Method, device and storage medium for controlling dense rack travel state

Abstract

The application discloses a kind of control method, device and equipment and storage medium of dense shelf running state, the method includes: the current data sequence of dense shelf in running process is collected;The current data sequence includes multiple current sampling point data;Current sampling point data in the current data sequence is carried out average filtering processing, and target current data sequence is obtained;The target current data sequence includes multiple current average filtering data;In the target current data sequence, continuous multiple current average filtering data is selected, linear fitting is carried out, and linear fitting slope is obtained;In the case where the linear fitting slope is greater than or equal to preset threshold, the dense shelf is controlled to stop running.The technical scheme provided by the application can improve the accuracy of the judgment of the dense shelf running process to a certain extent.

Description

Technical Field

[0001] The present invention relates to the technical field of compact shelving control, and in particular to a method, device, equipment and storage medium for controlling the traveling state of a compact shelving. Background Art

[0002] Compact shelving, also known as compact cabinets, is a rack with wheels installed on the base of a double-column, double-sided fixed rack. It can move in a straight line along a small guide rail laid on the ground, and multiple shelves can be brought together or separated as needed. With the development of intelligence, intelligent compact shelving products with electric control and movement functions have emerged. Pressure alarm is a basic function of the compact shelving system. It means that when the moving column of the compact shelving encounters resistance during movement, an alarm is triggered, and the moving column of the compact shelving is then stopped through the alarm linkage. The current mainstream implementation method is to trigger an alarm when the pressure reaches a certain value. However, the current pressure alarm algorithm cannot distinguish between resistance caused by uneven ground or resistance caused by manual pushing. The compact shelving loaded with items of different weights has different resistance tolerances, which can easily lead to false alarms. Summary of the Invention

[0003] In view of this, the embodiments of the present invention provide a method, device, equipment and storage medium for controlling the travel state of a compact shelving system, which can improve the accuracy of vibration judgment of the compact shelving system during travel to a certain extent.

[0004] On the one hand, the present invention provides a method for controlling the travel state of a compact shelving system, the method comprising: collecting a current data sequence of the compact shelving system during operation; the current data sequence comprising data from a plurality of current sampling points; performing average filtering on the current sampling point data in the current data sequence to obtain a target current data sequence; the target current data sequence comprising a plurality of current average filtered data; selecting a plurality of continuous current average filtered data in the target current data sequence, performing linear fitting to obtain a linear fitting slope; and controlling the compact shelving system to stop moving when the linear fitting slope is greater than or equal to a preset threshold.

[0005] In one embodiment, average filtering is performed on the current sampling point data in the current data sequence to obtain a target current data sequence, including: performing arithmetic average filtering on the current sampling point data in the current data sequence according to a preset length to obtain a target average data sequence including multiple target average data; and recursively selecting a preset number of target average data in the target average data sequence, performing average filtering, and obtaining the target current data sequence.

[0006] In one embodiment, the current sampling point data in the current data sequence are subjected to arithmetic averaging filtering processing according to a preset length to obtain a target average data sequence including multiple target average data, including: performing arithmetic averaging filtering processing on the current sampling point data in the current data sequence according to a first preset length to obtain an average data sequence including multiple average data; performing arithmetic averaging filtering processing on the average data in the average data sequence according to a second preset length to obtain a target average data sequence including multiple target average data; the product of the first preset length and the second preset length is equal to the preset length.

[0007] In one embodiment, a plurality of continuous current average filtered data are selected from the target current data sequence, and linear fitting is performed to obtain a linear fitting slope, including: selecting a plurality of continuous current average filtered data from the target current data sequence; and performing linear fitting on the plurality of current average filtered data according to the least squares method to obtain a linear fitting slope.

[0008] In one embodiment, the method for controlling the traveling state of a compact shelving system further includes: controlling the compact shelving system to maintain a current traveling state when the linear fitting slope is less than a preset threshold.

[0009] In one embodiment, collecting a current data sequence of the compact shelving during operation includes: collecting a voltage data sequence of the compact shelving during operation; the voltage data sequence includes voltage data of multiple sampling points; and converting the voltage data in the voltage data sequence into current data according to a preset conversion rule to obtain the current data sequence.

[0010] In one embodiment, the method for controlling the moving state of the compact shelving further includes: when the compact shelving is in a state of uniform motion, controlling the compact shelving to pull objects of different weights, and collecting current data sequences corresponding to objects of different weights; based on the current data sequences corresponding to objects of different weights, respectively calculating multiple linear fitting slopes of each group of current data sequences; and determining the preset threshold based on the multiple linear fitting slopes of each group of current data sequences.

[0011] On the other hand, the present invention also provides a control device for the travel status of a compact shelving system, which includes: a data acquisition unit for collecting a current data sequence of the compact shelving system during operation; the current data sequence includes multiple current sampling point data; a filtering processing unit for performing average filtering processing on the current sampling point data in the current data sequence to obtain a target current data sequence; the target current data sequence includes multiple current average filtered data; a linear fitting unit for selecting multiple continuous current average filtered data in the target current data sequence, performing linear fitting, and obtaining a linear fitting slope; a state control unit for controlling the compact shelving system to stop moving when the linear fitting slope is greater than or equal to a preset threshold.

[0012] On the other hand, the present invention further provides an electronic device, which includes a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the above-mentioned method for controlling the travel state of the compact shelving is implemented.

[0013] On the other hand, the present invention further provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, the above-mentioned method for controlling the traveling state of the compact shelving is implemented.

[0014] By collecting the current data of the compact shelving during its movement, and then performing average filtering on the current data, a target current data sequence including multiple current average filtered data is obtained. Multiple continuous current average filtered data are recursively selected in the target data sequence for linear fitting. When the slope of the first-order linear equation result obtained by linear fitting is greater than or equal to the preset threshold, the compact shelving is controlled to stop moving, thereby improving the accuracy of the jitter judgment of the compact shelving during its movement to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0016] Figure 1 A schematic diagram showing the steps of a method for controlling the traveling state of a compact shelving unit in one embodiment of the present disclosure is shown;

[0017] Figure 2 shows a current data diagram obtained after recursive averaging processing in one embodiment of the present disclosure;

[0018] Figure 3 A current data diagram obtained by performing two arithmetic average filtering processes in one embodiment of the present disclosure is shown;

[0019] Figure 4 A schematic diagram of current changes after filtering under different loads in one embodiment of the present disclosure is shown;

[0020] Figure 5 A schematic diagram showing the change of the linear fitting slope of the current under different loads in one embodiment of the present disclosure is shown;

[0021] Figure 6 A schematic diagram of a control device for a traveling state of a compact shelving system in one embodiment of the present disclosure is shown;

[0022] Figure 7 A schematic structural diagram of an electronic device in one embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0024] Compact shelving, also known as compact cabinets, is a double-sided, fixed rack with wheels mounted on a base. The racks move linearly along small rails laid on the floor, allowing them to be brought together or apart as needed. With the development of intelligent technology, the archives and warehouse industry is also entering an era of intelligent management, leading to the emergence of intelligent compact shelving products. Intelligent compact shelving not only shares the characteristics of traditional compact shelving but also features intelligent control, including motorized movement, safety protection, precise guidance, voice announcements, file inventory, and borrowing and returning functions.

[0025] Pressure alarms are a fundamental feature of compact shelving systems. They trigger an alarm when a moving column encounters resistance during movement, which in turn halts the column. The current mainstream implementation triggers an alarm when pressure reaches a certain threshold. However, in practice, we need a compact shelving system to stop when it is pushed by a person, while continuing normally when not. However, uneven surfaces can create resistance when the shelving system ascends a slope, making false alarms highly likely. Raising the threshold would require a significant force to halt the shelving system.

[0026] The current pressure alarm algorithm cannot distinguish whether the resistance is caused by the unevenness of the ground or the resistance caused by hand pushing. The resistance tolerance of compact shelving loaded with items of different weights is also different, which makes it very easy to cause false alarms.

[0027] See also Figure 1 An embodiment of the present disclosure provides a method for controlling the traveling state of a compact shelving system, which may include the following steps.

[0028] S110: Collecting a current data sequence of the compact shelving during operation; the current data sequence includes data of multiple current sampling points.

[0029] In this embodiment, the current value can be used to indicate the resistance level that the compact shelving system must withstand during movement. A higher current value indicates a higher resistance level, while a lower current value indicates a lower resistance level. Therefore, the movement of the compact shelving system can be controlled based on changes in the current value during movement.

[0030] In this implementation, a higher sampling period results in a more accurate waveform reflecting current changes. However, in practical applications, it's necessary to balance the impact of sampled data calculation time on business calculations. Increasing the sampling time increases the RTOS's frequency of data sampling calculations, consuming significant CPU resources and impacting overall performance. In actual engineering applications, the sampling period should be appropriately reduced to meet subsequent technical specifications. This design uses a sampling period of 112µs.

[0031] In this embodiment, a sampling period may include multiple sampling points, and the current value data of each sampling point may be current sampling point data. Then, the multiple current sampling point data in a sampling period constitute a current data sequence.

[0032] S120: performing average filtering processing on the current sampling point data in the current data sequence to obtain a target current data sequence; the target current data sequence includes a plurality of current average filtered data.

[0033] In this embodiment, the raw data directly obtained by sampling may have large errors. Therefore, these data can be filtered first, and then the change of data in the queue composed of the filtered results can be used to determine whether the compact shelving needs to be controlled to stop moving forward.

[0034] In this embodiment, performing average filtering on the current sampling point data in the current data sequence can be performed by traversing the current sampling point data in the current data sequence, adding the traversed current sampling point data to a new array, and calculating an average value when the number of current sampling point data in the new array reaches a preset number. Then, the sampling point data at the first k positions in the array are deleted, and the current data sequence is traversed again until the number of current sampling point data in the new array reaches the preset number again, and the average value is calculated again. The above steps are repeated until the current average filtered data in the target current data sequence is completely traversed. Here, k is less than or equal to the preset number. The average value obtained by performing the averaging operation on the current sampling point data in the new array can be the current average filtered data. The data set consisting of each current average filtered data can be the target current data sequence.

[0035] S130: Select a plurality of continuous current average filtered data in the target current data sequence, perform linear fitting, and obtain a linear fitting slope.

[0036] In this embodiment, when the compact shelving system is moving at a constant speed and steadily, the change in its current value is almost zero. When the compact shelving system is subjected to external forces, the current will increase if the compact shelving system is to continue moving forward. Therefore, the change in current value can be used to determine whether the compact shelving system needs to be stopped.

[0037] In this embodiment, multiple consecutive current average filtered data sets are selected from the target current data sequence. The number of current average filtered data sets can be determined based on the number of points required for linear fitting. A least squares method is then used to perform a linear fit on these multiple current average filtered data sets. The least squares method requires at least three current average filtered data sets at a time. The linear fit results in a straight line that minimizes the sum of the distances between these multiple current average filtered data sets. The slope of this straight line is the linear fit slope.

[0038] Then, continue traversing the target current data sequence, delete the data at the beginning of the queue, and add new current average filtered data to the end of the queue. Perform a linear fit on the current average filtered data in the new queue. Repeat this step until the target current data sequence is completely traversed.

[0039] S140: When the linear fitting slope is greater than or equal to a preset threshold, controlling the compact shelving to stop moving.

[0040] In this embodiment, if the linear fit slope is greater than or equal to a preset threshold, it indicates a high rate of change in current, possibly due to artificial force causing the compact shelving to consume more energy to advance. Therefore, in the event of artificial resistance, it is necessary to control the compact shelving to stop its current state and halt its progress. Therefore, when the linear fit slope is greater than or equal to the preset threshold, the compact shelving must be controlled to stop.

[0041] By averaging and filtering the collected current data and then determining whether to stop the compact shelving system based on the rate of change of the current, the system can avoid stopping the compact shelving system when the instantaneous current value exceeds or equals the preset threshold due to resistance caused by uneven ground during operation.

[0042] In one embodiment, performing average filtering on the current sampling point data in the current data sequence to obtain a target current data sequence may include: performing arithmetic average filtering on the current sampling point data in the current data sequence according to a preset length to obtain a target average data sequence including multiple target average data; and recursively selecting a preset number of target average data in the target average data sequence and performing average filtering to obtain the target current data sequence.

[0043] In this implementation, direct arithmetic averaging can avoid sudden changes in individual data points, thereby smoothing the data to a certain extent. Then, a recursive averaging algorithm is used to reflect the changing trends of the data. Because data changes over time, the recursive averaging algorithm is more real-time and can always fully reflect data changes over a period of time.

[0044] In this embodiment, an arithmetic average operation is first performed on the current sampling point data according to a preset length, that is, the sampled data is aggregated. Specifically, for example, if 84,000 current sampling point data are sampled, these 84,000 current data are aggregated according to a preset length of 420. That is, the current data sequence is traversed, and when the number of traversed data reaches 420, an arithmetic average operation is performed on these 420 data. Then, an arithmetic average operation is performed on the next 420 data. This process continues until the traversal is complete, resulting in a target average data sequence consisting of 200 target average data points.

[0045] See also Figure 2Then, the target average data sequence is traversed. First, the first 8 target average data in the target average data sequence are selected and arithmetic operations are performed to enter a queue. Then, the data in this queue are averaged. Then, one target average data is selected in turn and entered into the tail of the queue. The target average data at the head of the queue is deleted, and the arithmetic average operation is performed on the data in the center of the queue. And so on, until the target average data sequence is traversed, a target current data sequence with a data length of 193 is obtained.

[0046] In one embodiment, performing arithmetic averaging filtering processing on the current sampling point data in the current data sequence according to a preset length to obtain a target average data sequence including multiple target average data may include: performing arithmetic averaging filtering processing on the current sampling point data in the current data sequence according to a first preset length to obtain an average data sequence including multiple average data; performing arithmetic averaging filtering processing on the average data in the average data sequence according to a second preset length to obtain a target average data sequence including multiple target average data; the product of the first preset length and the second preset length is equal to the preset length.

[0047] See also Figure 3 In this embodiment, a single arithmetic mean filtering process will lead to the flexibility of the algorithm, the period of reflecting data changes will be longer, and the restoration of short-term changes will be worse. Therefore, a two-time arithmetic mean filtering method can be used to improve the flexibility of the algorithm.

[0048] In this embodiment, an arithmetic average operation is first performed on the current sampling point data according to a preset length, that is, the sampled data is aggregated. Specifically, for example, if 84,000 current sampling point data are sampled, these 84,000 current data are aggregated according to a first preset length of 30. That is, the current data sequence is traversed, and when the number of traversed data reaches 30, an arithmetic average operation is performed on these 30 data points. Then, an arithmetic average operation is performed on the next 30 data points. This process continues until the traversal is complete, resulting in an average data sequence consisting of 2,800 average data points.

[0049] Then, an arithmetic average filtering process is performed on the average data sequence according to a second preset length of 14 to obtain a target average data sequence including 200 target average data.

[0050] In one embodiment, selecting a plurality of continuous current average filtered data in the target current data sequence, performing linear fitting, and obtaining a linear fitting slope may include: selecting a plurality of continuous current average filtered data in the target current data sequence; performing linear fitting on the plurality of current average filtered data according to the least squares method, and obtaining a linear fitting slope.

[0051] In this embodiment, the current change trend in the target current data sequence obtained by the method in the above embodiment is required. Therefore, the current change trend can be determined by performing linear fitting on the current average filtered data within a certain time range and judging the current change trend based on the slope of the linear fitting.

[0052] In this embodiment, in order to use the rate of change of current to reflect the magnitude of pressure, the data must be normalized and a first-order linear fit must be performed. The current pressure magnitude is determined based on the slope of the linear fit in multiple time periods, and the threshold must be adjusted according to the acceleration and deceleration stages.

[0053] The least squares method (also known as the least squares method) is a mathematical optimization technique. It finds the best function matching data by minimizing the sum of squared errors. Least squares methods can be used to easily find unknown data and minimize the sum of squared errors between the found data and the actual data.

[0054]

[0055] Where, represents the slope of the linear fit, x i Indicates the time of current average filter data acquisition in the target current data sequence, y i Represents the current average filtered data, and n represents the number of sampling points participating in the least squares method.

[0056] In one embodiment, the method for controlling the traveling state of a compact shelving system may further include: controlling the compact shelving system to maintain a current traveling state when the linear fitting slope is less than a preset threshold.

[0057] In this embodiment, when the linear fitting slope obtained after linear fitting is less than the preset threshold, it means that the current current value changes little and there is no resistance, so the compact shelving can continue to maintain the current moving state.

[0058] In one embodiment, collecting a current data sequence of the compact shelving during operation may include: collecting a voltage data sequence of the compact shelving during operation; the voltage data sequence includes voltage data of multiple sampling points; and converting the voltage data in the voltage data sequence into current data according to a preset conversion rule to obtain the current data sequence.

[0059] In this embodiment, the hardware converts current into voltage and then collects it through the ADC of the MCU. According to the hardware design principle, the ADC value is converted into the actual current value. In order to make the sampling value smoother and reduce the error caused by jitter, the sampling period is adjusted to provide sufficient data samples for the subsequent stage.

[0060] In one embodiment, the method for controlling the moving state of the compact shelving may further include: when the compact shelving is in a state of uniform motion, controlling the compact shelving to pull objects of different weights, and collecting current data sequences corresponding to objects of different weights; based on the current data sequences corresponding to objects of different weights, respectively calculating multiple linear fitting slopes of each group of current data sequences; and determining the preset threshold based on the multiple linear fitting slopes of each group of current data sequences.

[0061] See also Figure 4 and Figure 5 In this embodiment, determining the linear fit slope threshold plays a significant role in controlling the movement of the compact shelving system. If the linear fit slope is set too large, a large amount of manual force is required to stop the compact shelving system. If the linear fit slope is set too small, the compact shelving system may stop due to a false alarm caused by factors such as ground tilt during operation.

[0062] In this embodiment, a variable mass weight is pulled by a dynamometer at any time during the uniform motion of the frame, and the adjustment of different pulling forces is achieved by changing the mass of the weight. At the same time, the filtered current value is recorded before and after the weight is added to the system; after multiple tests, the current change curve under different pulling forces can be obtained, and the change curve within a period of time after the weight is added to the system can be normalized to obtain the first-order fitting equation of the current under different pulling forces, and the slope of the equation corresponding to different pulling forces can be used as the pressure threshold.

[0063] In this embodiment, when the frame of the compact shelving is in a state of uniform motion, the compact shelving is allowed to pull objects of different masses to continue moving through a dynamometer. Objects of different weights are equivalent to representing different thrusts. Then, when objects of various weights are in motion, the current data of the current compact shelving is collected, and the collected current data is subjected to fitting slope calculation using the method in the above embodiment. In this way, objects of different weights correspond to a set of fitting slope data. By analyzing these fitting slope data, the preset threshold value of the fitting slope that needs to be set is determined. Figure 4 The current change curves are measured under load conditions of 55N and 170N respectively. Figure 5 These are two sets of linear fitting slopes obtained after the current changes under 55N and 170N loads are processed by the method described in the above embodiment.

[0064] After determining the preset threshold, the current of the compact shelving unit can be measured in a normal moving state, and the linear fitting slope of the compact shelving unit in the moving state can be obtained by the method described in the above embodiment. When the linear fitting slope is greater than or equal to the preset threshold, an alarm mechanism is triggered to control the compact shelving unit to stop moving.

[0065] See also Figure 6 One embodiment of the present disclosure further provides a device for controlling the travel state of a compact shelving system. The device for controlling the travel state of the compact shelving system may include: a data acquisition unit, a filtering processing unit, a linear fitting unit, and a state control unit.

[0066] The data acquisition unit is used to collect the current data sequence of the compact shelving during operation; the current data sequence includes multiple current sampling point data.

[0067] The filtering processing unit is used to perform average filtering on the current sampling point data in the current data sequence to obtain a target current data sequence; the target current data sequence includes a plurality of current average filtered data.

[0068] The linear fitting unit is used to select a plurality of continuous current average filter data in the target current data sequence, perform linear fitting, and obtain a linear fitting slope.

[0069] A state control unit is used to control the compact shelving to stop moving when the linear fitting slope is greater than or equal to a preset threshold.

[0070] Regarding the specific functions and effects achieved by the control device for the travel state of the compact shelving, please refer to the other embodiments of this specification for comparative explanation and will not be repeated here. The various modules in the control device for the travel state of the compact shelving can be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0071] See also Figure 7 An embodiment of the present disclosure further provides an electronic device, which includes a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the above-mentioned method for controlling the travel state of the compact shelving is implemented.

[0072] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0073] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods described in the embodiments of the present invention. The processor executes the non-transitory software programs, instructions, and modules stored in the memory to perform various processor functions and data processing, thereby implementing the methods described in the aforementioned method embodiments.

[0074] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0075] One embodiment of the present disclosure further provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, the above-mentioned method for controlling the travel state of the compact shelving is implemented.

[0076] Those skilled in the art will understand that all or part of the processes in the implementation methods described can be implemented by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the implementation methods of the methods described. Among them, any reference to memory, storage, database or other media used in the various implementation methods provided in this specification may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0077] It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0078] The descriptions of the various embodiments of this specification are made in a progressive manner. Different embodiments focus on describing the parts that are different from other embodiments. After reading this specification, those skilled in the art will know that the various embodiments in this specification, as well as the various technical features disclosed in the embodiments, can be combined in more ways. To make the description concise, not all possible combinations of the various technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0080] The various embodiments in this specification emphasize the differences between the various embodiments, and the various embodiments can be interpreted in comparison with each other. Any combination of the various embodiments in this specification based on general technical knowledge by those skilled in the art is within the scope of this specification.

[0081] The foregoing description is merely an embodiment of the present invention and is not intended to limit the scope of the claims. Persons skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements within the spirit and principles of the present invention are intended to be encompassed by the claims.

Claims

1. A method for controlling the traveling state of a compact shelving system, characterized in that: The method comprises: Collecting a current data sequence of the compact shelving during operation; the current data sequence includes data of multiple current sampling points; performing an arithmetic average filtering process on the current sampling point data in the current data sequence according to a preset length to obtain a target average data sequence including a plurality of target average data, comprising: performing an arithmetic average filtering process on the current sampling point data in the current data sequence according to a first preset length to obtain an average data sequence including a plurality of average data; performing an arithmetic average filtering process on the average data in the average data sequence according to a second preset length to obtain a target average data sequence including a plurality of target average data; wherein the product of the first preset length and the second preset length is equal to the preset length; recursively selecting a preset number of target average data in the target average data sequence, performing average filtering processing, and obtaining a target current data sequence, wherein the target current data sequence includes a plurality of current average filtered data; selecting a plurality of continuous current average filtered data in the target current data sequence, performing linear fitting to obtain a linear fitting slope, and determining a current change trend based on the linear fitting slope; When the linear fitting slope is greater than or equal to a preset threshold, the compact shelving is controlled to stop moving.

2. The method according to claim 1, characterized in that Selecting a plurality of continuous current average filtered data in the target current data sequence and performing linear fitting to obtain a linear fitting slope includes: Selecting a plurality of continuous current average filtered data in the target current data sequence; A linear fitting is performed on the plurality of current average filtered data according to a least square method to obtain a linear fitting slope.

3. The method according to claim 1, characterized in that The method further comprises: When the linear fitting slope is less than a preset threshold, the compact shelving is controlled to maintain the current moving state.

4. The method according to claim 1, wherein Collect the current data sequence of the compact shelving during operation, including: Collecting a voltage data sequence of the compact shelving during operation; the voltage data sequence includes voltage data of multiple sampling points; The voltage data in the voltage data sequence is converted into current data according to a preset conversion rule to obtain the current data sequence.

5. The method according to claim 1, wherein The method further comprises: When the compact shelving is in uniform motion, the compact shelving is controlled to pull objects of different weights and the current data sequences corresponding to the objects of different weights are collected; Based on the current data sequences corresponding to objects of different weights, multiple linear fitting slopes of each set of current data sequences are calculated respectively; The preset threshold is determined based on a plurality of linear fitting slopes of the respective sets of current data series.

6. A control device for the traveling state of a compact shelving system, characterized in that: The control device for the traveling state of the compact shelving unit includes: A data acquisition unit is used to collect a current data sequence of the compact shelving during operation; the current data sequence includes data of multiple current sampling points; a filtering processing unit, configured to perform arithmetic averaging filtering processing on the current sampling point data in the current data sequence according to a preset length to obtain a target average data sequence including a plurality of target average data, comprising: performing arithmetic averaging filtering processing on the current sampling point data in the current data sequence according to a first preset length to obtain an average data sequence including a plurality of average data; performing arithmetic averaging filtering processing on the average data in the average data sequence according to a second preset length to obtain a target average data sequence including a plurality of target average data; the product of the first preset length and the second preset length being equal to the preset length; The filtering processing unit is further configured to recursively select a preset number of target average data from the target average data sequence, perform average filtering processing, and obtain a target current data sequence; the target current data sequence includes a plurality of current average filtered data; a linear fitting unit, configured to select a plurality of continuous current average filtered data in the target current data sequence, perform linear fitting, obtain a linear fitting slope, and determine a current change trend based on the linear fitting slope; A state control unit is used to control the compact shelving to stop moving when the linear fitting slope is greater than or equal to a preset threshold.

7. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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