TWI862729B - Vehicle and robotic system for liquid immersion cooling platform - Google Patents

Abstract

An autonomous vehicle is disclosed which can map a facility and navigate its way to a particular liquid cooling system. The vehicle can be in communication with a central server, which can control the vehicle. The vehicle can align itself against the liquid cooling system and receive a computing device on a platform of the vehicle. The platform can be lowered and secured in an enclosure of the vehicle. Then, the vehicle can transport the computing device to a storage facility.

Description

Carrier and robotic systems for liquid immersion cooling platforms

This application claims priority to U.S. Provisional Application No. 62/933,803 filed on November 11, 2019, which is incorporated herein by reference.

The present invention relates to a robotic system for liquid immersion cooling computing systems (i.e., liquid immersion cooling computing systems utilizing pressure and/or vapor management).

Two-phase liquid immersion cooling systems and processes are described, for example, in WO2020/102090, filed on November 11, 2019, which is incorporated herein by reference. In these systems and processes, heat generating computer components cause a dielectric fluid (in its liquid phase) to evaporate. The dielectric vapor is then condensed back to the liquid phase and used to cool the computer components. These systems are complex and must be designed to be efficient and effective to fully protect the expensive computing components from damage due to transportation or from the effects of the cooling system. Therefore, what is needed is a robotic system that can automatically receive a computing device from a liquid cooling system and safely transport the computing device to a storage facility. Additionally, what is needed is a robotic system that can automatically retrieve a computing device from a storage location and safely transport the computing device to a liquid cooling system.

Advantageously, the present invention meets the aforementioned needs and more. In detail, an autonomous vehicle is disclosed that can map a facility and navigate it to a specific liquid cooling system. The vehicle can communicate with a central server that can control the vehicle. The vehicle can align itself with the liquid cooling system and receive a computing device on a platform of the vehicle. The platform can be lowered and secured within a housing of the vehicle. The vehicle can then transport the computing device to a storage facility.

This disclosure is provided to introduce in a simplified form a selection of concepts that are further described below in the implementation method. This disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

Additional features and advantages will be described in the following description, and in part will become apparent from the description, or may be learned by practice of the teachings herein. Features and advantages of the present invention may be realized and obtained by the devices and combinations specifically indicated in the appended claims. Features of the present invention will become more fully apparent from the following description and the appended claims, or may be learned by practice of the present invention as described below.

100,200: Vehicles

110: Shell

111: Wheel

112: Camera

120: Platform

230: Shell

340: Door

400:Container

500: Liquid phase

600:Computer components

In order to describe the manner in which the above and other advantages and features can be obtained, a more particular description of the subject matter briefly described above will be presented with reference to the specific embodiments illustrated in the accompanying drawings. With the understanding that these drawings depict only typical embodiments and are therefore not to be considered limited in scope, the embodiments will be further specifically and in detail described and explained through the use of the accompanying drawings, in which: FIG1 shows a carrier according to an example embodiment.

FIG. 2 shows a carrier having a housing according to an example embodiment.

FIG. 3 shows a carrier with a closed door according to an example embodiment, and FIG. 4 shows a carrier including a box.

Exemplary embodiments of the present invention will now be described in order to illustrate various features of the present invention. The embodiments described herein are not intended to be limiting with respect to the scope of the present invention, but rather are intended to provide examples of the components, uses, and operations of the present invention.

Exemplary Embodiments of External Robotic Systems

In one example embodiment, an immersion cooling system or container may include a tank, a computing device, an internal robot, an absorption unit, and a management system. The tank may be a pressure controlled tank maintained at (or within a range of) atmospheric pressure. The tank may include a bath area and a storage tank area, and the computing device may be immersed in a dielectric fluid in the bath area of the tank. The computing device may be connected to a network and perform various processing tasks while immersed in the dielectric fluid. The tank may include a cover for accessing the bath area, the computing device, and the storage tank area. The box may be fluidly coupled to the absorption unit, and a plurality of valves may selectively connect or disconnect the box to the absorption unit so that dielectric vapor may be transferred to the absorption unit, or vice versa. The internal robot may be an overhead crane robot that may lift the computing device from the box of the container when the lid of the box is open. The overhead crane robot may include a series of linear actuators. For example, the robot may include a unified actuator for moving in each of a plurality of directions (e.g., horizontal and vertical).

In one example embodiment, the immersion cooling system may interact with an external robot. The external robot may be an autonomous vehicle (or vehicles) that may communicate with the management system (or another system that communicates with one or more vehicles). The immersion cooling system may communicate with the vehicle directly (e.g., the management system may communicate with a control system of the vehicle), or communicate with the vehicle via a central server. In one example, the immersion cooling system may interact with the vehicle by removing a computing device from the box and placing the computing device on the vehicle. The immersion cooling system may also interact with the vehicle by removing a computing device from the vehicle and placing the computing device in the box or in a storage location such as a storage bin. For example, the overhead crane robot can move between a home position, a bin position, a support position, and a carrier position. Upon receiving a communication that the carrier is at the carrier position, the management system can direct the robot to lift a computing device from, for example, the support or the bin and move the computing device to the carrier position to place the computing device on the carrier.

In one example embodiment, the overhead crane robot may receive instructions from the management system to remove or reposition various components of the container (e.g., computing devices, filters, etc.). For example, the overhead crane robot may receive an instruction to remove a computing device and place it on the carrier so that the computing device can be transported to a storage location or a repair area. As another example, the overhead crane robot may receive an instruction to remove a computing device from the carrier and place the computing device in a rack. In one example, the instruction is initiated by the management system. For example, the management system makes a determination that a computing device needs to be replaced. The management system may call the carrier to approach the container. Upon reaching the container, the management system may instruct the overhead crane robot to remove a computing device and place it on the vehicle. In one example, a central server may direct a communication between the management system and the vehicle.

In one example embodiment, the vehicle may be a robotic platform capable of autonomous, condition-based or user-directed actions. In one example, the vehicle may be designed to facilitate and support the operation of autonomous data centers and distributed computing environments. In one example, the vehicle may include a housing for a motor, a control system, a safety device, a battery, a data and/or power interface, a transceiver, and other components. The housing may be mechanically coupled to one or more wheels that can be driven by the motor. In one example, the control system may direct the motor to drive the vehicle in a predetermined direction or path. In one example, the control system may determine the direction of movement of the vehicle. In one example, the control system can communicate with a central server, the management system, and/or another system that can direct the vehicle to perform a specific task, such as placing a computing device at a specified container or picking up a computing device at the specified container. The communication can occur via the transceiver.

In one example, the safety device may be a sensor or a camera. The safety device may determine if there are any obstacles in the path of the vehicle or collect other types of data, such as temperature, humidity, etc. If an obstacle is detected, the control system may stop the vehicle or change its path, for example, to avoid the obstacle. In one example, the control system may include an object recognition module. The object recognition module may determine various objects around the vehicle and change the path of the vehicle based on the detected objects. In an example embodiment, the object recognition module may detect an object that the vehicle needs to approach, and based on the detection, the control system may guide the vehicle towards the object, for example, vehicle number 5. In an example embodiment, based on data received from a safety device, such as image data, the control system may generate a map of the location and assign various devices (e.g., containers) to locations on the map. The assignments may be based on the vehicle's previous missions and visits to different locations in the facility. The control system may use the map to guide the vehicle to a desired location (using the map). In an example embodiment, the control system may share data with a management system or a central server. The shared data may be used by the container to optimize its operation, for example, temperature and humidity data may be used by the container's absorption unit, or the data may optimize the container's startup and/or shutdown operations.

In one example, the vehicle may include various sensors, such as cameras, temperature sensors, humidity sensors, smoke detectors, oxygen detectors, and refrigerant leak detectors (e.g., detecting leaks of dielectric fluids or vapors). In this example, the vehicle may include one or more operating modes. For example, the vehicle may include a cruise operating mode. In this operating mode, the vehicle may navigate to various locations within a facility to collect and monitor data received from these sensors. In another example, the vehicle may continuously collect and monitor data received from these sensors. The vehicle may relay the data to a management system or central server for further analysis. This data provides facility operators with real-time location-specific data that is continually updated as the vehicle performs its functions and cruises.

In one example embodiment, the vehicle may receive power and data via the interface. For example, the vehicle may be assigned a dedicated location for receiving power for charging its battery. Once the control system determines that the battery charge has fallen below a threshold amount, the control system may direct the vehicle to the dedicated location for charging the battery. In one example, the control system may include a predictive model for determining an optimal time for charging the battery. For example, based on the vehicle's past charge state and the mission assigned to the vehicle and the distance traveled by the vehicle, the predictive model may determine how quickly the vehicle will deplete the battery and determine an optimal time for charging the battery.

In one example embodiment, the vehicle may include a location detection system. The location detection system may assist the vehicle in navigating it to a desired location. For example, the control system may determine the location of the vehicle based on GPS signals. As another example, the control system may determine the location of the vehicle based on the relative position of the vehicle compared to the location of one or more wireless access points (i.e., the localization of the vehicle relative to the access points). Using the location (and possibly a map), the control system may guide the vehicle to a desired location. RSSI, fingerprint analysis, angle of arrival ("AoA"), and time of flight ("ToF") are four exemplary techniques that may assist in this determination. In such embodiments, the vehicle may connect to one or more wireless access points at a location and perform any of the specified localization techniques to determine the relative location of the vehicle.

In the RSSI technique, the strength of the received signal is measured from several different access points. A propagation model is then used to determine the distance between the vehicle and each access point. Next, the estimated vehicle position relative to a known location of the access point can be calculated using triangulation techniques. The fingerprint analysis technique consists of two steps. In the first step, Wi-Fi signals are collected from access points at various locations in a building and sampled to create a location fingerprint. In the second step, which is the online positioning step, fingerprint information is collected around the location to localize and compare with the sampled location fingerprint. In the AoA technique, multiple antennas are used to estimate the angle of arrival of multipath signals received at the antenna array in the access point. The position of the vehicle is then calculated using triangulation techniques. In ToF techniques, the travel time of a signal to the vehicle and the return time from the vehicle are measured. Using these measurements, the distance between the vehicle and the access point is determined, and therefore, the estimated position of the vehicle relative to the access point can be calculated using triangulation techniques.

In one example, a vehicle may use laser-based mapping technology to create a map and navigate to locations via the map. The map may identify the locations of certain objects and/or facilities, such as charging centers, computing device storage bins, and containers with which the vehicle will interact. Once the map is drawn, the vehicle may be guided to autonomously move to each of these locations, charge its battery, retrieve and store computing devices, and perform other functions. In one example, one or more facility maps may be stored within the vehicle. This may allow the vehicle to be used at multiple locations without having to learn and/or relearn the layout of each location.

In one example embodiment, the vehicle may include a platform. The platform may be movable, for example, the platform may be movable vertically and/or horizontally relative to the housing. Vertical and/or horizontal movement of the platform may facilitate placement of computing devices on the platform. Such computing devices may be received from a storage unit or an overhead crane robot. For example, by moving the platform up and down, the vehicle may adjust its height so that a computing device may be placed on the platform from a storage bin or an overhead crane robot. In one example embodiment, the platform may be rotated horizontally or even tilted to facilitate placement of a computing device on the platform or to facilitate placement of a computing device on a cart attached to the computing device.

In one example, the vehicle may include a robotic arm (e.g., a gripper arm) that can receive a computing device and/or place the computing device on the platform. The robotic arm may have various degrees of freedom. The robotic arm may also interact with an overhead crane robot and/or a storage unit. In one example, the robotic arm may protrude beyond the end of the platform to allow for the retrieval and placement of a computing device in a storage unit. In one example, the control system may command the robotic arm to move and/or receive the computing device. In one example, the control system and management system may align the vehicle and container so that the overhead crane robot at the vehicle location is aligned with the robotic arm. In this example, the container and vehicle may communicate, and various sensors may be used to minimize any misalignment. For example, if the distance between a predetermined point on the vehicle and a predetermined point on the container is within a predetermined threshold, the vehicle and the container can be aligned.

In one example, the control system and management system can communicate information so that the vehicle can position itself near a storage bin of the container. The vehicle can also align the height and position of the platform so that the platform can receive a computing device from the storage bin. In one example, the container can change the position of the storage bin and open the door of the bin so that the bin can place the computing device on the platform of the vehicle. For example, the management system can guide the storage bin to move (e.g., lower or higher) and/or rotate so that it is close to the vehicle (and/or robot arm) and, therefore, ensure smooth placement of a computing device from the storage bin on the platform of the vehicle.

In one example, a vehicle may include a housing with a door. In this example, the door may be opened and/or closed, for example, using an actuator. Once the door is open, the platform may be moved out of the housing. Once the platform is moved into the housing, the door may also be closed. In one example, the door may be opened and the platform may be raised, out of the housing. The vehicle may receive a computing device (directly or via a robotic arm). The computing device may be placed on the platform. Once the computing device is placed on the platform, the platform may be lowered and the door may be closed. Once the door is closed, the computing device may be secured within the housing to prevent unauthorized access and environmental factors. In one example, a vehicle may include one or more sensors that may detect when a computing device is placed on the platform. Once the vehicle detects the placement of a computing device on the platform, the vehicle can lower the platform and close the door (e.g., if the vehicle is not expecting to receive any other computing devices). Similarly, once the sensor detects a computing device being lifted from the platform, the vehicle can lower the platform and close the door (e.g., if no other computing devices are expected to be lifted).

In one example embodiment, a facility may include multiple vehicles and one or more containers. Each vehicle may include a control system, and each container may include a management system. The vehicles and containers may communicate with a central server (and/or one or more management systems) for managing the vehicles and tasks. The central server may monitor each vehicle and manage its operation. For example, the central server assigns tasks to each vehicle based on a determination that the assigned vehicle is the most appropriate vehicle for performing the task. In one example, the task may be, for example, picking up a computing device from a storage location and delivering the computing device to a container; picking up a computing device from a container and delivering the computing device to a storage location; conducting a tour; providing data from a specified location of the facility, etc. In one example, the central server may assign tasks to vehicles based on the proximity of each vehicle to the container, the number of tasks performed by the vehicle, the number of tasks pending for the vehicle, the charge state of the vehicle's battery, the number of other vehicles without any upcoming tasks, the average number of tasks assigned to other vehicles, etc.

The central server may optimize one or more objectives. For example, the central server may minimize the time for a mission or average mission to be performed by a vehicle. As another example, the central server may minimize the number of vehicles at work for a given average time to perform a mission. As another example, the central server may maximize the presence of vehicles in different locations in the facility, for example, to collect data or record video using cameras. As another example, the central server may maximize the operating time of all vehicles by minimizing battery usage (without requiring battery charging). As another example, the central server may minimize the waiting time for a vehicle to obtain a location at a charging facility.

In one example implementation, a central server may receive data from one or more containers, and based on the data, tasks may be assigned to one or more vehicles. In one example, a management system for a container may provide the central server with data such as voltage or current read in a computing device, temperature of a storage bin, pressure in a storage bin, faults in a device, etc. Using this data, the central server may determine a task, such as replacing or removing a computing device. The central server may then delegate the task to a vehicle, and the vehicle may approach the container to remove or replace the computing device. In one example, the management system may pass the task to the central server, and the central server may delegate the task to a vehicle. In one example, the system of the present disclosure may not utilize a central server. In this example, a container management system (or multiple management systems for multiple containers) and/or a vehicle control system (and/or multiple control systems for multiple vehicles) can perform the tasks described herein.

In one example, a central server may integrate the vehicles into a fleet-based solution. This may allow vehicles to move computing devices or other equipment between various container locations, service centers, storage locations, and other locations. In one example, each vehicle may transport a computing device, enter a facility, and exit the facility. These functions may be coordinated by a central server. In one example, a facility where a vehicle is used may include specialized doors and/or aisles designed to allow entry and exit of the vehicle. These doors may include a roll-up mechanism to allow the passage of the vehicle, or may include specialized trapdoors designed to allow the movement of the vehicle or the passage of personnel in other circumstances. In one example, a verification mechanism may be implemented at the entrance to a facility. For example, there may be a non-secure door and a secure door. The non-secure door can be opened and the vehicle can be allowed to enter the hidden door. After confirming that only the vehicle has entered and not an unauthorized intruder, the secure door can be opened. The verification agency can use RFID scanning to detect the identity of the vehicle. The verification agency can also use a thermal detection system, an imaging system, or another system to detect the presence of an intruder in the hidden door.

In one example embodiment, the vehicle may include a monitor, camera, microphone, and speaker. Such devices may enable the remote operator to interact with, accompany, monitor, and provide assistance to the local operator, for example, at the direction of a centralized operations center or other location. Such devices will allow work to be performed by "less skilled" employees at remote locations and marginal locations under the supervision of "more skilled" employees, thereby allowing the need for "more skilled" employees to be reduced.

In one example embodiment, a cart may be coupled to a vehicle. Similar to the platform used for the vehicle, the cart may also include a platform for holding computing devices. In one example, the platform may be raised and lowered similar to the vehicle. In one example, the cart may include a door and a shell. In one example, the cart may include a handle on one side to support movement by a human operator, and a mechanical interface on another side that may be used to automatically attach to a vehicle. The cart may be placed, released, and retrieved later by the vehicle or the human operator. In one example, it may be advantageous to use the cart as one of the ways for people to move computing devices to and from different facilities. These computing devices may be large and heavy, and therefore, the cart may be ideal for transporting computing devices between facilities by people and/or vehicles.

In one example, a truck may include an RFID chip that informs the vehicle of the truck's identity. The vehicle can track the load placed in the truck and report this information to a central server.

FIGS. 1 to 3 show an exemplary embodiment of a vehicle. In FIG. 1 , a vehicle 100 is shown. The vehicle 100 may include a housing 110 including a camera 112. The housing 110 is coupled to wheels 111. The vehicle 100 may further include a platform 120. In this example, the platform 120 is elevated relative to the housing 110.

FIG. 2 shows a vehicle having a housing 230 according to an example embodiment. The housing 230 can contain the platform 120 when the platform 120 is lowered. The housing 230 can also contain a number of computing devices. FIG. 3 shows a vehicle having a closed door 340 according to an example embodiment. In this example, the platform 120 is lowered and contained in the housing 230. The door 340 secures the computing device from unauthorized access or environmental elements.

FIG. 4 shows a container 400 comprising a box (e.g., a storage box) configured to retain a liquid phase 500 and a gas phase of a fluid, and a structure in the box configured to retain a computer component 600 that will be at least partially submerged in the liquid phase 500 of the fluid during operation of the system.

100: Vehicles

110: Shell

111: Wheel

112: Camera

120: Platform

Claims (21)

A robotic system for a liquid immersion cooling system, comprising: a container, comprising: a storage bin, wherein the storage bin is configured to retain a liquid phase and a gas phase of a fluid; a structure within the storage bin, configured to hold a computer component that will be at least partially immersed in the liquid phase of the fluid during an operation of the system; and a management system, configured to regulate a temperature of the storage bin; a carrier, comprising: a housing; a platform; a sensor; a transceiver; and a control system, configured to receive a signal from the management system; and a robot, configured to remove the computer component from the storage bin and place the computer component on the carrier. A system as claimed in claim 1, wherein the vehicle assembly is configured to receive a command from the management system. The system of claim 2, wherein in response to receiving the command, the control system of the vehicle is configured to approach a vehicle position of the container. The system as described in claim 3, wherein in response to reaching the carrier position of the container, the management system is configured to direct the robot to pick up the computer component and deliver the computer component to the carrier position of the container. The system of claim 1, wherein the management system is configured to transmit a command to the control system in response to detection of an operating condition. A system as described in claim 5, wherein the operating condition is a voltage, a current, a temperature or a pressure exceeding a critical value. The system of claim 1, wherein the carrier assembly is configured to adjust a height of the platform to receive the computer component from the robot. A system as described in claim 5, wherein the sensor assembly is configured to detect placement of the computer component on one of the platforms. A system as described in claim 1, wherein the vehicle further comprises a housing. The system of claim 9, wherein the control system is configured to lower the platform in response to detecting a placement of the computer component on the platform. The system as claimed in claim 1, wherein the vehicle further comprises a door. The system of claim 11, wherein the control system is configured to close the door in response to lowering the platform. The system of claim 11, wherein the control system is configured to open the door in response to reaching a carrier position of the container. A system as described in claim 1, wherein the vehicle further comprises a robotic arm. A system as described in claim 14, wherein the robot arm assembly receives the computer component from the robot. A system as described in claim 15, wherein the robot arm is configured to place the computer component on the platform. The system of claim 1, wherein the management system is configured to determine a relative position of the vehicle. A system as claimed in claim 17, wherein the management system is configured to construct a map for a location. The system of claim 18, wherein the management system is configured to use the relative position of the vehicle and the map to navigate the vehicle to a desired location. A system as described in claim 1, wherein the vehicle further comprises a monitor, a speaker, a microphone and a camera. A vehicle for use with a liquid immersion cooling system, comprising: a housing; a platform; a sensor; a transceiver; and a control system, configured to receive a navigation signal from a management system of a liquid immersion cooling system, and wherein the vehicle is configured to move to a location based on the navigation signal.