CN-121458191-B - Intelligent archiving method and system for unmanned archive warehouse

CN121458191BCN 121458191 BCN121458191 BCN 121458191BCN-121458191-B

Abstract

The invention relates to the technical field of data management, in particular to an intelligent archiving method and system for an unmanned archive warehouse. The method comprises the steps of setting a trial pick-and-place action process for a target file position, monitoring a motor current response sequence and a motor rotating speed response sequence fed back by the trial pick-and-place action process in real time to obtain an instantaneous input power sequence and an instantaneous dissipation power sequence in a local time period, and solving a distribution mode of system energy from an input frequency band to a dissipation frequency band in the local time period to obtain a matching result in each time window. And calculating the difference characteristics of the continuous matching results and comparing the difference characteristics with a threshold value to judge the contact event state of the target file position. According to the invention, the response information under the probing picking and placing action process is subjected to frequency domain decoupling analysis, and the energy distribution path under the process is subjected to difference analysis, so that the effective distinction of two resistance states in the file picking and placing process is realized.

Inventors

ZHANG XIAODONG
LV WEI
Zhuang Ruige
Lv juan
WANG XIUHONG

Assignees

合肥鸿云信息科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (8)

1. An intelligent archiving method for an unmanned archive warehouse, the method comprising: controlling a file picking and placing robot to execute trial picking and placing actions at the target file position, and collecting a motor current response sequence and a motor rotating speed response sequence in the trial picking and placing action process; according to the motor current response sequence and the local sequence of the motor rotating speed response sequence under a preset time window, an instantaneous input power sequence and an instantaneous dissipation power sequence under each time window are obtained; The method comprises the steps of carrying out matching analysis on an instantaneous input power spectrum vector and an instantaneous dissipation power spectrum vector to obtain a matching result under each time window, counting the difference characteristics of the matching results under all adjacent time windows, comparing the difference characteristics with a preset threshold value, and judging the contact event state of a target file position, wherein the contact event state comprises geometric locking, static friction break-through and uncertain events; the obtaining an instantaneous input power spectrum vector and an instantaneous dissipated power spectrum vector, comprising: Taking any one of the instantaneous input power sequence and the instantaneous dissipation power sequence as a sequence to be analyzed, processing the sequence to be analyzed by utilizing fast Fourier transform, and downsampling the obtained power spectrum in a plurality of preset frequency bands to obtain a corresponding power spectrum vector; the matching analysis of the instantaneous input power spectrum vector and the instantaneous dissipation power spectrum vector comprises the following steps: constructing a matching matrix according to the instantaneous input power spectrum vector and the instantaneous dissipation power spectrum vector, wherein the rows of the matching matrix represent element positions in the instantaneous input power spectrum vector, the columns represent element positions in the instantaneous dissipation power spectrum vector, and the element values in the matrix are absolute difference values between two elements in corresponding positions; And optimizing the matching matrix by using a Hungary algorithm to obtain an instantaneous energy distribution matrix with the same size as the matching matrix, wherein the instantaneous energy distribution matrix is a binary matrix, and taking the instantaneous energy distribution matrix as a matching result.
2. An intelligent archiving method for an unmanned archival repository according to claim 1, wherein the method for obtaining the instantaneous input power sequence comprises: at each moment, multiplying the current by a motor torque constant to obtain a torque, and multiplying the torque by a motor rotating speed to obtain the instantaneous input power; the instantaneous input power at each instant in the time window constitutes the instantaneous input power sequence.
3. An intelligent archiving method for an unmanned archival repository according to claim 1, wherein the method for obtaining the instantaneous dissipated power sequence comprises: Substituting the instantaneous input power and the motor rotation speed into an instantaneous power balance equation of the rotating system at each moment to obtain instantaneous dissipation power; The instantaneous dissipated power at each instant in time within the time window constitutes said instantaneous dissipated power sequence.
4. An intelligent archiving method for an unmanned archival repository according to claim 1, wherein the difference features a floro Bei Niwu s norm between two adjacent matching matrices.
5. The intelligent archiving method for an unmanned archive repository of claim 4, wherein said determining the contact event status of the target archive location comprises: Accumulating the difference features to obtain overall differences, and normalizing the overall differences to obtain normalized path variation; And judging a geometric seizing state if the normalized path variation is smaller than a preset first threshold, judging a static friction force breaking state if the normalized path variation is larger than a preset second threshold, and judging an uncertain state if the normalized path variation is smaller than the first threshold.
6. An intelligent archiving method for an unmanned archive warehouse as claimed in claim 5, wherein the method further comprises a threshold updating process, the threshold updating process comprising: Dividing all file positions of the unmanned file warehouse into a plurality of local areas, counting the number of event samples diagnosed as a geometric seizing state and a static friction break-through state for each local area, if the number of event samples is smaller than a preset number threshold value, not updating the threshold value, if the number of event samples is not smaller than the preset number threshold value, counting the normalized path change quantity of the event samples in the geometric seizing state, obtaining an updated first threshold value, counting the normalized path change quantity of the static friction break-through state, and obtaining an updated second threshold value.
7. An intelligent archiving method for an unmanned archival repository according to claim 6, further comprising a archival box state analysis process for the target archival location, comprising: and counting all event samples which are judged to break through the static friction force in a preset analysis time period for the target file position, wherein the sequence formed by the corresponding normalized path variation is used as a sequence to be analyzed, if the length of the sequence to be analyzed is smaller than a preset length threshold value, the file box state analysis process is not carried out, if the length of the sequence to be analyzed is larger than or equal to the preset length threshold value, straight line fitting is carried out on the sequence to be analyzed, if the slope of the fitted straight line is larger than the preset slope threshold value, the file box state is judged to be required to be maintained, otherwise, the file box state is judged to be not required to be maintained.
8. An intelligent archiving system for an unmanned archive repository comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the steps of an intelligent archiving method for an unmanned archive repository as claimed in any one of claims 1 to 7.

Description

Intelligent archiving method and system for unmanned archive warehouse Technical Field The invention relates to the technical field of data management, in particular to an intelligent archiving method and system for an unmanned archive warehouse. Background In the high-density storage environment of unmanned archival storehouses, robotic systems are responsible for automated access to archival boxes. Because the file box is subjected to self gravity and stacking pressure for a long time and is in an environment with periodically changing temperature and humidity, the box body material can generate deformation such as creep, expansion or warping. At the same time, the surface coatings or labels of adjacent file boxes may also adhere due to pressure and environmental factors. Together, these factors complicate the actual contact state of the file box within the shelf, and when the robot attempts to remove a certain file box, its pushing action encounters two resistances with completely different properties. The first resistance is the contact resistance caused by the static friction force and surface adhesion between the file boxes, and the file boxes can be separated and successfully taken out by continuously applying proper force. The second type of resistance is a rigid latch formed by the geometric deformation (e.g., expansion, buckling) of the file box and the shelf or adjacent file box, in which case the contact system forms a stable mechanical constraint that continues to apply force without producing effective displacement, but rather can cause the file box to collapse or damage the robotic end effector. In the prior art, for analysis of the box shape of the file in the unmanned file warehouse, judgment is generally performed through computer vision, but the computer vision can only observe the visible external contour of the file box, and can not sense invisible surface adhesion or the blocking trend caused by internal stress. If the force feedback sensor is adopted for auxiliary judgment, the identification is inaccurate due to the fact that a single threshold value cannot distinguish the two resistance states, a destructive external force can be applied to the geometric seizing state by a high threshold value, and the safety risk exists, and the static friction force breaking state requiring larger separating force can be judged as failure by a low threshold value, so that tasks are frequently stopped, and the running efficiency of the system is reduced. Disclosure of Invention In order to solve the technical problem that the geometric clamping state and the static friction force breakthrough state between file boxes cannot be effectively distinguished in the prior art, the invention aims to provide an intelligent archiving method and system for an unmanned archive storehouse, and the adopted technical scheme is as follows: The invention provides an intelligent archiving method of an unmanned archive warehouse, which comprises the following steps: controlling a file picking and placing robot to execute trial picking and placing actions at the target file position, and collecting a motor current response sequence and a motor rotating speed response sequence in the trial picking and placing action process; according to the motor current response sequence and the local sequence of the motor rotating speed response sequence under a preset time window, an instantaneous input power sequence and an instantaneous dissipation power sequence under each time window are obtained; The method comprises the steps of carrying out matching analysis on an instantaneous input power spectrum vector and an instantaneous dissipation power spectrum vector to obtain a matching result under each time window, counting difference characteristics of the matching results under all adjacent time windows, comparing the difference characteristics with a preset threshold value, and judging a contact event state of a target file position, wherein the contact event state comprises geometric locking, static friction rate breakthrough and uncertain events. Further, the method for acquiring the instantaneous input power sequence comprises the following steps: at each moment, multiplying the current by a motor torque constant to obtain a torque, and multiplying the torque by a motor rotating speed to obtain the instantaneous input power; the instantaneous input power at each instant in the time window constitutes the instantaneous input power sequence. Further, the method for acquiring the instantaneous dissipation power sequence comprises the following steps: Substituting the instantaneous input power and the motor rotation speed into an instantaneous power balance equation of the rotating system at each moment to obtain instantaneous dissipation power; The instantaneous dissipated power at each instant in time within the time window constitutes said instantaneous dissipated power sequence. Further, the obtaining the instantaneous inpu