AGV carrying path planning system and method for underground garage fire prevention

Abstract

The invention discloses an AGV carrying path planning system and method for underground garage fire prevention, and relates to the technical field of AGV carrying path control. The AGV carrying path planning system for underground garage fire prevention comprises a data acquisition module, a carrying state evaluation module and an unfolding state evaluation module. The carrying state data and the unfolding state data are obtained by monitoring the driving state of the AGV in the process of carrying the fireproof cover in real time, and then the carrying state of the AGV in the process of carrying the fireproof cover is evaluated according to the obtained carrying state data. And finally, the unfolding state of the AGV in the process of unfolding the fireproof cover is evaluated according to the obtained unfolding state data, so that the fireproof cover can be carried more accurately when the vehicle is spontaneously combusted, and the problem that in the prior art, the optimization accuracy of the carrying path of the AGV carrying the fireproof cover is not high when the vehicle is spontaneously combusted is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV handling path control, and particularly to an AGV handling path planning system and method for fire prevention in underground garages. Background Art

[0002] With the acceleration of the urbanization process and the continuous increase in the number of motor vehicles, underground garages, as an important part of urban parking facilities, have attracted increasing attention for their safety and efficiency. In underground garages, due to the relatively enclosed space, dense vehicles, and potential fire risks, how to ensure the safe handling and rapid evacuation of vehicles has become an urgent problem to be solved. AGV (Automated Guided Vehicle) technology is an automated handling system integrating various technologies such as navigation, control, sensors, and communication. It can automatically complete the handling tasks of goods according to preset paths and instructions, providing an effective solution for fire prevention and vehicle handling in underground garages.

[0003] In the existing technology, the temperature of vehicles is monitored in real time through temperature control probes. Once the vehicle temperature exceeds the temperature threshold set by the system or the temperature change range exceeds the set value of the system, the control system is used to control the handling vehicle to move the problematic vehicle to a fire isolation room for storage, and the fire isolation room is closed by a fireproof rolling curtain to store the problematic vehicle separately, reducing the impact of vehicle spontaneous combustion on other vehicles and the garage itself.

[0004] For example, a handling robot path planning system for a new energy charging parking lot disclosed in the invention patent announcement with the publication number of CN118131773B includes: obtaining the garage data of the current new energy charging parking lot; visually displaying charging prompt information to the user and obtaining the user's charging selection information; obtaining the current garage data, charging prompt information, and charging selection information, and planning the handling path information of the AGV handling robot according to the A* algorithm based on them; obtaining the handling path information and completing the handling task according to it.

[0005] For example, a method, device, and storage medium for planning the vehicle access path in an intelligent parking garage disclosed in the invention patent announcement with the publication number of CN107992036B include: modeling each element in the parking garage by means of a grayscale value image to obtain a binary grid map; starting morphological dilation from the entrance of the parking garage and continuously increasing the potential energy value at each dilated position; using the dynamic time window method to solve the competition for multiple parking path resources and selecting the optimal path from the parking potential energy map.

[0006] However, in the process of implementing the technical solutions of the present invention in the embodiments of the present application, it is found that the above technologies have at least the following technical problems:

[0007] In the prior art, the handling path planning of AGVs may not fully consider the shortest distance, obstacle avoidance, or traffic congestion, resulting in a suboptimal handling path. Secondly, although the A* algorithm can theoretically plan the shortest path from the starting point to the ending point, in practical applications, it may be affected by various factors. Changes in real-time traffic conditions (such as the movement of other AGVs and the appearance of obstacles) and the speed limit of AGVs may affect the effectiveness of path planning. Therefore, the A* algorithm may not fully consider these dynamic factors, thereby affecting the handling efficiency of the fireproof cover, and there is a problem of low accuracy in optimizing the handling path of the AGV when transporting the fireproof cover during vehicle spontaneous combustion. Summary of the Invention

[0008] By providing an AGV handling path planning system and method for underground garage fire prevention in an embodiment of the present application, the problem of low accuracy in optimizing the handling path of the AGV when transporting the fireproof cover during vehicle spontaneous combustion in the prior art is solved, and more accurate handling of the fireproof cover during vehicle spontaneous combustion is achieved.

[0009] An embodiment of the present application provides an AGV handling path planning system for underground garage fire prevention, including: a data acquisition module, a handling state evaluation module, and an unfolding state evaluation module; wherein, the data acquisition module is used to monitor the driving state during the process of the AGV transporting the fireproof cover in real time to obtain handling state data and unfolding state data; the handling state evaluation module is used to evaluate the handling state during the process of the AGV transporting the fireproof cover according to the obtained handling state data; the unfolding state evaluation module is used to evaluate the unfolding state during the process of the AGV unfolding the fireproof cover according to the obtained unfolding state data.

[0010] Further, the specific process for obtaining the handling status data is as follows: When the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, the first target position offset is obtained, and the first target position offset represents the shortest distance between the actual stop position and the preset target position; when the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, the second target position offset is obtained, and the second target position offset represents the vertical distance between the actual stop position and the preset target position; the first shortest distance of the AGV at the end of the preset handling period is obtained. When the first shortest distance is not greater than the first shortest distance preset in the database, the AGV is prompted to avoid obstacles and the driving speed is reduced by a preset amplitude, otherwise the handling process of the AGV is continuously monitored; the avoidance parameters of the AGV during the obstacle avoidance process are obtained. When the second shortest distance is not greater than the second shortest distance preset in the database, the driving speed is reduced by a preset amplitude, otherwise the driving speed is increased by a preset amplitude, and the avoidance parameters include the second shortest distance, the braking speed, and the braking distance; the lane width of the AGV at the end of the preset handling period is obtained, and at the same time, the handling status data is obtained, and the handling status data includes the first target position offset, the second target position offset, and the avoidance parameters.

[0011] Further, the specific steps for evaluating the handling status during the AGV's handling of the fireproof cover according to the obtained handling status data include: performing a collision risk assessment on the handling status during the AGV's handling of the fireproof cover based on the obtained handling status data to obtain a collision risk assessment value, and at the same time, judging whether to update the preset handling path based on the obtained collision risk assessment value. If so, send a preset handling path update instruction; otherwise, continue to perform the AGV fireproof cover handling according to the preset handling path. When the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, perform a first data correction process on the obtained first target position offset score, actual travel distance score, and collision risk assessment value coefficient respectively to obtain a handling status compliance score. When the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, perform a second data correction process on the obtained second target position offset score, actual travel distance score, and collision risk assessment value coefficient respectively to obtain a handling status compliance score. The first target position offset score represents the result of the first target position offset weight factor correcting the difference between the first target position offset of the AGV at the end of the preset handling period and the reference first target position offset in the database. The second target position offset score represents the result of the second target position offset weight factor correcting the difference between the second target position offset of the AGV at the end of the preset handling period and the reference second target position offset in the database. The actual travel distance score represents the result of the actual travel distance weight factor correcting the difference between the actual travel distance of the AGV at the end of the preset handling period and the reference actual travel distance in the database. The collision risk assessment value coefficient represents the result of the collision risk assessment value weight factor correcting the collision risk assessment value.

[0012] Further, the collision risk assessment value is obtained through the following method: evaluating the obtained avoidance parameters to obtain a second shortest distance score, a braking speed score, and a braking distance score; performing an exponential function process on the obtained second shortest distance score, braking speed score, and braking distance score to obtain a collision risk assessment value. The second shortest distance score represents the result of the second shortest distance weight factor correcting the difference between the second shortest distance of the AGV at the end of the preset handling period and the preset second shortest distance. The braking speed score represents the result of the braking speed weight factor correcting the difference between the braking speed of the AGV at the end of the preset handling period and the reference braking speed. The braking distance score represents the result of the braking distance weight factor correcting the difference between the braking distance of the AGV at the end of the preset handling period and the reference braking distance. The collision risk assessment value represents the quantitative data of the combined influence of the second shortest distance score, braking speed score, and braking distance score on the safety of the fireproof cover handling.

[0013] Further, the specific steps for obtaining the deployment state data are as follows: Obtain the offset of the fireproof cover corresponding to the AGV at the end of the preset deployment period, and determine whether the obtained offset of the fireproof cover is not less than the preset offset of the fireproof cover in the database. If so, obtain the steering angle of the fireproof cover corresponding to the AGV at the end of the preset deployment period; otherwise, send a calibration position sensor command; Obtain the actual coverage point position and smoke concentration corresponding to the AGV at the end of the preset deployment period, and simultaneously combine the obtained offset of the fireproof cover and the steering angle of the fireproof cover to obtain the deployment state data. The deployment state data includes the offset of the fireproof cover, the steering angle of the fireproof cover, the actual coverage point position, and the smoke concentration.

[0014] Further, the specific steps for evaluating the deployment state during the process of the AGV deploying the fireproof cover according to the obtained deployment state data include: performing ratio processing and weighting processing on the obtained offset of the fireproof cover and the offset of the coverage point respectively to obtain the offset coefficient of the fireproof cover and the offset coefficient of the coverage point; performing a stationary correction on the sum result of the data correction result of the offset coefficient of the fireproof cover and the offset coefficient of the coverage point to obtain the first deployment state compliance score; correcting the degree correction result of the handling state compliance score through the deployment state compliance score weight factor to obtain the second deployment state compliance score; correcting the degree of difference between the steering angle of the fireproof cover and the reference steering angle of the fireproof cover through the steering angle weight factor of the fireproof cover to obtain the third deployment state compliance score; performing a coupling process on the obtained first deployment state compliance score, second deployment state compliance score, and third deployment state compliance score to obtain the deployment state compliance score; The offset coefficient of the fireproof cover is used to reflect the influence degree of the offset of the fireproof cover corresponding to the AGV at the end of the preset deployment period on the compliance degree of the fireproof cover deployment state; The offset coefficient of the coverage point is used to reflect the influence degree of the offset of the coverage point corresponding to the AGV at the end of the preset deployment period on the compliance degree of the fireproof cover deployment state; The deployment state compliance score represents the quantitative data of the combined influence degree of the first deployment state compliance score, second deployment state compliance score, and third deployment state compliance score on the compliance degree of the fireproof cover deployment state.

[0015] The embodiment of the present application provides an AGV handling path planning method for underground garage fire prevention, including the following steps: S1, real-time monitoring of the driving state during the process of the AGV handling the fireproof cover to obtain the handling state data and the deployment state data; S2, evaluating the handling state during the process of the AGV handling the fireproof cover according to the obtained handling state data; S3, evaluating the deployment state during the process of the AGV deploying the fireproof cover according to the obtained deployment state data.

[0016] One or more technical solutions provided in the embodiment of the present application have at least the following technical effects or advantages:

[0017] 1. By monitoring the driving state during the process of the AGV carrying the fireproof cover in real time to obtain the handling state data and the deployment state data, then evaluating the handling state during the process of the AGV carrying the fireproof cover according to the obtained handling state data, and finally evaluating the deployment state during the process of the AGV deploying the fireproof cover according to the obtained deployment state data, it ensures that the fireproof cover can quickly and effectively cover the self-igniting vehicle in case of an emergency, thus achieving more accurate handling of the fireproof cover when the vehicle catches fire, and effectively solving the problem of low accuracy in optimizing the handling path of the AGV carrying the fireproof cover when the vehicle catches fire in the prior art.

[0018] 2. By evaluating the obtained avoidance parameters to obtain the second shortest distance score, braking speed score and braking distance score, and at the same time performing exponential function processing on the obtained second shortest distance score, braking speed score and braking distance score to obtain the collision risk assessment value, it makes the evaluation result of the handling state assessment more accurate, thus more comprehensively evaluating the collision risk of the AGV during the process of carrying the fireproof cover. This not only realizes the accurate quantitative assessment of the collision risk, but also further realizes the safety optimization during the process of the AGV carrying the fireproof cover.

[0019] 3. By comparing the obtained handling state compliance score with the preset handling state compliance score, dynamically adjusting the driving parameters of the AGV, and then timely adjusting the handling path, it can reduce the ineffective handling caused by path deviation, and at the same time avoid conflicts among multiple AGVs on the same path, significantly improving the accuracy of optimizing the handling path of the fireproof cover of the self-igniting vehicle during the AGV handling process, thereby improving the handling efficiency, system stability and safety, and realizing intelligent management.

[0020] 4. By respectively performing ratio processing and weighting processing on the obtained fireproof cover position offset and the covering point position offset to obtain the fireproof cover position offset coefficient and the covering point position offset coefficient, then performing stable correction on the sum result of the data correction result of the fireproof cover position offset coefficient and the covering point position offset coefficient to obtain the first deployment state compliance score, and finally performing coupling processing on the obtained first deployment state compliance score, second deployment state compliance score and third deployment state compliance score to obtain the deployment state compliance score, it realizes the improvement of the accuracy of obtaining the deployment state compliance score, and further realizes a more comprehensive and effective evaluation of the deployment state of the fireproof cover during the AGV handling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of an AGV handling path planning system for underground garage fire prevention provided by an embodiment of the present application;

[0022] Figure 2It is a flowchart for evaluating the handling state of the fireproof cover provided by the embodiment of the present application;

[0023] Figure 3 It is a flowchart of a method for planning the AGV handling path for fire prevention in an underground garage provided by the embodiment of the present application. Specific implementation manners

[0024] By providing an AGV handling path planning system and method for fire prevention in an underground garage in the embodiment of the present application, the problem of low accuracy in optimizing the handling path of the AGV for handling the fireproof cover during vehicle spontaneous combustion in the prior art is solved. The data acquisition module monitors the driving state during the AGV handling of the fireproof cover in real time to obtain the handling state data and the deployment state data. Then, the handling state evaluation module evaluates the handling state during the AGV handling of the fireproof cover according to the obtained handling state data. At the same time, based on the result of the handling state evaluation, it is judged whether to complete the update of the preset handling path. Finally, the deployment state evaluation module evaluates the deployment state during the AGV deployment of the fireproof cover according to the obtained deployment state data. At the same time, based on the result of the deployment state evaluation, it is judged whether to complete the handling of the fireproof cover, achieving more accurate handling of the fireproof cover during vehicle spontaneous combustion.

[0025] The technical solution in the embodiment of the present application is to solve the problem of low accuracy in optimizing the handling path of the AGV for handling the fireproof cover during vehicle spontaneous combustion. The general idea is as follows:

[0026] By monitoring the driving state during the AGV handling of the fireproof cover in real time to obtain the handling state data and the deployment state data, then evaluating the handling state during the AGV handling of the fireproof cover according to the obtained handling state data, and finally evaluating the deployment state during the AGV deployment of the fireproof cover according to the obtained deployment state data, the effect of more accurate handling of the fireproof cover during vehicle spontaneous combustion is achieved.

[0027] To better understand the above technical solution, the above technical solution will be described in detail below in combination with the accompanying drawings of the specification and specific implementation manners.

[0028] Such as Figure 1As shown in the figure, it is a schematic structural diagram of an AGV handling path planning system for underground garage fire prevention provided by an embodiment of the present application. An AGV handling path planning system for underground garage fire prevention provided by an embodiment of the present application includes: a data acquisition module, a handling status evaluation module, and an unfolding status evaluation module; wherein, the data acquisition module is used to monitor the driving status during the process of the AGV handling the fire prevention cover in real time to obtain handling status data and unfolding status data; the handling status evaluation module is used to evaluate the handling status during the process of the AGV handling the fire prevention cover according to the obtained handling status data; the unfolding status evaluation module is used to evaluate the unfolding status during the process of the AGV unfolding the fire prevention cover according to the obtained unfolding status data.

[0029] In this embodiment, the process of the AGV handling the fire prevention cover refers to the AGV handling the fire prevention cover to a preset target position according to a preset handling path. The preset target position is usually the unfolding position of the fire prevention cover. The process of the AGV unfolding the fire prevention cover refers to the AGV handling the fire prevention cover to the fire prevention cover covering point position corresponding to the parking position of the problem vehicle according to a preset unfolding path, that is, the fire prevention cover on the AGV is unfolded on the preset unfolding path. Among them, the problem vehicle refers to the parked vehicle when the temperature of the parked vehicle in the unmanned underground garage catches fire and is greater than the garage warning temperature (set by a preset person). The preset handling path and the preset unfolding path are both the optimal paths during the AGV handling process initially set by the preset person. Through the automated and intelligent AGV handling and unfolding of the fire prevention cover, while ensuring the safe handling and unfolding of the fire prevention cover, it further realizes the more accurate handling of the fire prevention cover when the vehicle catches fire.

[0030] Furthermore, the specific process of obtaining the handling status data is as follows: when the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, the first target position offset is obtained, and the first target position offset represents the shortest distance between the actual stop position and the preset target position; when the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, the second target position offset is obtained, and the second target position offset represents the vertical distance between the actual stop position and the preset target position; the first shortest distance of the AGV at the end of the preset handling period is obtained, and when the first shortest distance is not greater than the first shortest distance preset in the database, the AGV is prompted to avoid obstacles and reduce the driving speed by a preset amplitude, otherwise it continues Monitor the handling process of the AGV. The first shortest distance represents the shortest distance between the AGV and obstacles (such as other AGVs, parked vehicles, moving vehicles and parking lot pillars). Obtain the avoidance parameters of the AGV during the obstacle avoidance process. When the second shortest distance is not greater than the second shortest distance preset in the database, reduce the driving speed by a preset range. Otherwise, increase the driving speed by a preset range. The avoidance parameters include the second shortest distance, braking speed and braking distance. The second shortest distance represents the shortest distance between the AGV and fire-fighting facilities (such as fire hydrants and fire extinguishers). Obtain the lane width of the AGV at the end of the preset handling period, and obtain the handling status data at the same time. The handling status data includes the first target position offset, the second target position offset and the avoidance parameters.

[0031] In this embodiment, the transport state of the AGV and the deployment state of the fire hood need to be monitored in real time, and the distance between the AGV and the obstacle is also monitored in real time. When an emergency occurs (such as a vehicle malfunctioning in an underground garage resulting in excessive speed, the AGV may not have time to avoid it, resulting in a collision between the malfunctioning vehicle and the AGV), the AGV issues an abnormal collision warning and prompts the preset personnel to perform maintenance. Therefore, the condition for obtaining data during the preset transport period is that there is no abnormal collision between the AGV and the obstacle; the limiting condition for increasing the travel speed by a preset amplitude is that the first shortest distance is not less than the second shortest distance preset in the database and the second shortest distance is not less than the second shortest distance preset in the database; the preset first shortest distance is represented by the sum and average of the historical shortest distances between the AGV and the obstacle in the database (when no collision occurs), and the preset second shortest distance is represented by the sum and average of the historical shortest distances between the AGV and the fire-fighting facilities in the database; the preset amplitude is usually set by the preset personnel according to the sum and average of the historical accelerations of the AGV in the historical process of transporting the fire hood.

[0032] The AGV stores various high-precision sensors, including but not limited to laser sensors, speed sensors, displacement sensors, positioning sensors, and image sensors. Among them, the laser sensor can accurately measure the distances between the AGV and obstacles, fire protection facilities respectively by emitting laser and receiving the reflected laser signals; the speed sensor is usually installed on the driving wheels or motors of the AGV to monitor the driving speed of the AGV in real time. When braking is required, the speed sensor can provide the current braking distance and braking time; the displacement sensor is used to monitor the actual displacement of the AGV during the braking process; the image sensor (such as a high-definition camera) is used to capture the image information around the AGV and identify the actual position of the preset target position through image processing algorithms, and the positioning sensor (such as radio frequency identification technology) is used to determine the precise position of the AGV in the underground garage. By comparing with the preset target position, the first target position offset and the second target position offset can be obtained. The accuracy and reliability of obtaining the handling state data are improved, and thus a more accurate assessment of the AGV handling state is achieved.

[0033] As Figure 2 shown, it is the evaluation flowchart of the handling state of the fireproof cover provided by the embodiment of the present application. The specific steps for evaluating the handling state of the AGV during the process of handling the fireproof cover according to the obtained handling state data include: performing a collision risk assessment on the handling state of the AGV during the process of handling the fireproof cover according to the obtained handling state data to obtain a collision risk assessment value, and at the same time judging whether to update the preset handling path based on the obtained collision risk assessment value. If so, send a preset handling path update instruction, otherwise continue to perform the AGV fireproof cover handling according to the preset handling path; when the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, perform a first data correction process on the obtained first target position offset score, actual driving distance score, and collision risk assessment value coefficient respectively to obtain a handling state compliance score; when the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, perform a second data correction process on the obtained second target position offset score, actual driving distance score, and collision risk assessment value coefficient respectively to obtain a handling state compliance score; the first target position offset score represents the result of correcting the difference between the first target position offset of the AGV at the end of the preset handling period and the reference first target position offset in the database by the first target position offset weight factor, that is The second target position offset score represents the result of correcting the difference between the second target position offset of the AGV at the end of the preset handling period and the reference second target position offset in the database by the second target position offset weight factor, that is The actual travel distance score represents the result of correcting the difference between the actual travel distance of the AGV at the end of the preset handling period and the reference actual travel distance in the database by the actual travel distance weight factor, that is The collision risk assessment value coefficient represents the result of correcting the collision risk assessment value by the collision risk assessment value weight factor, that is

[0034] Among them, the specific limit expression of the handling state compliance score is:

[0035]

[0036] In the formula, i represents the number of the actual stop position of the AGV at the end of the preset handling period, i = 0, 1. i = 0 means that the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, and i = 1 means that the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, BF i represents the handling state compliance score of the AGV at the end of the preset handling period, γ1 represents the first target position offset weight factor, Y1 represents the first target position offset of the AGV at the end of the preset handling period, Y10 represents the reference first target position offset, μ2 represents the actual travel distance weight factor, L represents the actual travel distance of the AGV at the end of the preset handling period, L0 represents the reference actual travel distance, μ3 represents the collision risk assessment value weight factor, PZ represents the collision risk assessment value of the AGV at the end of the preset handling period, γ2 represents the second target position offset weight factor, Y2 represents the second target position offset of the AGV at the end of the preset handling period, and Y20 represents the reference second target position offset.

[0037] In this embodiment, when the obtained collision risk assessment value is greater than the preset collision risk assessment value in the database, the preset handling path is updated. The steps are usually as follows: Mark the corresponding traveling vehicle and input it together with the garage scan data into the automatic navigation system of the AGV, which is usually an automated process to ensure that the AGV can avoid obstacles and complete the handling task safely; among them, the AGV has functions of real-time monitoring, automatic navigation and automatic positioning, and performs automatic navigation and positioning through the real-time monitored garage scan data. The garage scan data usually includes the parking position of the problem vehicle, the position of obstacles, guiding points (the starting point and end point of the AGV), and obstacle avoidance points (parked vehicles, parking lot columns, fire protection facilities positions, fire fire passages).

[0038] The unit of the first target position offset is the same as that of the reference first target position offset, the unit of the second target position offset is the same as that of the reference second target position offset, and the unit of the actual travel distance is the same as that of the reference actual travel distance, all of which are meters (m).

[0039] The first target position offset weight factor, the second target position offset weight factor, the actual travel distance weight factor, and the collision risk assessment value weight factor are respectively the influence degrees of the preset first target position offset, the second target position offset, the actual travel distance, and the collision risk assessment value in the database on the process of obtaining the handling state compliance score. Specifically, the database stores preset weight factors corresponding to the first target position offset, the second target position offset, the actual travel distance, and the collision risk assessment value. There is a preset mapping relationship between these weight factors and the first target position offset, the second target position offset, the actual travel distance, and the collision risk assessment value. This mapping relationship can be one-to-one or many-to-one. For example, in practical applications, the real-time first target position offset, the second target position offset, the actual travel distance, and the collision risk assessment value can be input into this mapping relationship to quickly obtain the corresponding weight factors, providing important quantitative indicators for evaluating the real-time performance and accuracy of the AGV handling state, and further calculating the handling state compliance score more accurately.

[0040] In this example, the value ranges of the first target position offset weight factor, the second target position offset weight factor, the actual travel distance weight factor, and the collision risk assessment value weight factor are all limited between 0 and 1. The sum of the first target position offset weight factor and the second target position offset weight factor is 1. When i = 1, the sum of the first target position offset weight factor, the actual travel distance weight factor, and the collision risk assessment value weight factor is 1. When i = 0, the sum of the second target position offset weight factor, the actual travel distance weight factor, and the collision risk assessment value weight factor is 1.

[0041] The aforementioned database is a database established before the design of an AGV handling path planning system for fire prevention in an underground garage, used to store various types of set data. The database includes but is not limited to the preset handling state compliance score, the preset collision risk assessment value, the preset deployment state compliance score, as well as the preset handling time period and the preset deployment time period. The various values therein are directly set by technicians. Among them, the setting basis of the preset collision risk assessment value can be determined according to the actual fireproof cover handling scenario of the AGV. For example, the preset collision risk assessment value is represented by the result of summing and averaging the historical collision risk assessment values of the AGV at the end of the historical handling time period in the database. In addition, various values in the database can be set and fine-tuned by technicians according to actual debugging.

[0042] It should be understood that when i = 0, the compliance score of the handling state increases with the increase of the second target position offset and the collision risk assessment value, and decreases with the increase of the actual driving distance. Among them, the second target position offset, the collision risk assessment value and the actual driving distance are not isolated from each other, but are interrelated. For example, when the AGV encounters an obstacle, it may need to deviate from the preset handling path to avoid the obstacle, which will increase the second target position offset. However, at the same time, if the AGV can successfully avoid the obstacle and continue to drive safely, then the collision risk assessment value will decrease. In addition, the shorter the detour path of the AGV during the obstacle avoidance process, the corresponding actual driving distance will also be reduced accordingly.

[0043] In summary, by comprehensively considering the mutual influence relationship among the second target position offset, the collision risk assessment value and the actual driving distance, it is possible to more accurately handle the fireproof cover during vehicle spontaneous combustion. This optimization not only improves the safety and efficiency of the handling operation, but also effectively solves the problem of inaccurate handling path optimization in the prior art.

[0044] Further, the collision risk assessment value is obtained through the following method: evaluating the obtained avoidance parameters to obtain the second shortest distance score, the braking speed score and the braking distance score; performing exponential function processing on the obtained second shortest distance score, the braking speed score and the braking distance score to obtain the collision risk assessment value; the second shortest distance score represents the result of the second shortest distance weight factor correcting the difference between the second shortest distance of the AGV at the end of the preset handling period and the preset second shortest distance, that is The braking speed score represents the result of the braking speed weight factor correcting the difference between the braking speed of the AGV at the end of the preset handling period and the reference braking speed, that is The braking distance score represents the result of the braking distance weight factor correcting the difference between the braking distance of the AGV at the end of the preset handling period and the reference braking distance, that is The collision risk assessment value represents the quantitative data of the combined influence degree of the second shortest distance score, the braking speed score and the braking distance score on the safety of the fireproof cover handling.

[0045] Among them, the specific limit expression of the collision risk assessment value is:

[0046]

[0047] In the formula, PZ represents the collision risk assessment value of the AGV at the end of the preset handling period, β1 represents the second shortest distance weight factor, J2 represents the second shortest distance of the AGV at the end of the preset handling period, J20 represents the preset second shortest distance, β2 represents the braking speed weight factor, SU represents the braking speed of the AGV at the end of the preset handling period, SU0 represents the reference braking speed, β3 represents the braking speed weight factor, JU represents the braking distance of the AGV at the end of the preset handling period, JU0 represents the reference braking distance, J1 represents the first shortest distance of the AGV at the end of the preset handling period, and J10 represents the preset first shortest distance.

[0048] In this embodiment, the units of the braking speed and the reference braking speed are the same, both are meters per second (m / s); the units of the second shortest distance and the preset second shortest distance are the same, and the units of the braking distance and the reference braking distance are the same, both are meters (m); the reference braking speed and the reference braking distance are respectively represented by the sum and average of the historical braking speed and the historical braking distance of the AGV at the end of the historical handling period.

[0049] The database stores preset weight factors that are closely related to the collision risk assessment values. A predefined mapping relationship is established between these weight factors and the corresponding second shortest distance, braking speed and braking distance. It is worth noting that this mapping is not set arbitrarily. It can be one-to-one or many-to-one. For example, in actual applications, when it is necessary to evaluate the collision risk of AGV in the process of transporting fire hoods, the second shortest distance, braking speed and braking distance obtained in real time can be directly input into this preset mapping relationship, so that the second shortest distance weight factor, braking speed weight factor and braking distance weight factor that match the second shortest distance, braking speed and braking distance can be quickly and accurately obtained.

[0050] It is particularly important that in order to ensure consistency and comparability of the evaluation, the value ranges of the second shortest distance weight factor, the braking speed weight factor and the braking distance weight factor in this example are all limited to between 0 and 1, and the sum of the three is 1.

[0051] It should be understood that the collision risk assessment value increases with the increase of the second shortest distance deviation (i.e. |J2-J20|), the braking speed deviation (i.e. |SU-SU0|) and the braking distance deviation (i.e. |JU-JU0|), wherein the second shortest distance is generally used to determine the minimum distance at which the AGV can stop safely in an emergency. The larger the second shortest distance deviation, the more likely the AGV may fail to stop in time during emergency braking, thereby increasing the possibility of collision.

[0052] When the braking speed of the AGV is higher than the reference braking speed, the AGV will require a longer distance and time to stop, which will also increase the risk of collision. Conversely, when the braking speed of the AGV is lower than the reference speed, although the risk of collision may be reduced, it may cause the AGV to fail to respond to emergencies in a timely manner. Similarly, the greater the deviation of the braking distance, the longer the time and distance required for the AGV to stop in an emergency, thus increasing the risk of collision.

[0053] The mutual influence relationship among these deviations is manifested in that they jointly determine the collision risk assessment value of the AGV during the handling process. To reduce the collision risk, it is necessary to comprehensively consider these deviations so that the AGV can complete the handling task more efficiently, and then achieve more accurate handling of the fireproof cover when the vehicle catches fire, effectively solving the problem of low accuracy in optimizing the handling path of the AGV for the fireproof cover when the vehicle catches fire in the prior art.

[0054] Furthermore, the unfolding state evaluation module includes a handling state judgment unit and an unfolding state judgment unit; the handling state judgment unit: used to judge whether the update of the preset handling path is completed according to the result of the handling state evaluation; the unfolding state judgment unit: used to judge whether the handling of the fireproof cover is completed according to the result of the unfolding state evaluation.

[0055] Among them, the specific process of judging whether the update of the preset handling path is completed according to the result of the handling state evaluation is as follows: judge whether the obtained handling state compliance score is not greater than the preset handling state compliance score in the database. If so, complete the update of the preset handling path and send a fireproof cover unfolding instruction; otherwise, adjust the driving parameters of the AGV; the driving parameters include acceleration and braking speed; the specific process of adjusting the driving parameters of the AGV is as follows: obtain the driving speed of the AGV at the end of the preset handling period and compare the obtained driving speed with the initial driving speed: when the driving speed is greater than the initial driving speed, it is determined as accelerating and reduce the acceleration by a preset percentage based on the obtained deviation of the handling path compliance score, and at the same time increase the braking speed by a preset amplitude until the obtained deviation of the handling path compliance score is less than 0; when the driving speed is less than the initial driving speed, it is determined as decelerating and increase the acceleration by a preset percentage based on the obtained deviation of the handling path compliance score, and at the same time reduce the braking speed by a preset amplitude until the obtained deviation of the handling path compliance score is less than 0; the deviation of the handling path compliance score represents the difference between the preset handling path compliance score and the obtained handling path compliance score.

[0056] In this embodiment, the preset handling status compliance score is represented by the result of summing and averaging the historical handling status compliance scores of the AGV in the database at the end of the historical handling period; the initial driving speed is the initial handling speed of the AGV set by the preset personnel; assuming the initial driving speed is 3 m / s, the preset handling path compliance score is 1.1, the obtained handling path compliance score is 1.3, and the deviation is -0.2.

[0057] If the actual driving speed is 4 m / s (greater than the initial driving speed), it is determined to be accelerating. Based on the deviation of -0.2, the acceleration is reduced by 2.5% (the preset percentage is 50%), and at the same time, the braking speed is increased by 10%. Repeat the adjustment until the deviation of the handling path compliance score is less than 0.

[0058] If the actual driving speed is 2 m / s (less than the initial driving speed), it is determined to be decelerating. Based on the deviation of -0.2, the acceleration is increased by 2.5% (the preset percentage is 50%), and at the same time, the braking speed is reduced by 10%. Repeat the adjustment until the deviation of the handling path compliance score is less than 0.

[0059] It should be noted that the above data are only examples. In the actual adjustment process of the driving parameters, the specific adjustment range and steps need to be determined according to the specific performance of the AGV, the working environment, and the requirements of the handling task. At the same time, in order to ensure the accuracy and effectiveness of the adjustment, real-time monitoring and feedback are required during the adjustment process of the driving parameters, so as to adjust the strategy in a timely manner and optimize the adjustment effect, thereby improving the real-time performance and accuracy of the dynamic adjustment of the AGV driving parameters.

[0060] Furthermore, the specific steps for obtaining the deployment status data are as follows: obtain the offset of the fireproof cover position corresponding to the AGV at the end of the preset deployment period, and determine whether the obtained offset of the fireproof cover position is not less than the preset offset of the fireproof cover position in the database. If so, obtain the steering angle of the fireproof cover corresponding to the AGV at the end of the preset deployment period; otherwise, send a calibration position sensor instruction; obtain the actual coverage point position and smoke concentration corresponding to the AGV at the end of the preset deployment period, and at the same time, combine the obtained offset of the fireproof cover position and the steering angle of the fireproof cover to obtain the deployment status data, which includes the offset of the fireproof cover position, the steering angle of the fireproof cover, the actual coverage point position, and the smoke concentration.

[0061] In this embodiment, the preset offset of the fireproof cover is represented by the result of summing and averaging the historical offsets of the fireproof cover corresponding to the AGV at the end of the historical deployment period in the database. The offset of the fireproof cover is monitored by a position sensor, the steering angle of the fireproof cover is monitored by an angle sensor, the actual coverage point position is monitored by a lidar sensor, and the smoke concentration is monitored by a smoke sensor. This realizes the comprehensive monitoring and evaluation of the deployment state during the process of the AGV carrying the fireproof cover, which helps to improve the accuracy and effectiveness of the fireproof cover deployment, thereby effectively preventing the spread and expansion of the fire.

[0062] Further, the specific steps for evaluating the deployment state of the AGV during the process of deploying the fireproof cover according to the obtained deployment state data include: respectively performing ratio processing and weighting processing on the obtained offset of the fireproof cover and the offset of the coverage point to obtain the coefficient of the offset of the fireproof cover and the coefficient of the offset of the coverage point; performing stationary correction on the data correction result of the coefficient of the offset of the fireproof cover and the summation result of the coefficient of the offset of the coverage point to obtain the first deployment state compliance score; correcting the degree correction result of the handling state compliance score through the weight factor of the deployment state compliance score to obtain the second deployment state compliance score; correcting the difference degree between the steering angle of the fireproof cover and the reference steering angle of the fireproof cover through the weight factor of the steering angle of the fireproof cover to obtain the third deployment state compliance score; performing coupling processing on the obtained first deployment state compliance score, second deployment state compliance score, and third deployment state compliance score to obtain the deployment state compliance score; the coefficient of the offset of the fireproof cover is used to reflect the influence degree of the offset of the fireproof cover corresponding to the AGV at the end of the preset deployment period on the compliance degree of the deployment state of the fireproof cover; the coefficient of the offset of the coverage point is used to reflect the influence degree of the offset of the coverage point corresponding to the AGV at the end of the preset deployment period on the compliance degree of the deployment state of the fireproof cover; the deployment state compliance score represents the quantitative data of the combined influence degree of the first deployment state compliance score, second deployment state compliance score, and third deployment state compliance score on the compliance degree of the deployment state of the fireproof cover.

[0063] Among them, the smoke concentration coefficient represents the ratio of the smoke concentration corresponding to the AGV at the end of the preset deployment period to the reference smoke concentration, that is The coefficient of the offset of the fireproof cover represents the ratio of the offset of the fireproof cover corresponding to the AGV at the end of the preset deployment period to the reference offset of the fireproof cover, that is The coefficient of the offset of the coverage point represents the ratio of the offset of the coverage point corresponding to the AGV at the end of the preset deployment period to the reference offset of the coverage point, that is The offset of the coverage point represents the displacement between the actual coverage point position corresponding to the AGV at the end of the preset deployment period and the preset coverage point position.

[0064] Specifically, the specific limit expression for the deployment state compliance score is as follows:

[0065]

[0066] In the formula, i represents the number of the actual stop position of the AGV at the end of the preset handling period. i = 0, 1. i = 0 means that the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, and i = 1 means that the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, BF i represents the handling state compliance score of the AGV at the end of the preset deployment period, ZK represents the deployment state compliance score corresponding to the AGV at the end of the preset deployment period, a1 represents the weight factor of the deployment state compliance score, W represents the smoke concentration corresponding to the AGV at the end of the preset deployment period, W0 represents the reference smoke concentration, a2 represents the weight factor of the fire shield position offset, P1 represents the fire shield position offset corresponding to the AGV at the end of the preset deployment period, P10 represents the preset fire shield position offset, a3 represents the weight factor of the coverage point position offset, P2 represents the coverage point position offset corresponding to the AGV at the end of the preset deployment period, P20 represents the preset coverage point position offset, a4 represents the weight factor of the fire shield steering angle, D represents the fire shield steering angle corresponding to the AGV at the end of the preset deployment period, and D0 represents the reference fire shield steering angle.

[0067] In this embodiment, the unit of the smoke concentration and the reference smoke concentration is the same, both are ppm (parts per million, one in a million); the unit of the fire shield position offset and the preset fire shield position offset is the same, and the unit of the coverage point position offset and the preset coverage point position offset is the same, both are meters (m); the unit of the fire shield steering angle and the reference fire shield steering angle is the same, both are degrees (°); the reference smoke concentration, the preset fire shield position offset, the preset coverage point position offset, and the reference fire shield steering angle are respectively represented by the results of summing and averaging the corresponding historical smoke concentration, historical fire shield position offset, historical coverage point position offset, and historical fire shield steering angle of the AGV in the historical deployment period in the database.

[0068] The weight factors of the unfolding state compliance score, the position offset of the fire shield, the position offset of the coverage point, and the steering angle of the fire shield are respectively the influence degrees of the preset unfolding state compliance score, the position offset of the fire shield, the position offset of the coverage point, and the steering angle of the fire shield in the database on the acquisition process of the unfolding state compliance score. Specifically, the database stores the preset weight factors corresponding to the unfolding state compliance score, the position offset of the fire shield, the position offset of the coverage point, and the steering angle of the fire shield. There is a preset mapping relationship between these weight factors and the unfolding state compliance score, the position offset of the fire shield, the position offset of the coverage point, and the steering angle of the fire shield. This mapping relationship can be one-to-one or many-to-one. For example, in practical applications, the real-time unfolding state compliance score, the position offset of the fire shield, the position offset of the coverage point, and the steering angle of the fire shield can be input into this mapping relationship to quickly obtain the corresponding weight factors, providing an important quantitative index for evaluating the accuracy and reliability of the unfolding state of the fire shield on the AGV, and then calculating the unfolding state compliance score more accurately.

[0069] In this example, the value ranges of the weight factors of the unfolding state compliance score, the position offset of the fire shield, the position offset of the coverage point, and the steering angle of the fire shield are all limited to between 0 and 1, and the sum of the four is 1.

[0070] It should be understood that the unfolding state compliance score increases as the handling state compliance score, the smoke concentration, the displacement offset of the fire shield, the position offset of the coverage point, and the deviation of the steering angle of the fire shield (i.e., |D - D0|) increase. Among them, the increase in the smoke concentration will lead to a decrease in the monitoring accuracy of the actual coverage point position by the AGV, and then the fire shield on the AGV cannot accurately and completely cover the corresponding self-igniting vehicle.

[0071] Secondly, the increase in the smoke concentration means that the fire shield needs to be unfolded faster and more accurately to cover the corresponding self-igniting vehicle, but this may increase the risks of the displacement offset of the fire shield and the position offset of the coverage point, resulting in a change in the steering angle of the fire shield. By comprehensively monitoring and analyzing the mutual influence relationships between various factors, it helps to improve the accuracy and reliability of the handling path, realizes more accurate handling of the fire shield when the vehicle catches fire, and thus ensures that the fire shield can be quickly and accurately unfolded to cover the corresponding self-igniting vehicle in case of an emergency.

[0072] Further, the specific process of determining whether the fireproof cover handling is completed based on the evaluation result of the deployment state is as follows: Determine whether the obtained deployment state compliance score is not greater than the preset deployment state compliance score in the database. If the obtained deployment state compliance score is not greater than the preset deployment state compliance score in the database, send a fireproof cover handling completion instruction and continue to monitor the covering process of the fireproof cover on the problem vehicle; if the obtained deployment state compliance score is greater than the preset deployment state compliance score in the database, send an angle adjustment instruction to the steering motor of the AGV based on the obtained deployment state compliance score deviation, and simultaneously monitor the smoke concentration during the steering angle adjustment in real time and re-obtain the deployment state compliance score deviation until the re-obtained deployment state compliance score deviation is less than 0; the angle adjustment instruction is used to adjust the steering angle of the fireproof cover; the deployment state compliance score deviation represents the difference between the preset deployment state compliance score and the obtained deployment state compliance score.

[0073] In this embodiment, the preset deployment state compliance score is represented by the result of summing and averaging the historical deployment state compliance scores corresponding to the AGV at the end of the historical deployment period in the database; through real-time monitoring and accurate calculation of the deployment state compliance score in this example, it is possible to quickly determine whether the deployment state of the fireproof cover meets the requirements. The entire process is automatically judged and decision-making based on the preset standards and the database, reducing the possibility of manual intervention and misjudgment, realizing the intelligent control of the AGV and the fireproof cover, and ensuring that the fireproof cover can quickly and accurately cover the target vehicle in case of emergency, further improving the fire extinguishing efficiency and safety.

[0074] As Figure 3 shown, it is a flowchart of an AGV handling path planning method for underground garage fire protection provided by an embodiment of the present application. An AGV handling path planning method for underground garage fire protection provided by an embodiment of the present application includes the following steps: S1, real-time monitor the driving state during the AGV's handling of the fireproof cover to obtain handling state data and deployment state data; S2, evaluate the handling state during the AGV's handling of the fireproof cover according to the obtained handling state data; S3, evaluate the deployment state during the AGV's deployment of the fireproof cover according to the obtained deployment state data.

[0075] In this embodiment, the handling and deployment processes of the fireproof cover are integrated. Through real-time monitoring and dynamic evaluation, it is possible to more effectively avoid obstacles, thereby updating the path in real time, which helps to ensure that the AGV can efficiently and accurately complete the handling and deployment tasks of the fireproof cover in a complex environment, realizing the intelligence and automation of fire protection management, and thus significantly improving the timeliness and accuracy of the protection response.

[0076] In summary, in the embodiment of the present application, the driving state during the process of the AGV carrying the fireproof cover is monitored in real time to obtain the handling state data and the unfolding state data. Then, the handling state during the process of the AGV carrying the fireproof cover is evaluated according to the obtained handling state data. Finally, the unfolding state during the process of the AGV unfolding the fireproof cover is evaluated according to the obtained unfolding state data, thereby ensuring that the fireproof cover can quickly and effectively cover the self-igniting vehicle in case of an emergency. Furthermore, it realizes more accurate handling of the fireproof cover when the vehicle catches fire, and effectively solves the problem of low accuracy in optimizing the handling path of the AGV carrying the fireproof cover when the vehicle catches fire in the prior art.

[0077] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] The present invention is described with reference to the flowcharts and / or block diagrams of systems, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0079] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide means for realizing the specified functions in Figure 1 one process or multiple processes and / or blocksFigure 1 Steps of the functions specified in one or more boxes.

[0081] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0082] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An AGV handling path planning system for underground garage fire prevention, characterized in that, Including: A data acquisition module, a handling state evaluation module, and an unfolding state evaluation module; Among them, the data acquisition module is used to monitor the driving state during the process of the AGV handling the fireproof cover in real time to obtain handling state data and unfolding state data; The handling state evaluation module is used to evaluate the handling state during the process of the AGV handling the fireproof cover according to the obtained handling state data; The unfolding state evaluation module is used to evaluate the unfolding state during the process of the AGV unfolding the fireproof cover according to the obtained unfolding state data.

2. The AGV handling path planning system for underground garage fire prevention according to claim 1, characterized in that The specific acquisition process of the handling state data is as follows: When the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, the first target position offset is obtained, and the first target position offset represents the shortest distance between the actual stop position and the preset target position; When the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, the second target position offset is obtained, and the second target position offset represents the vertical distance between the actual stop position and the preset target position; Obtain the first shortest distance of the AGV at the end of the preset handling period. When the first shortest distance is not greater than the preset first shortest distance in the database, prompt the AGV to avoid obstacles and reduce the driving speed by a preset amplitude, otherwise continue to monitor the handling process of the AGV; Obtain the avoidance parameters of the AGV during the obstacle avoidance process. When the second shortest distance is not greater than the preset second shortest distance in the database, reduce the driving speed by a preset amplitude, otherwise increase the driving speed by a preset amplitude. The avoidance parameters include the second shortest distance, the braking speed, and the braking distance; Obtain the lane width of the AGV at the end of the preset handling period, and at the same time obtain the handling state data, and the handling state data includes the first target position offset, the second target position offset, and the avoidance parameters.

3. The AGV handling path planning system for underground garage fire prevention according to claim 2, characterized in that, The specific steps for evaluating the handling state during the process of the AGV handling the fireproof cover according to the obtained handling state data include: Conduct a collision risk assessment on the handling state during the process of the AGV handling the fireproof cover according to the obtained handling state data to obtain a collision risk assessment value, and at the same time judge whether to update the preset handling path based on the obtained collision risk assessment value. If so, send a preset handling path update instruction, otherwise continue to handle the fireproof cover of the AGV according to the preset handling path; When the actual stop position of the AGV at the end of the preset handling period is on the preset handling path, respectively perform first data correction processing on the obtained first target position offset score, the actual driving distance score, and the collision risk assessment value coefficient to obtain a handling state compliance score; When the actual stop position of the AGV at the end of the preset handling period is not on the preset handling path, respectively perform second data correction processing on the obtained second target position offset score, the actual driving distance score, and the collision risk assessment value coefficient to obtain a handling state compliance score; The first target position offset fraction represents the result of the first target position offset weight factor correcting the difference between the first target position offset of the AGV at the end of the preset handling period and the reference first target position offset in the database; The second target position offset fraction represents the result of the second target position offset weight factor correcting the difference between the second target position offset of the AGV at the end of the preset handling period and the reference second target position offset in the database; The actual travel distance fraction represents the result of the actual travel distance weight factor correcting the difference between the actual travel distance of the AGV at the end of the preset handling period and the reference actual travel distance in the database; The collision risk assessment value coefficient represents the result of the collision risk assessment value weight factor correcting the collision risk assessment value.

4. The AGV handling path planning system for underground garage fire prevention according to claim 3, characterized in that, The collision risk assessment value is obtained by the following method: Evaluating the obtained avoidance parameters to obtain the second shortest distance fraction, braking speed fraction, and braking distance fraction; Performing exponential function processing on the obtained second shortest distance fraction, braking speed fraction, and braking distance fraction to obtain the collision risk assessment value; The second shortest distance fraction represents the result of the second shortest distance weight factor correcting the difference between the second shortest distance of the AGV at the end of the preset handling period and the preset second shortest distance; The braking speed fraction represents the result of the braking speed weight factor correcting the difference between the braking speed of the AGV at the end of the preset handling period and the reference braking speed; The braking distance fraction represents the result of the braking distance weight factor correcting the difference between the braking distance of the AGV at the end of the preset handling period and the reference braking distance; The collision risk assessment value represents the quantitative data of the combined influence of the second shortest distance fraction, braking speed fraction, and braking distance fraction on the safety of the fireproof cover handling.

5. The AGV handling path planning system for underground garage fire prevention according to claim 1, characterized in that, The unfolding state evaluation module includes a handling state judgment unit and an unfolding state judgment unit; The handling state judgment unit: used to judge whether the update of the preset handling path is completed according to the result of the handling state evaluation; The unfolding state judgment unit: used to judge whether the handling of the fireproof cover is completed according to the result of the unfolding state evaluation.

6. The AGV handling path planning system for underground garage fire prevention according to claim 5, characterized in that, The specific process of judging whether the update of the preset handling path is completed according to the result of the handling state evaluation is as follows: Judge whether the obtained handling state compliance score is not greater than the preset handling state compliance score in the database. If so, complete the update of the preset handling path and send a fireproof cover unfolding instruction; otherwise, adjust the driving parameters of the AGV; The driving parameters include acceleration and braking speed; The specific process of adjusting the driving parameters of the AGV is as follows: Obtain the driving speed of the AGV at the end of the preset handling period and compare the obtained driving speed with the initial driving speed: When the driving speed is greater than the initial driving speed, it is determined that the AGV is accelerating, and the acceleration is reduced by a preset percentage based on the obtained handling path compliance score deviation, and at the same time, the braking speed is increased by a preset amplitude until the obtained handling path compliance score deviation is less than 0; When the traveling speed is less than the initial traveling speed, it is determined that the vehicle is decelerating, and an acceleration is applied based on the deviation of the obtained handling path compliance score by a preset percentage. At the same time, the braking speed is reduced by a preset magnitude until the deviation of the obtained handling path compliance score is less than 0.

7. The AGV handling path planning system for underground garage fire prevention according to claim 1, characterized in that, The specific steps for obtaining the deployed state data are as follows: Obtain the offset of the fire shield position corresponding to the end of the preset deployment period of the AGV, and determine whether the obtained offset of the fire shield position is not less than the preset offset of the fire shield position in the database. If so, obtain the steering angle of the fire shield corresponding to the end of the preset deployment period of the AGV; otherwise, send a calibration position sensor command. Obtain the actual coverage point position and smoke concentration corresponding to the end of the preset deployment period of the AGV, and at the same time, combine the obtained offset of the fire shield position and the steering angle of the fire shield to obtain the deployed state data, which includes the offset of the fire shield position, the steering angle of the fire shield, the actual coverage point position, and the smoke concentration.

8. The AGV handling path planning system for underground garage fire prevention according to claim 7, characterized in that, The specific steps for evaluating the deployed state during the deployment of the fire shield of the AGV based on the obtained deployed state data include: Perform ratio processing and weighting processing on the obtained offset of the fire shield position and the offset of the coverage point position respectively to obtain the fire shield position offset coefficient and the coverage point position offset coefficient. Perform a smoothing correction on the sum result of the data correction result of the fire shield position offset coefficient and the coverage point position offset coefficient to obtain the first deployed state compliance score. Correct the correction result of the degree of compliance of the handling state score through the deployed state compliance score weighting factor to obtain the second deployed state compliance score. Correct the degree of difference between the steering angle of the fire shield and the reference steering angle of the fire shield through the fire shield steering angle weighting factor to obtain the third deployed state compliance score. Perform a coupling process on the obtained first deployed state compliance score, second deployed state compliance score, and third deployed state compliance score to obtain the deployed state compliance score. The fire shield position offset coefficient is used to reflect the influence degree of the offset of the fire shield position corresponding to the end of the preset deployment period of the AGV on the compliance degree of the fire shield deployment state. The coverage point position offset coefficient is used to reflect the influence degree of the offset of the coverage point position corresponding to the end of the preset deployment period of the AGV on the compliance degree of the fire shield deployment state. The deployed state compliance score represents the quantitative data of the combined influence degree of the first deployed state compliance score, second deployed state compliance score, and third deployed state compliance score on the compliance degree of the fire shield deployment state.

9. The AGV handling path planning system for underground garage fire prevention according to claim 5, wherein The specific process for determining whether the fire shield handling is completed based on the result of the deployed state evaluation is as follows: Determine whether the obtained deployed state compliance score is not greater than the preset deployed state compliance score in the database. If the obtained deployed state compliance score is not greater than the preset deployed state compliance score in the database, send a fire shield handling completion command and continue to monitor the covering process of the fire shield on the problem vehicle. If the obtained unfolding status compliance score is greater than the preset unfolding status compliance score in the database, an angle adjustment instruction is sent to the steering motor of the AGV based on the obtained unfolding status compliance score deviation. Meanwhile, the smoke concentration during the steering angle adjustment process is monitored in real time, and the unfolding status compliance score deviation is obtained again until the newly obtained unfolding status compliance score deviation is less than 0.

10. An AGV handling path planning method for fire prevention in an underground garage, characterized in that, It includes the following steps: S1, Monitor the driving status during the process of the AGV carrying the fire shield in real time to obtain the handling status data and the unfolding status data; S2, Evaluate the handling status during the process of the AGV carrying the fire shield according to the obtained handling status data; S3, Evaluate the unfolding status during the process of the AGV unfolding the fire shield according to the obtained unfolding status data.

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