中文摘要：

分析比较了3种不同的密集架控制方案，提出了基于以太网和CAN总线的分布式控制系统结构。基于可靠性优先的主体思想，结合实际功能需求，给出了主站和从站控制器的主要硬件配置和实现原理。针对密集架系统存在的安全问题，提出了多传感器自主多层安全监测框架，并介绍了传感器的性能，明确了安全监控的层数，实现了自主安全监控的目的。同时，对现场CAN调试过程遇到的问题进行了分析总结。实验结果证明，该密集架控制系统及其安全监测系统具有操作简便、成本低廉、稳定可靠和自动安全防范措施完善等特点，该系统为智能仓储和物流管理系统的开发提供了一种参考。

英文摘要：

Three control schemes of the intelligent serried shelf were analyzed. The architecture of distributed control system based on Ethernet and CAN bus was presented. The hardware configuration and principle of master controller and slave controller were introduced. The safety questions were fully taken into account, and the structure of the automatic muhilayer safety monitoring based on multi-sensor technology was put forward. The type and number of sensors and the layer number of monitoring were determined. The safety monitoring was fulfilled. At the same time, the problems occurred in the process of field debugging of the CAN bus were analyzed and summarized. The experimetal results verify that the system is simple manipulation, low cost, high stability and reliability, reasonable safety measures. It provides a kind of development reference for systems of the intelligent storage and the goods flow management.