborative operations, the installation position and the magnitude of the installation force, and to predict potential failures in advance.

[0118] In the above embodiments, by verifying the installation results and continuously optimizing the installation process, the reliability of cold plate installation can be further improved.

[0119] The above-mentioned server cold plate installation method includes: in response to receiving a server cold plate installation request, acquiring first image information corresponding to the server cold plate installation request, the first image information including at least image information of the server, cold plate, main robot, and slave robot; preprocessing the first image information to generate second image information; determining, based on the second image information, a first planned path and a first cold plate installation task corresponding to the main robot, and a second planned path and a second cold plate installation task corresponding to the slave robot; controlling the main robot to execute the first cold plate installation task according to the first planned path, and controlling the slave robot to execute the second cold plate installation task according to the second planned path; during the execution of the first cold plate installation task and / or the second cold plate installation task, based on the main robot and the slave robot... The application adjusts the operating status parameters to control the installation tasks of the first and / or second cold plates. Through the collaborative work of two robots (master and slave), the tasks of grasping, transporting, positioning, and installing the cold plates are processed in parallel, achieving efficient collaborative operation. By decoupling the functions of the two robots and enabling intelligent collaboration, the bottleneck of single-device operation is overcome, significantly improving installation efficiency while ensuring accuracy. By coordinating image information with the two robots, good contact between the cold plate and the server can be ensured, improving heat dissipation. Dynamic adjustment of parameters and task allocation strategies can adapt to the installation requirements of different models and specifications of servers and cold plates, improving applicability. Based on this, efficient, accurate, and safe installation of server cold plates can be achieved, thereby meeting the needs of the rapidly developing data center.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method.

[0121] It should be understood that, although Figures 2-3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 2-3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0122] In one embodiment, an electronic device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the electronic device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a server cold-plate mounting method. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0123] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0124] Embodiments of this application provide an electronic device, including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the steps in the server cold plate mounting method embodiments, including:

[0125] S1: In response to receiving a server cold plate installation request, obtain the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, cold plate, main robot and slave robot.

[0126] S2: Preprocess the first image information to generate the second image information;

[0127] S3: Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot;

[0128] S4: According to the first planned path, control the main robot to perform the first cold plate installation task, and according to the second planned path, control the slave robot to perform the second cold plate installation task;

[0129] S5: During the execution of the first cold plate installation task and / or the second cold plate installation task, adjust the first cold plate installation task and / or the second cold plate installation task according to the operating status parameters of the master robot and the slave robot.

[0130] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in the embodiments of the server cold plate installation method at runtime, including:

[0131] S1: In response to receiving a server cold plate installation request, obtain the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, cold plate, main robot and slave robot.

[0132] S2: Preprocess the first image information to generate the second image information;

[0133] S3: Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot;

[0134] S4: According to the first planned path, control the main robot to perform the first cold plate installation task, and according to the second planned path, control the slave robot to perform the second cold plate installation task;

[0135] S5: During the execution of the first cold plate installation task and / or the second cold plate installation task, adjust the first cold plate installation task and / or the second cold plate installation task according to the operating status parameters of the master robot and the slave robot.

[0136] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0137] Embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in the server cold plate installation method embodiments, including:

[0138] S1: In response to receiving a server cold plate installation request, obtain the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, cold plate, main robot and slave robot.

[0139] S2: Preprocess the first image information to generate the second image information;

[0140] S3: Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot;

[0141] S4: According to the first planned path, control the main robot to perform the first cold plate installation task, and according to the second planned path, control the slave robot to perform the second cold plate installation task;

[0142] S5: During the execution of the first cold plate installation task and / or the second cold plate installation task, adjust the first cold plate installation task and / or the second cold plate installation task according to the operating status parameters of the master robot and the slave robot.

[0143] Embodiments of this application also provide another computer program product, including a non-volatile computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the steps in the embodiments of the server cold plate mounting method, including:

[0144] S1: In response to receiving a server cold plate installation request, obtain the first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, cold plate, main robot and slave robot.

[0145] S2: Preprocess the first image information to generate the second image information;

[0146] S3: Based on the second image information, determine the first planned path and the first cold plate installation task corresponding to the main robot, and the second planned path and the second cold plate installation task corresponding to the slave robot;

[0147] S4: According to the first planned path, control the main robot to perform the first cold plate installation task, and according to the second planned path, control the slave robot to perform the second cold plate installation task;

[0148] S5: During the execution of the first cold plate installation task and / or the second cold plate installation task, adjust the first cold plate installation task and / or the second cold plate installation task according to the operating status parameters of the master robot and the slave robot.

[0149] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software 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 beyond the scope of this application.

[0150] The foregoing has provided a detailed description of a server cold plate mounting method, apparatus, electronic device, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only intended to aid in understanding the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A method for installing a server cold plate, characterized in that, Applied to a server cold plate installation system, the server cold plate installation system including at least a master robot and a slave robot, the method includes: In response to receiving a server cold plate installation request, the system obtains first image information corresponding to the server cold plate installation request. The first image information includes at least image information of the server, the cold plate, the main robot, and the slave robot. The first image information is preprocessed to generate the second image information; Based on the second image information, determine the first planning path and the first cold plate installation task corresponding to the main robot, and the second planning path and the second cold plate installation task corresponding to the slave robot; According to the first planned path, the master robot is controlled to perform the first cold plate installation task, and according to the second planned path, the slave robot is controlled to perform the second cold plate installation task. During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot. The method further includes: Determine the collaborative planning objective function corresponding to the first planning path and the second planning path, wherein the collaborative planning objective function includes: ； Where ω1, ω2, and ω3 represent weighting coefficients, v1 represents the robot's velocity vector to be optimized, v2 represents the robot's desired velocity vector, k represents obstacle markers, and r k Let r represent the radius of the k-th static obstacle. s p1 represents the robot's safe radius, and o represents the robot's current position coordinates. k Let I(·) represent the center coordinates of the k-th static obstacle, and VO represent the indicator function. s|m This represents the set of velocity obstacle cones generated by the master robot on the slave robot, and M represents the output value; In response to the output value meeting the preset standard, the master robot is controlled to perform the first cold plate installation task according to the first planned path, and the slave robot is controlled to perform the second cold plate installation task according to the second planned path. The set of velocity obstacle cones generated by the master robot for the slave robot includes: In response to the slave robot needing to avoid the master robot, the set of velocity obstacle cones generated by the master robot on the slave robot is defined as follows: ； Where τ represents the prediction time window, p m The coordinates of the main robot's current position are represented by t, and time is represented by v. m The vector r represents the current velocity of the main robot. m This indicates the safe radius of the main robot.

2. The server cold plate installation method according to claim 1, characterized in that, Before obtaining the first image information corresponding to the server cold plate installation request, the method further includes: Determine the model of the server and the model of the cold plate.

3. The server cold plate installation method according to claim 1, characterized in that, Preprocessing the first image information to generate the second image information includes: The first image information is converted to grayscale. Based on the first image information after grayscale processing, image feature information is extracted to generate the second image information. The image feature information includes the installation position of the server, the initial position and attitude of the cold plate, the initial position of the cold plate joint fastener, and the current position of the main robot and the slave robot.

4. The server cold plate installation method according to claim 3, characterized in that, Based on the second image information, determining the first planned path and the first cold plate installation task corresponding to the main robot includes: In response to the fact that the main robot is the target of the installation task, the first cold plate installation task is determined to be grabbing the cold plate; In response to the first cold plate installation task being to grab the cold plate, the installation position of the server, the initial position and attitude of the cold plate, the initial position of the cold plate joint fastener, and the current position of the main robot are obtained. Based on the installation location of the server, the initial position and attitude of the cold plate, and the current position of the main robot, the first planned path corresponding to the main robot is determined.

5. The server cold plate installation method according to claim 3, characterized in that, Based on the second image information, determining the second planned path and the second cold plate installation task corresponding to the robot includes: In response to the fact that the execution target of the installation task is the robot, the second cold plate installation task is determined to be gripping the cold plate joint fastener; In response to the second cold plate installation task being to grab the cold plate joint fastener, the installation position of the server, the initial position of the cold plate joint fastener, and the current position of the robot are obtained; Based on the installation location of the server, the initial position of the cold plate joint fastener, and the current position of the slave robot, the second planned path corresponding to the slave robot is determined.

6. The server cold plate installation method according to claim 1, characterized in that, During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot, including: In response to the commencement of the first cold plate installation task and / or the second cold plate installation task, the operating status parameters of the master robot and the slave robot are determined, including the safe distance between the master robot and the slave robot, and the length of the cold plate hose; In response to the safety distance being less than a first preset threshold and the flange center gap between the master robot and the slave robot being less than the length of the cold plate hose, the first cold plate installation task and / or the second cold plate installation task continue to be executed. In response to the safety distance being greater than or equal to a first preset threshold, and / or the flange center gap between the master robot and the slave robot being greater than or equal to the length of the cold plate hose, the first cold plate installation task and / or the second cold plate installation task are adjusted until the safety distance is less than the first preset threshold, and / or the flange center gap between the master robot and the slave robot is less than the length of the cold plate hose.

7. The server cold plate installation method according to claim 6, characterized in that, Determining the safe distance between the master robot and the slave robot includes: The safe distance between the master robot and the slave robot is determined based on a safe distance calculation function, wherein the safe distance calculation function includes: Rsafe = Rdist - R1 - R2; Where Rsafe represents the safe distance between the master robot and the slave robot, Rdist represents the flange center clearance between the master robot and the slave robot, R1 represents the distance from the flange center of the master robot to the farthest end of the gripper, and R2 represents the distance from the flange center of the slave robot to the farthest end of the gripper.

8. The server cold plate installation method according to claim 1, characterized in that, During the execution of the first cold plate installation task and / or the second cold plate installation task, adjustments are made to the first cold plate installation task and / or the second cold plate installation task based on the operating status parameters of the master robot and the slave robot, including: In response to the commencement of the first cold plate installation task, the operating status parameters of the main robot are determined, including the cold plate installation force of the main robot. In response to the cold plate installation force of the main robot being greater than or equal to a second preset threshold, the running speed and cold plate installation force of the main robot are adjusted until the cold plate installation force is less than the second preset threshold. In response to the main robot's cold plate installation force being less than the second preset threshold, the first cold plate installation task continues to be executed.

9. The server cold plate installation method according to claim 8, characterized in that, The method further includes: In response to the commencement of the second cold plate installation task, the operating status parameters of the master robot are determined, including the installation force of the cold plate joint fastener of the slave robot; In response to the cold plate joint fastener installation force of the slave robot being greater than or equal to a third preset threshold, the running speed of the slave robot and the cold plate joint fastener installation force are adjusted until the cold plate joint fastener installation force is less than the third preset threshold. In response to the fact that the installation force of the cold plate joint fastener of the robot is less than the third preset threshold, the second cold plate installation task continues to be performed.

10. The server cold plate installation method according to claim 1, characterized in that, The method further includes: In response to the completion of both the first cold plate installation task and the second cold plate installation task, the cold plate installation result is verified. Upon successful verification, the cold plate installation process data and cold plate installation result data are synchronously saved to the database.

11. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the server cold plate mounting method as described in any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the server cold plate installation method as described in any one of claims 1 to 10.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the server cold plate installation method as described in any one of claims 1 to 10.

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