CN112512267A - Temperature monitoring method, system, equipment and storage medium based on mobile robot - Google Patents
Temperature monitoring method, system, equipment and storage medium based on mobile robotDownload PDFInfo
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20709—Modifications to facilitate cooling, ventilating, or heating for server racks or cabinets; for data centers, e.g. 19-inch computer racks
- H05K7/20836—Thermal management, e.g. server temperature control
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
- F24F11/32—Responding to malfunctions or emergencies
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/72—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure
- F24F11/74—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/88—Electrical aspects, e.g. circuits
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/10—Temperature
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
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Abstract
Description
Technical Field
The present invention relates to the field of computer application technologies, and in particular, to a temperature monitoring method, system, device, and storage medium based on a mobile robot.
Background
With the development of computer technology, more and more computers enter people's lives, and the demand on energy is greatly improved while the social productivity is greatly enhanced. In a data center room, as the business requirements are continuously expanded, the computing scale and the application of the data center room are increased, and the consumed energy and the generated heat are correspondingly increased. The temperature is the most direct factor reflecting the condition of the data center machine room, so that obtaining the temperature information inside the data center machine room becomes very important.
However, the current method for acquiring the fixed-point temperature value based on the temperature sensor at the fixed position inside the machine room can only provide limited discrete single-point temperature data, and cannot meet the requirement of visualization. In order to realize visualization of temperature information in a data center machine room, discrete data needs to be interpolated. At present, according to an acquisition method for the temperature condition in a data center machine room, one method is to simply calculate the average value of a plurality of adjacent temperatures as interpolation temperature, and the other method is to calculate interpolation through a complex algorithm, wherein the former method is simple and cannot truly describe the condition of the data center machine room, the latter method has high requirements on hardware such as sensors in the data center machine room, and the temperature data acquisition and calculation consumes a long time, so that the timely and effective visualization of temperature information cannot be realized, and further the operating environment of machine room equipment cannot be guaranteed.
Disclosure of Invention
In order to solve the problems or some problems in the prior art, embodiments of the present invention provide a temperature monitoring method, system, device, and storage medium based on a mobile robot, where a temperature sensor provided on the mobile robot collects temperatures in an acquisition space according to a set sampling interval, and generates a single-point three-dimensional map with temperature values based on the temperature values and corresponding position information thereof, so as to obtain temperatures in the acquisition space as needed and provide a basis for obtaining more accurate and effective temperature visualization information.
According to a first aspect of the present invention, an embodiment of the present invention provides a temperature monitoring method based on a mobile robot, on which a plurality of temperature sensors are arranged along a height direction of the mobile robot, the method including: constructing a three-dimensional map of the acquisition space according to the size proportion of the acquisition space; enabling the mobile robot to advance in the collection space and carry out temperature collection on a collection target in the collection space through a plurality of temperature sensors according to a preset sampling interval to obtain a plurality of temperature values and position information of the measured temperature values; and filling the temperature value and the corresponding position information into the three-dimensional graph to generate a single-point three-dimensional graph with the temperature value.
According to the embodiment of the invention, the temperature sensor arranged on the mobile robot is used for acquiring the temperature according to the set sampling interval, and the acquired temperature value and the corresponding position information are filled into the three-dimensional graph of the acquisition space to generate the single-point three-dimensional graph with the temperature value, so that the temperature in the acquisition space can be acquired according to the temperature acquisition requirement, and a basis is provided for acquiring more accurate and effective temperature visualization information.
In some embodiments of the invention, the temperature monitoring method further comprises: obtaining an interpolation model based on the temperature value and the corresponding position information; and inputting the position information of the interpolation point in the acquisition space into the interpolation model to obtain the temperature value of the interpolation point, and forming continuous visual temperature data.
According to the embodiment of the invention, the interpolation model is calculated based on the acquired temperature values and the corresponding position information, and then the temperature values at the interpolation points are obtained according to the interpolation model, so that the temperature values at the required positions can be obtained, and continuous visual temperature data can be formed in time.
In some embodiments of the invention, the temperature monitoring method further comprises: and adjusting the temperature and the air supply quantity of the precision air conditioner according to the continuous visual temperature data.
According to the embodiment of the invention, the temperature and the air supply quantity of the precision air conditioner are adjusted according to the continuous visual temperature data, so that a basis is provided for energy conservation of the collection space, and the operation environment of equipment in the collection space is ensured.
According to a second aspect of the present invention, an embodiment of the present invention provides a mobile robot-based temperature monitoring system on which a plurality of temperature sensors are provided in a height direction thereof, the system including: the three-dimensional map building module is used for building a three-dimensional map of the acquisition space according to the size proportion of the acquisition space; the temperature acquisition module is used for enabling the mobile robot to advance in the acquisition space and acquiring the temperature of an acquisition target in the acquisition space through a plurality of temperature sensors according to a preset sampling interval to obtain a plurality of temperature values and position information of the measured temperature values; and the single-point three-dimensional graph generating module is used for filling the temperature value and the corresponding position information into the three-dimensional graph to generate a single-point three-dimensional graph with the temperature value.
According to the embodiment of the invention, the temperature sensor arranged on the mobile robot is used for acquiring the temperature according to the set sampling interval, and the acquired temperature value and the corresponding position information are filled into the three-dimensional graph of the acquisition space to generate the single-point three-dimensional graph with the temperature value, so that the temperature in the acquisition space can be acquired according to the temperature acquisition requirement, and a basis is provided for acquiring more accurate and effective temperature visualization information.
In some embodiments of the invention, the temperature monitoring system further comprises a temperature visualization module for performing the following operations: obtaining an interpolation model based on the temperature value and the corresponding position information; and inputting the position information of the interpolation point in the acquisition space into the interpolation model to obtain the temperature value of the interpolation point, and forming continuous visual temperature data.
According to the embodiment of the invention, the interpolation model is calculated based on the acquired temperature values and the corresponding position information, and then the temperature values at the interpolation points are obtained according to the interpolation model, so that the temperature values at the required positions can be obtained, and continuous visual temperature data can be formed in time.
In some embodiments of the invention, the temperature monitoring system further comprises: and the control module is used for adjusting the temperature and the air supply quantity of the precision air conditioner according to the visual temperature data in the continuous temperature visualization module.
According to the embodiment of the invention, the temperature and the air supply quantity of the precision air conditioner are adjusted according to the continuous visual temperature data, so that a basis is provided for energy conservation of the collection space, and the operation environment of equipment in the collection space is ensured.
According to a third aspect of the present invention, an embodiment of the present invention provides a computer storage medium having computer-readable instructions stored thereon, which, when executed by a processor, cause a computer to perform the following operations: the operation includes the steps included in the temperature monitoring method according to any one of the above embodiments.
According to a fourth aspect of the present invention, the present invention provides a computer device comprising a memory and a processor, wherein the memory is used for storing one or more computer instructions, and the one or more computer instructions, when executed by the processor, can implement the temperature monitoring method according to any one of the above embodiments.
As can be seen from the above, according to the temperature monitoring method, system, storage medium and device based on the mobile robot provided by the embodiments of the present invention, the temperature sensor provided on the mobile robot collects the temperature in the collection space according to the set sampling interval, and fills the collected temperature value and the corresponding position information into the three-dimensional map of the collection space to generate the single-point three-dimensional map with the temperature value, so as to obtain the temperature in the collection space according to the temperature collection requirement, provide a basis for obtaining more accurate and effective temperature visualization information, and further provide a guarantee for the operation environment of the device in the collection space.
Drawings
FIG. 1 is a schematic flow diagram of a method for mobile robot-based temperature monitoring according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a rack distribution within a data center room;
fig. 3 is an architecture diagram of a mobile robot-based temperature monitoring system according to an embodiment of the present invention.
Detailed Description
Various aspects of the invention are described in detail below with reference to the figures and the detailed description. Well-known modules, units and their interconnections, links, communications or operations with each other are not shown or described in detail. Furthermore, the described features, architectures, or functions can be combined in any manner in one or more implementations. It will be understood by those skilled in the art that the various embodiments described below are illustrative only and are not intended to limit the scope of the present invention. It will also be readily understood that the modules or units or processes of the embodiments described herein and illustrated in the figures can be combined and designed in a wide variety of different configurations.
The terms used herein are briefly described below.
Interpolation: the important method of discrete function approximation utilizes interpolation to estimate the approximate value of the function at other points through the value conditions of the function at a limited number of points.
Fig. 1 is a flowchart illustrating a temperature monitoring method based on a mobile robot according to an embodiment of the present invention. Wherein, a plurality of temperature sensors are arranged on the mobile robot along the height direction of the mobile robot.
As shown in fig. 1, in one embodiment of the present invention, the method may include: step S11, step S12, and step S13, which will be described in detail below.
In step S11, a three-dimensional map of the acquisition space is constructed according to the size scale of the acquisition space. In an alternative embodiment, the collection space may be a data center room. Alternatively, the collection space may be any space requiring temperature collection.
In step S12, the mobile robot is made to travel in the collection space and perform temperature collection on the collection target in the collection space through a plurality of temperature sensors according to a preset sampling interval, so as to obtain a plurality of temperature values and position information of the measured temperature values.
In an alternative embodiment, 6 temperature sensors are arranged on the mobile robot along the height direction of the mobile robot, and the distance between every two sensors is 30 cm. Optionally, the number, the distance and the positions of the temperature sensors arranged on the mobile robot can be set according to the temperature acquisition environment and the requirement. And the mobile robot is also provided with a movable arm, the movable arm is provided with a temperature probe, and the temperature probes can acquire temperature values at other positions in the acquisition space and position information for measuring the temperature values.
In another alternative embodiment, the collection targets in the collection space may be individual cabinets in a data center room. Wherein, the cabinets in the data center room are arranged according to the distribution mode of fig. 2. Specifically, the front door of the adjacent cabinet is opposite to the front door, the rear door is opposite to the rear door, the front door is used for heat dissipation to form a heat channel, the rear door is provided with a machine room air conditioner, and the air conditioner outputs cold air to enable the rear door and the rear door to form a cold channel relatively. Thereby, the mobile robot can travel in the cold aisle and the hot aisle areas.
In other alternative embodiments, the predetermined sampling interval is set according to a desired sampling density within the sampling space.
Optionally, a temperature sensor may be further disposed at a fixed position of the acquisition target to obtain a temperature value at the fixed position within the three-dimensional map of the acquisition space.
In step S13, the temperature value and the corresponding position information are filled in the three-dimensional map, and a single-point three-dimensional map having the temperature value is generated.
By adopting the method provided by the embodiment of the invention, the temperature of the acquisition target in the sampling space is acquired according to the set sampling interval through the temperature sensor arranged on the mobile robot, and the acquired temperature value and the corresponding position information are filled in the three-dimensional graph of the acquisition space to generate the single-point three-dimensional graph with the temperature value, so that the temperature in the acquisition space can be acquired according to the temperature acquisition requirement, and a basis is provided for acquiring more accurate and effective temperature visualization information.
In an optional implementation manner, an interpolation model is obtained based on the collected temperature values and the corresponding position information thereof; and inputting the position information of the interpolation point in the acquisition space into the interpolation model to obtain the temperature value of the interpolation point, and forming continuous visual temperature data.
The present invention provides an example of a computational interpolation model to obtain continuous visual temperature data according to the above alternative embodiment:
first, the distance between the two interpolation points p (x, y, z) and the temperature value collection point pi (xi, yi, zi) is calculated:
second, the distance r is converted into a high-dimensional spatial non-linear function φ using a Gaussian model:
then, an expression of an interpolation model f (x, y, z) at an interpolation point p (x, y, z) is obtained:
wherein λ isiIs the weight of the contribution of points in the input data set that are close to the centre point to the mapping function. c. C1,c2,c3,c4Is the position coefficient.
The vector form of the expression of the interpolation model f (x, y, z) at the interpolation point p (x, y, z) is:
again, the loss function is calculated according to the least squares method:
wherein d isiIs the actual true value, fiIs a predicted value and θ is a loss function.
Finally, obtaining lambda according to the stepsi，c1，c2，c3，c4And the temperature value acquired by the mobile robot and the corresponding position information are substituted into the calculation formula to obtain an interpolation model f. Thus, the position information of the interpolation point can be input into the interpolation model f, the temperature value at each interpolation point can be obtained, and the discrete temperature information can be converted into continuous visual temperature information.
Optionally, in the example of calculating the interpolation model, after the mobile robot has patrolled one channel and obtained the required temperature value, the interpolation model may be calculated according to the obtained temperature value and the corresponding position information, so that when the mobile robot enters the next channel, the temperature cloud map of the previous patrolled channel may be generated, and the high-timeliness temperature cloud map may be obtained. In addition, the interpolation model can also be calculated according to all temperature values and corresponding position information after all channels are inspected.
In another alternative embodiment, after continuous visual temperature data is acquired, the temperature and the air supply quantity of the precision air conditioner are adjusted according to the continuous visual temperature data.
Through continuous visual temperature data, can accurately obtain the region that the temperature is too high and the temperature is lower, alright in order to adjust the temperature and the air output of precision air conditioner (computer lab air conditioner), provide preliminary energy-conserving scheme to the operational environment of the computer lab equipment in the guarantee collection space.
Fig. 3 is an architecture diagram of a mobile robot-based temperature monitoring system according to an embodiment of the present invention. Wherein, a plurality of temperature sensors are arranged on the mobile robot along the height direction of the mobile robot.
As shown in fig. 3, the temperature monitoring system includes:
a three-dimensionalmap construction module 310, configured to construct a three-dimensional map of an acquisition space according to a size ratio of the acquisition space. In an alternative embodiment, the collection space may be a data center room. Alternatively, the collection space may be any space requiring temperature collection.
And thetemperature acquisition module 320 is used for enabling the mobile robot to advance in the acquisition space and acquiring the temperature of the acquisition target in the acquisition space through a plurality of temperature sensors according to a preset sampling interval to obtain a plurality of temperature values and position information for measuring the temperature values. Wherein, a plurality of temperature sensors are arranged on the mobile robot along the height direction of the mobile robot.
The single-point three-dimensionalmap generating module 330 is configured to fill the temperature value and the position information corresponding to the temperature value into the three-dimensional map to generate a single-point three-dimensional map with a temperature value.
Atemperature visualization module 340 for performing the following operations: obtaining an interpolation model based on the temperature value and the corresponding position information; and inputting the position information of the interpolation point in the acquisition space into the interpolation model to obtain the temperature value of the interpolation point, and forming continuous visual temperature data.
And thecontrol module 350 is used for adjusting the temperature and the air supply quantity of the precision air conditioner according to the visual temperature data in the continuous temperature visualization module.
By adopting the temperature monitoring system provided by the embodiment of the invention, the temperature is acquired according to the set sampling interval by the temperature sensor arranged on the mobile robot, the single-point three-dimensional graph with the temperature value is generated according to the acquired temperature value and the corresponding position information, and the temperature in the acquisition space can be acquired according to the temperature acquisition requirement. And an interpolation model is calculated based on the acquired temperature values and the corresponding position information thereof, the temperature values at the interpolation points are acquired according to the interpolation model, the temperature values at the required positions can be acquired to form continuous visual temperature data, the temperature and the air supply quantity of the precise air conditioner are adjusted according to the continuous visual temperature data, a basis is provided for energy conservation of the acquisition space, and the operation environment of equipment in the acquisition space is ensured.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention can be implemented by combining software and a hardware platform. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments.
Correspondingly, the embodiment of the invention also provides a computer readable storage medium, on which computer readable instructions or a program are stored, and when the computer readable instructions or the program are executed by a processor, the computer is enabled to execute the following operations: the operation includes the steps included in the temperature monitoring method according to any of the above embodiments, and details are not repeated here. Wherein the storage medium may include: such as optical disks, hard disks, floppy disks, flash memory, magnetic tape, etc.
In addition, the embodiment of the present invention also provides a computer device including a memory and a processor, where the memory is used for storing one or more computer instructions or programs, and when the one or more computer instructions or programs are executed by the processor, the temperature monitoring method according to any one of the above embodiments can be implemented. The computer device may be, for example, a server, a desktop computer, a notebook computer, or the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (8)
1. A temperature monitoring method based on a mobile robot is characterized in that a plurality of temperature sensors are arranged on the mobile robot along the height direction of the mobile robot;
the temperature monitoring method comprises the following steps:
constructing a three-dimensional map of the acquisition space according to the size proportion of the acquisition space;
enabling the mobile robot to advance in the collection space and carry out temperature collection on a collection target in the collection space through a plurality of temperature sensors according to a preset sampling interval to obtain a plurality of temperature values and position information of the measured temperature values;
and filling the temperature value and the corresponding position information into the three-dimensional graph to generate a single-point three-dimensional graph with the temperature value.
2. The temperature monitoring method of claim 1, further comprising:
obtaining an interpolation model based on the temperature value and the corresponding position information;
and inputting the position information of the interpolation point in the acquisition space into the interpolation model to obtain the temperature value of the interpolation point, and forming continuous visual temperature data.
3. The temperature monitoring method of claim 2, further comprising: and adjusting the temperature and the air supply quantity of the precision air conditioner according to the continuous visual temperature data.
4. A temperature monitoring system based on a mobile robot is characterized in that a plurality of temperature sensors are arranged on the mobile robot along the height direction of the mobile robot;
wherein, the temperature monitoring system includes:
the three-dimensional map building module is used for building a three-dimensional map of the acquisition space according to the size proportion of the acquisition space;
the temperature acquisition module is used for enabling the mobile robot to advance in the acquisition space and acquiring the temperature of an acquisition target in the acquisition space through a plurality of temperature sensors according to a preset sampling interval to obtain a plurality of temperature values and position information of the measured temperature values;
and the single-point three-dimensional graph generating module is used for filling the temperature value and the corresponding position information into the three-dimensional graph to generate a single-point three-dimensional graph with the temperature value.
5. The temperature monitoring system of claim 4, further comprising a temperature visualization module to perform the following operations:
obtaining an interpolation model based on the temperature value and the corresponding position information;
and inputting the position information of the interpolation point in the acquisition space into the interpolation model to obtain the temperature value of the interpolation point, and forming continuous visual temperature data.
6. The temperature monitoring system of claim 5, further comprising:
and the control module is used for adjusting the temperature and the air supply quantity of the precision air conditioner according to the visual temperature data in the continuous temperature visualization module.
7. A computer storage medium storing computer software instructions for execution by a processor to perform a method of temperature monitoring as claimed in any one of claims 1 to 3.
8. A computer device comprising a memory and a processor;
wherein the memory is configured to store one or more computer instructions that are executed by the processor to implement the temperature monitoring method of any of claims 1-3.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112862222A (en)* | 2021-03-26 | 2021-05-28 | 中国建设银行股份有限公司 | Air conditioner return air temperature prediction method, abnormality monitoring method and related device |
| CN113984245A (en)* | 2021-10-26 | 2022-01-28 | 湖南大学 | Method and system for detecting temperature and reconstructing temperature field of data center machine room |
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