Warehousing door lock linkage control method and system based on environmental perception

Abstract

The invention discloses a storage door lock linkage control method and system based on environmental perception, and relates to the technical field of industrial storage and dangerous goods storage management. According to the method, position and concentration correlation is carried out according to harmful gas concentration collected by environment sensing equipment in real time, harmful gas concentration measured values at multiple measured points are obtained, then the three-dimensional distribution condition of the harmful gas concentration in a target storage warehouse is obtained through inversion according to the measured values, and finally, the three-dimensional distribution condition of the harmful gas concentration in the target storage warehouse is calculated according to any measured point in the target storage warehouse. If it is found that the current harmful gas concentration at the corresponding measuring point reaches a preset concentration threshold value in real time according to the distribution condition, a locking instruction is sent to the door lock equipment, so that even if the poisonous gas leakage position is far away from the deployment position of the environment sensing equipment, the poisonous gas leakage condition can be found in time, and the safety of the environment sensing equipment is improved. And therefore, the treatment opportunity for the poisonous gas leakage condition cannot be delayed, a storage door lock is locked in time, dangers are avoided, and the safety of operation in a bin is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial warehousing and dangerous goods storage management, and particularly relates to a method and system for linkage control of warehouse door locks based on environmental perception. Background Art

[0002] In the scenarios of industrial warehousing and dangerous goods storage management, the supervision of harmful gases such as carbon monoxide, carbon dioxide, methane or acetylene has always been of top priority. If the harmful gases such as carbon monoxide, carbon dioxide, methane or acetylene in the warehouse exceed the standard, it will seriously affect the life safety of the operators.

[0003] Currently, the existing patent CN201510472811.6 provides a method for monitoring and managing harmful gases for warehouse management, including the following specific methods: system construction; establishing a database; system debugging; data collection. The server issues a collection instruction to the harmful gas collection circuit according to the information standard sample of the harmful gas, and the harmful gas collection circuit collects all the harmful gases on the information standard sample of the harmful gas; collection data entry and comparison; comparison result. The ratio after comparison will be recorded in the comparison value record table of the collection information and the preset information, and automatic control operations such as alarm and air quality adjustment will be realized according to the comparison value result; adopt an intelligent and automatic mode to supervise the harmful gases that are likely to threaten the life safety of the staff in the warehouse, and when the monitored harmful gases in the warehouse exceed the standard, adjust the air quality in the warehouse in time to effectively guarantee the life safety of the staff in the warehouse. The whole method has characteristics such as reasonable design, scientific practicality, and intelligent management.

[0004] However, considering that the diffusion process of toxic gases has a certain delay, when there is a sudden leakage of toxic gases at a certain position, if the distance between this position and the deployment position of the harmful gas collection circuit is far, it will be detected by the system with a certain lag, which will delay the handling of the toxic gas leakage situation, such as delaying the locking of the warehouse door lock, and delaying the evacuation time of the operators when there are operators in the warehouse, and so on. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for linkage control of warehouse door locks based on environmental perception to solve the problems of perception lag and delay in locking warehouse door locks existing in the existing warehouse harmful gas monitoring and management solutions when there is a sudden leakage of toxic gases.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] In the first aspect, a method for linkage control of warehouse door locks based on environmental perception is provided, including:

[0008] Receive the harmful gas concentration detection signals collected in real time by multiple environmental perception devices, where each of the multiple environmental perception devices is arranged at different positions in the target storage warehouse;

[0009] According to the harmful gas concentration detection signals, obtain in real time the measured values of the harmful gas concentration at multiple measured points, where the multiple measured points refer to the positions where the multiple environmental perception devices are located;

[0010] According to the measured values of the harmful gas concentration at the multiple measured points, inversely obtain in real time the three-dimensional distribution of the harmful gas concentration in the target storage warehouse;

[0011] For any measured point in the target storage warehouse, if it is found in real time according to the three-dimensional distribution of the harmful gas concentration that the current harmful gas concentration at the corresponding measured point reaches a preset concentration threshold, send a locking instruction to the door lock device of the target storage warehouse to lock the door lock device.

[0012] Based on the above invention content, a new control scheme for inversely obtaining the spatial distribution of harmful gas concentration based on limited environmental perception devices and automatically locking the warehouse door lock when the concentration at any measured point exceeds the standard is provided. That is, first, associate the position with the concentration according to the harmful gas concentration collected in real time by the environmental perception devices to obtain the measured values of the harmful gas concentration at multiple measured points, and then inversely obtain the three-dimensional distribution of the harmful gas concentration in the target storage warehouse based on this. Finally, for any measured point in the target storage warehouse, if it is found in real time according to the distribution that the current harmful gas concentration at the corresponding measured point reaches a preset concentration threshold, send a locking instruction to the door lock device. In this way, even if the leakage position of the toxic gas is far from the deployment position of the environmental perception device, the leakage situation of the toxic gas can be detected in time, and then the delay in dealing with the toxic gas leakage situation can be ensured, the warehouse door lock can be locked in time, the occurrence of danger can be avoided, the safety of the operation in the warehouse can be improved, and it is convenient for practical application and promotion.

[0013] In a possible design, the multiple environmental perception devices include harmful gas concentration detectors respectively arranged at the center of the top surface, the center of the ground, and the centers of each side wall in the target storage warehouse.

[0014] In a possible design, inversely obtaining in real time the three-dimensional distribution of the harmful gas concentration in the target storage warehouse according to the measured values of the harmful gas concentration at the multiple measured points includes:

[0015] According to the measured values of the harmful gas concentration at the multiple measured points, inversely obtain in real time the three-dimensional distribution of the harmful gas concentration in the target storage warehouse based on the Kriging interpolation method.

[0016] In a possible design, sending a locking instruction to the door lock device of the target storage warehouse includes:

[0017] Obtain in real time M distance values of the UWB ranging module in the terminal device worn by the bound operator from M UWB ranging signal transmitters respectively, where M represents a positive integer greater than or equal to 3 and less than or equal to 7, and each of the M UWB ranging signal transmitters is arranged at different positions in the target storage warehouse;

[0018] Based on the M distance values and the known positions of the M UWB ranging signal transmitters, solve in real time to obtain the current position of the terminal device;

[0019] Judge in real time whether the current position of the terminal device is inside the target storage warehouse. If so, send an alarm message for instructing the operator to evacuate urgently to the terminal device; otherwise, send a locking instruction to the door lock device of the target storage warehouse.

[0020] In a possible design, sending an alarm message for instructing the operator to evacuate urgently to the terminal device includes:

[0021] Based on the current position of the terminal device, the known position of the warehouse door corresponding to the door lock device, and the known internal layout of the target storage warehouse, plan at least one evacuation route from the current position of the terminal device to the known position of the warehouse door;

[0022] For each evacuation route in the at least one evacuation route, determine at least one passing measurement point according to the three-dimensional distribution of the harmful gas concentration, and accumulate and calculate the sum of the current harmful gas concentrations of the at least one passing measurement point as the corresponding evacuation recommendation index value;

[0023] Select a certain evacuation route corresponding to the smallest evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route;

[0024] Send an alarm message for instructing the operator to evacuate urgently and carrying the recommended evacuation route to the terminal device.

[0025] In a possible design, when the target storage warehouse has at least two warehouse doors corresponding to at least two door lock devices one by one, after selecting a certain evacuation route corresponding to the smallest evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route, the method further includes:

[0026] For each of the at least two storage doors, determine whether there is a recommended evacuation route among all the recommended evacuation routes whose end point is the known position of the corresponding storage door. If not, send a locking instruction to the corresponding door lock device.

[0027] In a possible design, after selecting a certain evacuation route corresponding to the minimum evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route, the method further includes:

[0028] Determine at least one passing lighting fixture in the target storage warehouse according to all the recommended evacuation routes and the known layout positions of all the lighting fixtures in the target storage warehouse;

[0029] Send a lighting instruction to each of the at least one passing lighting fixture respectively, and send an extinguishing instruction to the remaining lighting fixtures in the target storage warehouse respectively.

[0030] In a possible design, after sending a locking instruction to the door lock device of the target storage warehouse, the method further includes:

[0031] Determine a certain measuring point with the maximum current harmful gas concentration as the harmful gas leakage point according to the three-dimensional distribution of the harmful gas concentration;

[0032] Start the exhaust fan closest to the harmful gas leakage point to extract the gas, so as to extract and introduce the harmful gas into the harmful gas enrichment device.

[0033] In a second aspect, a storage door lock linkage control system based on environmental perception is provided, including a detection signal receiving module, a concentration-position association module, a concentration distribution inversion module, and a locking instruction sending module that are sequentially communicatively connected;

[0034] The detection signal receiving module is used to receive the harmful gas concentration detection signals collected in real time by a plurality of environmental perception devices, wherein each of the plurality of environmental perception devices is arranged at different positions in the target storage warehouse;

[0035] The concentration-position association module is used to obtain the measured values of the harmful gas concentration at a plurality of measured points in real time according to the harmful gas concentration detection signals, wherein the plurality of measured points refer to the positions where the plurality of environmental perception devices are located;

[0036] The concentration distribution inversion module is used to inversely obtain the three-dimensional distribution of the harmful gas concentration in the target storage warehouse in real time according to the measured values of the harmful gas concentration at the plurality of measured points;

[0037] The locking instruction sending module is configured to, for any measurement point in the target storage warehouse, if it is found in real time according to the three-dimensional distribution of the harmful gas concentration that the current harmful gas concentration at the corresponding measurement point reaches a preset concentration threshold, send a locking instruction to the door lock device of the target storage warehouse so as to lock the door lock device.

[0038] In a third aspect, the present invention provides a computer system, including a memory, a processor, and a transceiver that are communicatively connected in sequence. Among them, the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the storage door lock linkage control method as described in the first aspect or any possible design in the first aspect.

[0039] In a fourth aspect, the present invention provides a computer-readable storage medium, on which instructions are stored. When the instructions are run on a computer, the storage door lock linkage control method as described in the first aspect or any possible design in the first aspect is executed.

[0040] In a fifth aspect, the present invention provides a computer program product, including a computer program or instructions. When the computer program or the instructions are executed by a computer, the storage door lock linkage control method as described in the first aspect or any possible design in the first aspect is implemented.

[0041] Beneficial effects of the above solution:

[0042] (1) The present invention provides a new control solution for automatically locking the storage door lock when the harmful gas concentration exceeds the standard at any measurement point by performing spatial inversion of the harmful gas concentration based on limited environmental perception devices. That is, first, the position and concentration are associated according to the harmful gas concentration real-time collected by the environmental perception device to obtain the measured values of the harmful gas concentration at multiple measured points, and then the three-dimensional distribution of the harmful gas concentration in the target storage warehouse is inversely obtained based on this. Finally, for any measurement point in the target storage warehouse, if it is found in real time according to the distribution that the current harmful gas concentration at the corresponding measurement point reaches a preset concentration threshold, a locking instruction is sent to the door lock device. In this way, even if the position where the toxic gas leaks is far from the deployment position of the environmental perception device, the toxic gas leakage situation can be detected in time, and then the handling opportunity of the toxic gas leakage situation can be ensured not to be delayed, the storage door lock can be locked in time, danger can be avoided, and the safety of the operation in the warehouse can be improved;

[0043] (2) It can also quickly and efficiently obtain the three-dimensional distribution result of the harmful gas concentration that meets the use requirements and accuracy requirements only by relying on the measured data of a small number of measured points, greatly shortening the required time, and thus having certain theoretical significance and high engineering practical value;

[0044] (3) When considering that there are operators in the warehouse, it is also possible to determine whether the operators have evacuated based on UWB ranging technology, and issue an alarm and plan the best evacuation route when they have not evacuated, so as to achieve the safe evacuation of the operators and further improve the operation safety;

[0045] (4) After obtaining the recommended evacuation route, it is also possible to guide the operators to move forward along the direction of the illuminated lights by lighting the passing lighting fixtures and turning off other lighting fixtures until they reach the warehouse door, which is conducive to the quick and safe evacuation of the operators and is convenient for practical application and promotion. Description of the Drawings

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a schematic flowchart of the method for controlling the linkage of warehouse door locks based on environmental perception provided by the embodiments of the present application.

[0048] Figure 2 It is a schematic flowchart of sending a locking instruction when considering that there are people in the warehouse provided by the embodiments of the present application.

[0049] Figure 3 It is a schematic flowchart of guiding the lighting of the evacuation route when considering that there are people in the warehouse provided by the embodiments of the present application.

[0050] Figure 4 It is a schematic structural diagram of the system for controlling the linkage of warehouse door locks based on environmental perception provided by the embodiments of the present application.

[0051] Figure 5 It is a schematic structural diagram of the computer system provided by the embodiments of the present application. Detailed Embodiments

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the present invention in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structural drawings is only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other embodiments can also be obtained based on these embodiments. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0053] It should be understood that although terms such as first and second may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, the first object may be referred to as the second object, and similarly, the second object may be referred to as the first object, without departing from the scope of the exemplary embodiments of the present invention.

[0054] It should be understood that for the term "and / or" that may appear herein, it is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, B exists alone, or A and B exist simultaneously; for another example, A, B, and / or C can represent any one of A, B, and C or any combination of them; for the term " / and" that may appear herein, it is a description of another association object relationship, indicating that there can be two relationships. For example, A / and B can represent two situations: A exists alone or A and B exist simultaneously; in addition, for the character " / " that may appear herein, generally it represents that the associated objects before and after are in an "or" relationship.

[0055] Embodiment

[0056] As Figure 1 shown, the warehouse door lock linkage control method provided in the first aspect of this embodiment and based on environmental perception can be, but is not limited to, executed by a computer device having certain computing resources and respectively communicatively connected with environmental perception devices, door lock devices, etc., such as executed by a warehouse management server, a personal computer (Personal Computer, PC, referring to a multi-purpose computer suitable for personal use in terms of size, price, and performance; desktop computers, laptop computers, small laptop computers, tablet computers, and ultrabooks, etc. all belong to personal computers), a smart phone, a personal digital assistant (Personal Digital Assistant, PDA), or a wearable device, etc. As Figure 1 shown, the warehouse door lock linkage control method can be, but is not limited to, including the following steps S1 to S4.

[0057] S1. Receive the harmful gas concentration detection signals collected in real time by multiple environmental perception devices, where each of the multiple environmental perception devices is respectively arranged at different positions in the target warehouse.

[0058] In the step S1, the environmental perception device is used to collect the location where it is located and the concentrations of harmful gases such as carbon monoxide, carbon dioxide, methane, acetylene, etc., which can be specifically implemented by using existing products. In order to collect as comprehensive harmful gas concentration data as possible with a small number of environmental perception devices arranged, preferably, the multiple environmental perception devices include, but are not limited to, harmful gas concentration detectors respectively arranged at the center of the top surface, the center of the ground, and the centers of each side wall in the target storage warehouse. In addition, the transmission mode of the harmful gas concentration detection signal can be specifically, but not limited to, being implemented based on a wired communication method.

[0059] S2. According to the harmful gas concentration detection signal, the measured values of the harmful gas concentrations at multiple measured points are obtained in real time, where the multiple measured points refer to the locations where the multiple environmental perception devices are located.

[0060] In the step S2, the specific method for obtaining the measured values of the harmful gas concentrations includes, but is not limited to, a conventional analog-to-digital conversion processing method.

[0061] S3. According to the measured values of the harmful gas concentrations at the multiple measured points, the three-dimensional distribution of the harmful gas concentrations in the target storage warehouse is inversely obtained in real time.

[0062] In the step S3, since the harmful gas diffusion process is a free diffusion process of harmful gas molecules, it has corresponding spatial characteristics. Based on these spatial characteristics, the measured values of the harmful gas concentrations in the global space can be inversely obtained by using the measured values of the harmful gas concentrations in the local space (i.e., the measured values of the harmful gas concentrations at the multiple measured points), and then the three-dimensional distribution of the harmful gas concentrations in the target storage warehouse can be obtained. Since the harmful gas concentration at a certain point is related to the harmful gas concentrations at the surrounding points and can be deduced from the harmful gas concentrations at its surrounding points, specifically, according to the measured values of the harmful gas concentrations at the multiple measured points, the three-dimensional distribution of the harmful gas concentrations in the target storage warehouse can be inversely obtained in real time based on the Kriging interpolation method (also known as the Krige method, which is a spatial interpolation method proposed by South African engineer Krige DG; its basic assumption is that the attribute value of a point is related to the attribute values of the surrounding points and can be deduced from the attribute values of its surrounding points, and it is an optimal and unbiased estimation method with strong spatial correlation using the variogram / variation function as the calculation tool and combined with structural analysis). In addition, the three-dimensional distribution of the harmful gas concentrations can be output and displayed in the form of an isosurface, and can be inversely updated with the updated results of the measured values of the harmful gas concentrations.

[0063] S4. For any measurement point in the target storage warehouse, if it is found in real time according to the three-dimensional distribution of the harmful gas concentration that the current harmful gas concentration at the corresponding measurement point reaches the preset concentration threshold, a locking instruction is sent to the door lock device of the target storage warehouse to lock the door lock device.

[0064] In step S4, the concentration threshold can be preset according to specific toxic gas supervision requirements. In addition, in order to timely and effectively prevent the diffusion of toxic gases and enrich toxic gases, preferably, after sending the locking instruction to the door lock device of the target storage warehouse, the method further includes but is not limited to the following steps: determining a measurement point with the maximum current harmful gas concentration as the harmful gas leakage point according to the three-dimensional distribution of the harmful gas concentration; then starting the exhaust fan closest to the harmful gas leakage point to extract gas, so as to extract and introduce the harmful gas into the harmful gas enrichment device. The harmful gas enrichment device is used to enrich harmful gases, and it can be realized by using existing related products.

[0065] Based on the warehouse door lock linkage control method described in the foregoing steps S1 to S4, a new control solution is provided for inverting the three-dimensional distribution of harmful gas concentration based on limited environmental perception devices and automatically locking the warehouse door lock when the concentration of any measurement point exceeds the standard. That is, first, the position and concentration are associated according to the harmful gas concentration real-time collected by the environmental perception device to obtain the measured values of the harmful gas concentration at multiple measured points, and then the three-dimensional distribution of the harmful gas concentration in the target storage warehouse is inversely obtained based on this. Finally, for any measurement point in the target storage warehouse, if it is found in real time according to the distribution that the current harmful gas concentration at the corresponding measurement point reaches the preset concentration threshold, a locking instruction is sent to the door lock device. In this way, even if the leakage position of the toxic gas is far from the deployment position of the environmental perception device, the leakage of the toxic gas can be detected in time, and then the processing opportunity of the toxic gas leakage can be ensured not to be delayed, the warehouse door lock can be locked in time, the occurrence of danger can be avoided, the safety of the operation in the warehouse can be improved, and it is convenient for practical application and popularization.

[0066] Based on the technical solution of the foregoing first aspect, this embodiment further provides a possible design 1 for inversely obtaining the three-dimensional distribution of the harmful gas concentration based on the Kriging interpolation method, that is, inversely obtaining the three-dimensional distribution of the harmful gas concentration in the target storage warehouse in real time based on the measured values of the harmful gas concentration at the multiple measured points, including but not limited to the following steps S301 to S314.

[0067] S301. Calculate the semi-variance of the harmful gas concentration for each pair of measured points among the multiple measured points based on the measured values of the harmful gas concentration at the multiple measured points, to obtain the semi-variance values of the harmful gas concentration for multiple pairs of measured points, and also calculate the distance values for the multiple pairs of measured points based on the known coordinates of the multiple measured points.

[0068] In the step S301, the semi-variance of the harmful gas concentration represents half of the square of the difference between the measured values of the harmful gas concentration at two measurement points, that is, the semi-variance value of the harmful gas concentration at measurement point A and measurement point B. Among them, Z A represents the measured value of the harmful gas concentration at the measurement point A, and Z B represents the measured value of the harmful gas concentration at the measurement point B. Since the semi-variance of the harmful gas concentration between any two points is related to the distance between the two points, it is also necessary to calculate the distance values for the multiple pairs of measured points.

[0069] Before the step S301, considering that this embodiment is based on the ordinary Kriging method for estimation, and the ordinary Kriging method requires the data to follow a normal distribution. Preferably, before calculating the semi-variance of the harmful gas concentration for each pair of measured points among the multiple measured points based on the measured values of the harmful gas concentration at the multiple measured points, the method further includes but is not limited to: determining whether the measured values of the harmful gas concentration at the multiple measured points follow a normal distribution; if not, performing a power transformation or logarithmic transformation on the measured values of the harmful gas concentration at the multiple measured points to obtain the new measured values of the harmful gas concentration at the multiple measured points that follow a normal distribution. The specific manner of the foregoing determination is an existing conventional manner, for example, based on the conditions for following a normal distribution (that is, if the random variable X follows a normal distribution with a mathematical expectation of μ and a variance of σ 2 denoted as N(μ,σ 2 )) for determination. The specific formula for the foregoing power transformation is: The specific formula for the foregoing logarithmic transformation is: Among them, Z(x) represents the measured value of the harmful gas concentration before processing, represents the new measured value of the harmful gas concentration obtained after processing, and η represents a preset positive coefficient.

[0070] S302. Determine the lag distance h 1 and the longest distance value H among the distance values for the multiple pairs of measured points max , where h 1 represents a positive number, and H max represents a positive number greater than h 1 .

[0071] In the step S302, the lag distance is an academic term in Kriging method, and its determination method can be manual, random, or some automatic method.

[0072] S303. According to the lag distance h 1 , divide the first interval (0, H max into the following multiple first sub-intervals: (0, h 1 , (h 1 , 2*h 1 , …, ((k - 1)*h 1 , k*h 1 , …, ((K - 1)*h 1 , H max , where K = Ceiling(H max / h 1 ), Ceiling() represents the ceiling function, and k represents a positive integer less than K.

[0073] In the step S303, for example, if the lag distance h 1 is 1m and the longest distance value H max is 10m, then the first interval can be divided into 10 (i.e., K = 10) first sub-intervals.

[0074] S304. According to the relationship between the distance values of the multiple pairs of measured points and the belonging of the multiple first sub-intervals, divide the multiple pairs of measured points into multiple first groups corresponding one by one to the multiple first sub-intervals.

[0075] In the step S304, for example, if the distance value of a pair of measured points is 6.8, then the pair of measured points can be divided into a certain first group corresponding to a certain first sub-interval (6, 7], and so on. In addition, for the non-last groups among the multiple first groups, there may be a situation where no pair of measured points belongs.

[0076] S305. According to the semi-variance values and distance values of the harmful gas concentrations of the multiple pairs of measured points, calculate the average semi-variance of the harmful gas concentration and the average distance of each first group in the multiple first groups.

[0077] S306. According to the average semi-variance of the harmful gas concentration and the average distance of each first group, fit the model coefficients of multiple experimental variogram models, where the average semi-variance of the harmful gas concentration is used as the experimental variogram value in the fitting process, and the average distance is used as the distance from the regionalized variable to the point to be estimated in the fitting process.

[0078] In the step S306, the experimental variogram model is an important research tool for Kriging method. Specifically, the multiple experimental variogram models include, but are not limited to, any combination of the following models (A) to (C):

[0079] (A) Spherical model, the expression of which is:

[0080] (B) Exponential model, the expression of which is:

[0081] (C) Gaussian model, the expression of which is:

[0082] In the above expressions, γ(h) represents the experimental variogram value, h represents the distance from the regionalized variable to the point to be estimated, C 0 represents the sill value as the first model coefficient, C represents the arch height as the second model coefficient (i.e., represents the maximum value of the change of the regionalized variable in space), and a represents the range as the third model coefficient (i.e., represents the range where the regionalized variable has correlation). Therefore, the model coefficients to be obtained by fitting include the sill value C 0 , arch height C and range a. The specific method of the above fitting can, but is not limited to, adopt the least square method. In addition, for the non-last group in the multiple first groups that has no measured point pair attribution, considering that the average semi-variance value and the average distance value of the corresponding harmful gas concentration are both zero and have no fitting value, it needs to be skipped during the fitting process.

[0083] S307. According to the measured values of the harmful gas concentration of the multiple measured points, use the model coefficients of the multiple experimental variogram models to perform error analysis, and obtain the model quality evaluation index values of each experimental variogram model in the multiple experimental variogram models.

[0084] In the step S307, the model quality evaluation index values include, but are not limited to, the mean error value, root mean square error value, standardized root mean square error value and / or mean standard error value, etc. The calculation formulas of the above several index values are as follows:

[0085] Mean error value

[0086] Root mean square error value

[0087] Standardized root mean square error value

[0088] Mean standard error value

[0089] In the above formulas, N represents the total number of measured points, n represents a positive integer, Z(x n) represents the measured value of the harmful gas concentration at the nth measured point. represents the estimated value of the harmful gas concentration at the nth measured point, δ 2 represents the square root of the variance. Since the process of obtaining the model quality evaluation index value requires the estimated value of the harmful gas concentration, specifically, based on the measured values of the harmful gas concentration at the multiple measured points, error analysis is performed using the model coefficients of the multiple experimental variogram models to obtain the model quality evaluation index values of each experimental variogram model in the multiple experimental variogram models, including but not limited to the following steps S3071 - S3072.

[0090] S3071. For each experimental variogram model in the multiple experimental variogram models, based on the measured values of the harmful gas concentration at the multiple measured points and the corresponding model coefficients, use the cross - validation method to obtain the corresponding estimated values of the harmful gas concentration at the multiple measured points.

[0091] In step S3071, the specific idea of the cross - validation method is: first remove one measured point from the multiple measured points, and then use the measured values of the harmful gas concentration at the remaining measured points to calculate the estimated value of the harmful gas concentration at the removed point. Repeat this operation until the estimated values of the harmful gas concentration at all measured points are obtained. That is, specifically, for each experimental variogram model in the multiple experimental variogram models, based on the measured values of the harmful gas concentration at the multiple measured points and the corresponding model coefficients, use the cross - validation method to obtain the corresponding estimated values of the harmful gas concentration at the multiple measured points, including but not limited to the following steps S30711 - S30712.

[0092] S30711. For each target measured point (i.e., the removed one measured point) in the multiple measured points, determine all other measured points (i.e., the remaining measured points) in the multiple measured points as the corresponding multiple reference measured points.

[0093] S30712. For a certain experimental variogram model in the multiple experimental variogram models and a certain target measured point in the multiple measured points, according to the model parameters of the certain experimental variogram model and the measured values of the harmful gas concentration at the multiple reference measured points of the certain target measured point, calculate the corresponding estimated value of the harmful gas concentration according to the following steps S307121 - S307123.

[0094] S307121. Based on the known coordinates of multiple reference measured points of a certain target measured point and the known coordinates of the certain target measured point, calculate the distance values from the certain target measured point to each of the multiple reference measured points of the certain target measured point, and substitute the distance value of the regionalized variable to the to-be-estimated measured point into the certain experimental variogram model. Then, apply the model parameters of the certain experimental variogram model to calculate the experimental variogram values of the certain target measured point and each of the multiple reference measured points of the certain target measured point.

[0095] S307122. Based on the semi-variance values of the harmful gas concentrations of each pair of reference measured points among the multiple reference measured points of the certain target measured point and the experimental variogram values of the certain target measured point and each of the multiple reference measured points of the certain target measured point, establish and solve the ordinary Kriging equations to obtain multiple reference weight coefficients corresponding one-to-one to the multiple reference measured points of the certain target measured point.

[0096] In step S307122, the specific establishment and solution process of the ordinary Kriging equations can be derived by referring to subsequent steps S311 - S312, and will not be elaborated here.

[0097] S307123. Based on the measured values of the harmful gas concentrations of the multiple reference measured points of the certain target measured point and the multiple reference weight coefficients, calculate the estimated value of the harmful gas concentration of the certain target measured point.

[0098] In step S307123, the specific calculation formula can be derived by referring to subsequent step S313, and will not be elaborated here.

[0099] S3072. For each of the experimental variogram models, based on the measured values of the harmful gas concentrations of the multiple measured points and the corresponding estimated values of the harmful gas concentrations of the multiple measured points, calculate the corresponding model quality evaluation index values.

[0100] S308. Based on the model quality evaluation index values of each of the experimental variogram models, determine the optimal experimental variogram model that best meets the model optimization preset conditions from the multiple experimental variogram models.

[0101] In step S308, specifically, the model optimization preset conditions include but are not limited to the mean error value being close to 0, the standardized root mean square error value being close to 1, and / or the root mean square error value being close to the mean standard error value, etc. The more the foregoing model optimization preset conditions are met, the better the quality of the corresponding model.

[0102] S309. Determine m measured points located around the target measurement point from the multiple measured points according to the known coordinates of the multiple measured points and the known coordinates of the target measurement point in the target storage warehouse, where m represents a positive integer greater than 2.

[0103] In step S309, the target measurement point can be a certain measured point or a non-measured point (i.e., the measurement point to be estimated). Specifically, the area around the target measurement point can refer to a circular area centered on the target measurement point with a specific radius value. Among them, the specific value can be appropriately adjusted according to the search results of the measured points. For example, when m is too small, the radius value is enlarged, and when m is too large, the radius value is reduced.

[0104] S310. Calculate the distance values from the target measurement point to each of the m measured points according to the known coordinates of the target measurement point and the known coordinates of the m measured points, and substitute the distance value of the regionalized variable to the measurement point to be estimated into the optimal experimental variogram model. Then, apply the model coefficients of the optimal experimental variogram model to calculate the experimental variogram values between the target measurement point and each of the m measured points.

[0105] S311. Establish the following ordinary Kriging equations according to the semi-variance values of the harmful gas concentration of each pair of measured points among the m measured points and the experimental variogram values between the target measurement point and each of the m measured points:

[0106]

[0107] In the formula, i and j respectively represent positive integers, λ i represents the weight coefficient to be solved corresponding to the i-th measured point among the m measured points, γ(x i , x j ) represents the semi-variance value of the harmful gas concentration corresponding to the i-th measured point and the j-th measured point among the m measured points, u represents the Lagrange multiplier factor to be solved, and γ(x i , x 0 ) represents the experimental variogram value between the target measurement point and the i-th measured point.

[0108] In step S311, the ordinary Kriging equations are an equation set based on the Kriging interpolation method and contain m + 1 equations, where is the unbiased estimation condition of the Kriging interpolation method.

[0109] S312. Solve the ordinary Kriging equations to obtain m weight coefficients corresponding one by one to the m measured points.

[0110] In the step S312, since there are only m + 1 unknowns in the ordinary Kriging equations, m weight coefficients corresponding to the m measured points one by one can be obtained by solving based on conventional equation-solving means.

[0111] S313. According to the measured values of the harmful gas concentrations at the m measured points, calculate the estimated value Z(x 0 ) of the harmful gas concentration at the target measurement point according to the following formula:

[0112]

[0113] In the formula, Z(x i ) represents the measured value of the harmful gas concentration at the i-th measured point.

[0114] In the step S313, since the measured harmful gas concentration values can be regarded as the attribute values of the known points, and the harmful gas concentration can be regarded as multiple realizations of a random field, the estimated result of the harmful gas concentration in the target storage warehouse can be estimated / interpolated through the above formula.

[0115] S314. Take the estimated values of the harmful gas concentrations at all the target measurement points in the entire area of the target storage warehouse as the three-dimensional distribution of the harmful gas concentration in the target storage warehouse.

[0116] Thus, based on the foregoing possible design one, the three-dimensional distribution result of the harmful gas concentration that meets the use requirements and accuracy requirements can be quickly and efficiently obtained only by the measured data of a small number of measured points, greatly shortening the required time, and thus having certain theoretical significance and high engineering practical value.

[0117] Based on the technical solution of the foregoing first aspect, this embodiment further provides a possible design two on how to perform linkage control of the storage warehouse door lock when considering that there are operators in the warehouse, that is, as Figure 2 shown, sending a locking instruction to the door lock device of the target storage warehouse, including but not limited to the following steps S41 to S43.

[0118] S41. Real-time obtain the M distance values between the UWB ranging module in the terminal device for wearing and binding the operator and the M UWB ranging signal transmitting devices respectively, where M represents a positive integer greater than or equal to 3 and less than or equal to 7, and each of the M UWB ranging signal transmitting devices is arranged at different positions in the target storage warehouse.

[0119] In step S41, the UWB ranging signal transmitting device is used to externally transmit a wireless signal for UWB ranging based on the existing UWB (Ultra-Wideband) ranging technology; specifically, when M is 5, the M UWB ranging signal transmitting devices can be arranged, for example but not limited to, at the center of the top surface and the centers of the four side walls inside the target storage warehouse. The terminal device can adopt an openable wearable ring structure (such as a bracelet structure or a wristwatch structure, etc.), or other wearable structures. The UWB ranging module is used to measure the distance value from the local module to the UWB ranging signal transmitting device based on the existing UWB ranging technology; the M distance values correspond one-to-one to the M UWB ranging signal transmitting devices. In addition, the M distance values can be wirelessly transmitted and obtained, for example but not limited to, through the wireless data transmission module (such as a WiFi module or a LoRa module, etc.) in the terminal device.

[0120] S42. Based on the M distance values and the known positions of the M UWB ranging signal transmitting devices, the current position of the terminal device is solved in real time.

[0121] In step S42, specifically, but not limited to, an existing positioning algorithm (such as the TOA algorithm) can be used to solve for the current position of the terminal device.

[0122] S43. It is determined in real time whether the current position of the terminal device is inside the target storage warehouse. If so, an alarm message for instructing the operator to evacuate urgently is sent to the terminal device; otherwise, a locking instruction is sent to the door lock device of the target storage warehouse.

[0123] In step S43, the alarm message can be played through a language speaker or a display screen configured on the terminal device to instruct the operator to evacuate urgently. To enrich the alarm message to effectively guide the operator to evacuate safely, preferably, sending an alarm message for instructing the operator to evacuate urgently to the terminal device includes, but is not limited to, the following steps S431 to S434.

[0124] S431. Based on the current position of the terminal device, the known position of the warehouse door corresponding to the door lock device, and the known internal layout of the target storage warehouse, at least one evacuation route from the current position of the terminal device to the known position of the warehouse door is planned.

[0125] In the step S431, the specific planning method of the evacuation route can be but is not limited to the conventional implementation using existing methods such as obstacle avoidance algorithms. In addition, if the target storage warehouse has at least two warehouse doors corresponding to at least two door lock devices one by one, then for each of the at least two warehouse doors, at least one evacuation route from the current position of the terminal device to the known position of the corresponding warehouse door needs to be planned separately.

[0126] S432. For each of the at least one evacuation route, determine at least one passing measurement point according to the three-dimensional distribution of the harmful gas concentration, and accumulate and calculate the sum of the current harmful gas concentrations of the at least one passing measurement point as the corresponding evacuation recommendation index value.

[0127] In the step S432, since it is inevitable for the operator to inhale toxic gases during the evacuation process, the sum of the current harmful gas concentrations of the at least one passing measurement point is positively correlated with the total amount of toxic gas inhaled by the operator during the evacuation process, so that this sum can be used as an index value for determining whether the evacuation route is recommended.

[0128] S433. Select a certain evacuation route corresponding to the smallest evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route.

[0129] In the step S433, since the certain evacuation route corresponds to the smallest evacuation recommendation index value, it means that the operator will inhale the least amount of toxic gas during the evacuation along this route, so it can be used as the best recommended evacuation route. In addition, in order to automatically lock the door lock devices of the warehouse doors irrelevant to the recommended evacuation route in a timely manner, preferably, when the target storage warehouse has at least two warehouse doors corresponding to at least two door lock devices one by one, after selecting a certain evacuation route corresponding to the smallest evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route, the method further includes but is not limited to: for each of the at least two warehouse doors, determine whether there is a certain recommended evacuation route with the known position of the corresponding warehouse door as the end point among all the recommended evacuation routes, and if not, send a locking instruction to the corresponding door lock device.

[0130] S434. Send an alarm message for instructing the operator to evacuate urgently and carrying the recommended evacuation route to the terminal device.

[0131] Therefore, based on the aforementioned possible design two, it is also possible to determine whether the operator has evacuated based on the UWB ranging technology when considering that there are operators in the warehouse, and give an alarm and plan the best evacuation route when the operator has not evacuated, so as to realize the safe evacuation of the operator and further improve the operation safety.

[0132] Based on the technical solution of the possible design 2 described above, this embodiment further provides a possible design 3 on how to use the lighting system for safe evacuation guidance, that is, as Figure 3 shown, after selecting a certain evacuation route corresponding to the minimum evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route, the method further includes but is not limited to the following steps S4331 to S4332.

[0133] S4331. Determine at least one passing lighting fixture in the target storage warehouse according to all the recommended evacuation routes and the known layout positions of all the lighting fixtures in the target storage warehouse.

[0134] S4332. Send lighting instructions to the at least one passing lighting fixture respectively, and send extinguishing instructions to the remaining lighting fixtures in the target storage warehouse respectively.

[0135] Therefore, based on the possible design 3 described above, after obtaining the recommended evacuation route, it is also possible to guide the operator to move forward along the lit direction until reaching the warehouse door by lighting the passing lighting fixtures and extinguishing other lighting fixtures, which is conducive to the rapid and safe evacuation of the operator.

[0136] As Figure 4 shown, the second aspect of this embodiment provides a virtual system for implementing the storage door lock linkage control method described in the first aspect or any possible design in the first aspect, including but not limited to a detection signal receiving module, a concentration-position association module, a concentration distribution inversion module, and a locking instruction sending module that are communicatively connected in sequence;

[0137] The detection signal receiving module is used to receive the harmful gas concentration detection signals collected in real time by multiple environmental perception devices, where each of the multiple environmental perception devices is arranged at different positions in the target storage warehouse;

[0138] The concentration-position association module is used to obtain the measured values of the harmful gas concentration at multiple measured points in real time according to the harmful gas concentration detection signals, where the multiple measured points refer to the positions where the multiple environmental perception devices are located;

[0139] The concentration distribution inversion module is used to inversely obtain the three-dimensional distribution of the harmful gas concentration in the target storage warehouse in real time according to the measured values of the harmful gas concentration at the multiple measured points;

[0140] The locking instruction sending module is configured to, for any measurement point in the target storage warehouse, if it is found in real time according to the three-dimensional distribution of the harmful gas concentration that the current harmful gas concentration at the corresponding measurement point reaches a preset concentration threshold, send a locking instruction to the door lock device of the target storage warehouse so as to lock the door lock device.

[0141] For the working process, working details and technical effects of the foregoing system provided in the second aspect of this embodiment, reference may be made to the storage door lock linkage control method described in the first aspect or any possible design in the first aspect, which will not be elaborated herein.

[0142] As Figure 5 shown, the third aspect of this embodiment provides a computer system for executing the storage door lock linkage control method described in the first aspect or any possible design in the first aspect, including a memory, a processor and a transceiver that are communicatively connected in sequence. Among them, the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer programs and execute the storage door lock linkage control method described in the first aspect or any possible design in the first aspect. Specifically, by way of example, the memory may include, but is not limited to, random access memory (RAM), read only memory (ROM), flash memory, first input first output (FIFO) and / or first input last output (FILO), etc.; the processor may be, but is not limited to, a microprocessor of the STM32F105 series. In addition, the computer device may further include, but is not limited to, a power supply module, a display screen and other necessary components.

[0143] For the working process, working details and technical effects of the foregoing computer system provided in the third aspect of this embodiment, reference may be made to the storage door lock linkage control method described in the first aspect or any possible design in the first aspect, which will not be elaborated herein.

[0144] In the fourth aspect of this embodiment, there is provided a computer-readable storage medium storing instructions including the warehouse door lock linkage control method as described in the first aspect or any possible design in the first aspect, that is, there are instructions stored on the computer-readable storage medium, and when the instructions run on a computer, they execute the warehouse door lock linkage control method as described in the first aspect or any possible design in the first aspect. Among them, the computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, computer-readable storage media such as floppy disks, optical discs, hard disks, flash memories, USB flash drives, and / or Memory Sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0145] For the working process, working details, and technical effects of the aforementioned computer-readable storage medium provided in the fourth aspect of this embodiment, reference may be made to the warehouse door lock linkage control method as described in the first aspect or any possible design in the first aspect, and details will not be elaborated herein.

[0146] In the fifth aspect of this embodiment, there is provided a computer program product including a computer program or instructions, and when the computer program or the instructions are executed by a computer, they implement the warehouse door lock linkage control method as described in the first aspect or any possible design in the first aspect. Among them, the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0147] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A warehouse door lock linkage control method based on environment perception, characterized in that: include: Receiving harmful gas concentration detection signals collected in real time by multiple environmental sensing devices, wherein each of the multiple environmental sensing devices is arranged at a different position in the target storage warehouse; According to the harmful gas concentration detection signal, obtaining the measured values ​​of the harmful gas concentration at multiple measuring points in real time, wherein the multiple measuring points refer to the locations of the multiple environment sensing devices; According to the measured values ​​of the harmful gas concentration at the multiple measured points, the three-dimensional distribution of the harmful gas concentration in the target storage warehouse is obtained by real-time inversion; For any measuring point in the target storage warehouse, if it is found in real time based on the three-dimensional distribution of the harmful gas concentration that the current harmful gas concentration at the corresponding measuring point reaches a preset concentration threshold, a locking instruction is sent to the door lock device of the target storage warehouse to lock the door lock device.

2. The warehouse door lock linkage control method according to claim 1, characterized in that: The multiple environmental sensing devices include harmful gas concentration detectors respectively arranged at the center of the top surface, the center of the ground and the center of each side wall in the target storage warehouse.

3. The warehouse door lock linkage control method according to claim 1, characterized in that: According to the measured values ​​of the harmful gas concentration at the multiple measured points, the three-dimensional distribution of the harmful gas concentration in the target storage warehouse is obtained by real-time inversion, including: According to the measured values ​​of the harmful gas concentration at the multiple measured points, the three-dimensional distribution of the harmful gas concentration in the target storage warehouse is obtained by real-time inversion based on the Kriging interpolation method.

4. The warehouse door lock linkage control method according to claim 1, characterized in that: Sending a locking instruction to the door lock device of the target storage warehouse includes: Acquire in real time M distance values ​​between the UWB ranging module in the terminal device for wearing the binding operator and the M UWB ranging signal sending devices, wherein M represents a positive integer greater than or equal to 3 and less than or equal to 7, and each of the M UWB ranging signal sending devices is arranged at a different position in the target storage warehouse; According to the M distance values ​​and the known locations of the M UWB ranging signal sending devices, the current location of the terminal device is obtained by solving in real time; Determine in real time whether the current location of the terminal device is inside the target storage warehouse. If so, send an alarm message to the terminal device to instruct the operating personnel to evacuate urgently; otherwise, send a locking instruction to the door lock device of the target storage warehouse.

5. The warehouse door lock linkage control method according to claim 4, characterized in that: Sending an alarm message to the terminal device for instructing the operator to evacuate urgently includes: According to the current location of the terminal device, the known location of the door corresponding to the door lock device, and the known internal layout of the target storage warehouse, at least one evacuation route from the current location of the terminal device to the known location of the door is planned; For each evacuation route in the at least one evacuation route, determine at least one corresponding passing measurement point according to the three-dimensional distribution of the harmful gas concentration, and cumulatively calculate and obtain the sum of the current harmful gas concentrations of the at least one passing measurement point as the corresponding evacuation recommendation index value; Selecting an evacuation route corresponding to the minimum evacuation recommendation index value from the at least one evacuation route as a recommended evacuation route; An alarm message for instructing the operating personnel to evacuate urgently and carrying the recommended evacuation route is sent to the terminal device.

6. The warehouse door lock linkage control method according to claim 5, characterized in that: When the target storage warehouse has at least two doors corresponding to at least two door lock devices, after selecting an evacuation route corresponding to the minimum evacuation recommendation index value from the at least one evacuation route as the recommended evacuation route, the method further includes: For each of the at least two warehouse doors, it is determined whether there is a recommended evacuation route among all the recommended evacuation routes whose end point is the known position of the corresponding warehouse door. If not, a locking instruction is sent to the corresponding door lock device.

7. The warehouse door lock linkage control method according to claim 5, characterized in that: After selecting an evacuation route corresponding to the minimum evacuation recommendation index value from the at least one evacuation route as a recommended evacuation route, the method further includes: Determine at least one lighting fixture in the target storage warehouse according to all the recommended evacuation routes and the known locations of all lighting fixtures in the target storage warehouse; A lighting instruction is sent to the at least one passing lighting fixture, and a extinguishing instruction is sent to the remaining lighting fixtures in the target storage warehouse.

8. The warehouse door lock linkage control method according to claim 1, characterized in that: After sending a locking instruction to the door lock device of the target storage warehouse, the method further includes: According to the three-dimensional distribution of the harmful gas concentration, a certain measuring point with the maximum current harmful gas concentration is determined as a harmful gas leakage point; The exhaust fan closest to the harmful gas leakage point is started to extract the gas, so as to extract the harmful gas and introduce it into the harmful gas enrichment device.

9. A warehouse door lock linkage control system based on environment perception, characterized in that: It includes a detection signal receiving module, a concentration position association module, a concentration distribution inversion module and a locking instruction sending module which are sequentially connected in communication; The detection signal receiving module is used to receive harmful gas concentration detection signals collected in real time by multiple environmental sensing devices, wherein each of the multiple environmental sensing devices is arranged at a different position in the target storage warehouse; The concentration-position association module is used to obtain the measured values ​​of the harmful gas concentration at multiple measured points in real time according to the harmful gas concentration detection signal, wherein the multiple measured points refer to the locations of the multiple environment sensing devices; The concentration distribution inversion module is used to obtain the three-dimensional distribution of the harmful gas concentration in the target storage warehouse in real time based on the measured values ​​of the harmful gas concentration at the multiple measured points; The locking instruction sending module is used to send a locking instruction to the door lock device of the target storage warehouse for locking the door lock device if it is found in real time based on the three-dimensional distribution of the harmful gas concentration that the current harmful gas concentration at the corresponding measuring point reaches a preset concentration threshold at any measuring point in the target storage warehouse.

10. A computer system, characterized in that: It includes a memory, a processor and a transceiver which are communicatively connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the warehouse door lock linkage control method as described in any one of claims 1 to 8.

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