AGV carrying-based underground garage spontaneous combustion management and control system, method and equipment

Abstract

The invention discloses an underground garage spontaneous combustion management and control system, method and device based on AGV carrying, and relates to the technical field of garage spontaneous combustion management and control. The underground garage spontaneous combustion management and control system based on AGV carrying comprises an AGV carrying module; a fire extinguishing analysis module; a smoke diffusion analysis module; and a smoke discharge response analysis module. According to the invention, the AGV carrying robot carries the abnormal vehicle to the safe room for fire extinguishing, then carries out fire extinguishing analysis on the abnormal vehicle in the safe room and judges whether to carry out smoke discharge pressure dynamic optimization or not, and then carries out smoke diffusion analysis on the abnormal vehicle in the safe room and judges whether to carry out smoke discharge speed influence dynamic optimization or not. And finally, the smoke exhaust device is subjected to response analysis and whether smoke exhaust control optimization is carried out or not is judged, so that the effect of improving the safety in underground garage vehicle spontaneous combustion control based on the AGV is achieved, and the problem of low safety in underground garage vehicle spontaneous combustion control based on the AGV in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of spontaneous combustion control in garages, and particularly to an underground garage spontaneous combustion control system, method and equipment based on AGV handling. Background Art

[0002] With the popularization of new energy electric vehicles, the underground garage, as an important part of urban infrastructure, bears the parking and charging needs of a large number of electric vehicles. The underground garage usually has a relatively enclosed environment with limited ventilation conditions. Once a fire occurs, smoke and toxic gases are likely to accumulate and are difficult to discharge, resulting in an accelerated fire spread speed and difficult evacuation of personnel. AGV (Automated Guided Vehicle) technology, as an important means of automated and intelligent logistics handling, has been widely used in the fields of warehousing, logistics, etc. AGVs have functions such as autonomous navigation, obstacle avoidance, and handling, which can significantly improve the efficiency and accuracy of logistics handling.

[0003] The existing technologies mainly control the fire through fire extinguishing and smoke exhaust technologies, such as spraying water or fire extinguishing agents to control the fire, releasing inert gases (such as carbon dioxide) to extinguish the fire. However, the poor sealing of the underground garage may lead to low efficiency of the smoke exhaust system, and the existing adjustment algorithms may be interfered by the smoke concentration.

[0004] For example, the fault inspection and operation and maintenance method, device and medium of a tunnel fire detection device disclosed in the patent application with the publication number of: CN119090487A include: extracting historical tunnel fire environment data texts associated with fault inspection clustering labels, creating a tunnel fire environment simulation field for each tunnel fire detection device to be inspected through the historical tunnel fire environment data texts and allocating fault inspection excitation signals to obtain a fault inspection strategy; constructing a lag characteristic state equation of the tunnel fire detection device to be inspected based on the fault inspection strategy, designing a lag compensation parameter for compensating the open-loop phase margin in the lag characteristic state equation according to the ideal tunnel fire detection requirements, and analyzing the fault state through the lag compensation parameter to obtain a fault inspection result.

[0005] For example, the fire emergency management method, system, electronic device and storage medium disclosed in the patent application with the publication number of: CN116757489A include: determining the type of the fire according to the basic information of the fire and the fire type standard; determining the level of the fire according to the basic information of the fire and the fire level standard in the preset classification information library; determining the corresponding initial plan from the preset plan information library according to the type and level of the fire; judging whether the actual resource conditions meet the configuration requirements of the determined initial plan; based on the fact that the actual resource conditions meet the configuration requirements of the determined initial plan, adaptively adjusting the initial plan according to the supporting information to obtain a target plan; starting the target plan.

[0006] However, in the process of implementing the inventive technical solution 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, when an electric vehicle catches fire in an underground garage, due to the poor sealing of the underground garage, smoke and toxic gases are more likely to spread, resulting in an accelerated fire spread rate. The accelerated smoke spread and fire spread rate will interfere with the judgment ability of the vehicle fire control device, leading to the problem of low safety in the vehicle fire control in the underground garage based on AGV. Summary of the Invention

[0008] The embodiments of the present application provide an underground garage fire control system based on AGV handling, which solves the problem of low safety in the vehicle fire control in the underground garage based on AGV in the prior art, and realizes the improvement of safety in the vehicle fire control in the underground garage based on AGV.

[0009] The embodiments of the present application provide an underground garage fire control system based on AGV handling, including an AGV handling module, a fire extinguishing analysis module, a smoke diffusion analysis module, and a smoke exhaust response analysis module: Among them, the AGV handling module is used to transport abnormal vehicles to a safe house for fire extinguishing treatment through AGV handling robots; the fire extinguishing analysis module is used to analyze the fire extinguishing of abnormal vehicles in the safe house and judge whether to perform dynamic optimization of the smoke exhaust pressure; the smoke diffusion analysis module is used to analyze the smoke diffusion of abnormal vehicles in the safe house and judge whether to perform dynamic optimization of the influence of the smoke exhaust speed; the smoke exhaust response analysis module is used to analyze the response of the smoke exhaust device and judge whether to perform optimization of the smoke exhaust control.

[0010] Furthermore, the abnormal vehicle in the safe house is analyzed for fire extinguishing, and it is judged whether to perform dynamic optimization of the smoke exhaust pressure. The specific process is as follows: After the preliminary fire extinguishing treatment of the abnormal vehicle, the pressure change amount is monitored, and the pressure change amount represents the air pressure fluctuation condition at a preset position point in the safe house within a preset time period; the pressure change amount is represented by the absolute value of the difference between the initial air pressure and the final air pressure corresponding to the preset position point in the safe house within a preset time period; when the pressure change amount is greater than the maximum value of the preset pressure change amount, dynamic optimization of the smoke exhaust pressure is performed; when the pressure change amount is less than the minimum value of the preset pressure change amount, smoke exhaust power optimization processing is performed. When the monitored pressure change amount is within the preset pressure change amount range obtained from the database, the execution is stopped; the smoke exhaust power optimization processing means sending a prompt to a preset person to gradually increase the smoke exhaust power by a preset multiple; the specific steps of the dynamic optimization of the smoke exhaust pressure are as follows: First step, send a pressure valve opening signal; Second step, perform smoke exhaust power reduction processing. When the monitored pressure change amount is not greater than the minimum value of the preset pressure change amount, the execution is stopped. The smoke exhaust power reduction processing means sending a prompt to a preset person to gradually reduce the smoke exhaust power by a preset multiple.

[0011] Further, the specific process of performing smoke diffusion analysis on abnormal vehicles in the safe house is as follows: Obtain the smoke exhaust speed influence parameters and the preset smoke exhaust speed influence parameters; obtain the speed influence reflection factor through the analysis of the ratio approximation degree between the average smoke exhaust speed and the preset average smoke exhaust speed; after analyzing the ratio approximation degree between the maximum smoke concentration and the preset maximum smoke concentration, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and concentration weight to obtain the smoke exhaust speed and concentration evaluation value, and the smoke exhaust speed and concentration evaluation value is used to reflect the comprehensive influence of the maximum smoke concentration and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within a preset time period; after analyzing the ratio approximation degree between the maximum humidity of the preset safe house and the maximum humidity of the safe house, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and humidity weight to obtain the smoke exhaust speed and humidity evaluation value, and the smoke exhaust speed and humidity evaluation value is used to reflect the comprehensive influence of the maximum humidity of the safe house and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within a preset time period; after analyzing the ratio approximation degree between the maximum value of the smoke temperature change rate and the preset maximum value of the smoke temperature change rate, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and temperature change weight to obtain the smoke exhaust speed and temperature change evaluation value, and the smoke exhaust speed and temperature change evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke temperature change rate and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within a preset time period; after analyzing the ratio approximation degree between the number of abnormal vehicles transported by AGV and the maximum value of the preset number of abnormal vehicles, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and abnormal quantity weight to obtain the smoke exhaust speed and abnormal quantity evaluation value, and the smoke exhaust speed and abnormal quantity evaluation value is used to reflect the comprehensive influence of the number of abnormal vehicles transported by AGV and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within a preset time period; perform coupling processing on the smoke exhaust speed influence analysis data to obtain the smoke exhaust speed influence value, and the smoke exhaust speed influence value is used to reflect the comprehensive influence of the smoke exhaust speed influence parameters and the preset smoke exhaust speed influence parameters on the smoke exhaust speed of the smoke exhaust device within a preset time period, and the smoke exhaust speed influence parameters include the maximum smoke concentration, the maximum humidity of the safe house, the maximum value of the smoke temperature change rate, the number of abnormal vehicles transported by AGV, and the average smoke exhaust speed; the smoke exhaust speed influence analysis data includes the smoke exhaust speed and concentration evaluation value, the smoke exhaust speed and humidity evaluation value, the smoke exhaust speed and temperature change evaluation value, and the smoke exhaust speed and abnormal quantity evaluation value.

[0012] Further, the specific process of determining whether to perform dynamic optimization of the smoke exhaust speed is as follows: when the smoke exhaust speed influence value is greater than the preset smoke exhaust speed influence threshold, perform dynamic reduction setting of the smoke exhaust speed, and stop execution when the monitored smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold; when the smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, perform dynamic increase setting of the smoke exhaust speed, and stop execution when the monitored smoke exhaust speed influence value is within the preset minimum speed influence range obtained from the database.

[0013] Further, the response analysis of the smoke exhaust device means analyzing based on the obtained response parameters of the smoke exhaust device and the preset response parameters of the smoke exhaust device obtained from the database. The specific process is as follows: The smoke exhaust response reflection factor is obtained by analyzing the proportional approximation degree between the average value of the smoke exhaust device response speed and the preset average value of the smoke exhaust device response speed; after analyzing the proportional approximation degree between the maximum value of the preset smoke diffusion speed and the maximum value of the smoke diffusion speed, and then performing weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-diffusion speed weight to obtain the smoke exhaust response-diffusion speed evaluation value, where the smoke exhaust response-diffusion speed evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke diffusion speed and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; after analyzing the proportional approximation degree between the maximum value of the preset smoke exhaust speed and the maximum value of the smoke exhaust speed, and then performing weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-smoke exhaust speed weight to obtain the smoke exhaust response-smoke exhaust speed evaluation value, where the smoke exhaust response-smoke exhaust speed evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke exhaust speed and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; after analyzing the proportional approximation degree between the maximum value of the preset smoke concentration change rate and the maximum value of the smoke concentration change rate, and then performing weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-concentration change weight to obtain the smoke exhaust response-concentration change evaluation value, where the smoke exhaust response-concentration change evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke concentration change rate and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; after analyzing the proportional approximation degree between the maximum value of the preset visibility change rate and the maximum value of the visibility change rate, and then performing weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-visibility change weight to obtain the smoke exhaust response-visibility evaluation value, where the smoke exhaust response-visibility evaluation value is used to reflect the comprehensive influence of the maximum value of the visibility change rate and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; the accurate value of the smoke exhaust device response control is obtained by coupling the response data of the smoke exhaust device; the accurate value of the smoke exhaust device response control is used to reflect the comprehensive influence of the response parameters of the smoke exhaust device and the preset response parameters of the smoke exhaust device on the smoke exhaust response speed of the smoke exhaust device within a preset time period; the response parameters of the smoke exhaust device include the maximum value of the smoke diffusion speed, the maximum value of the smoke exhaust speed, the maximum value of the smoke concentration change rate, the maximum value of the visibility change rate, and the average value of the smoke exhaust device response speed; the response data of the smoke exhaust device includes the smoke exhaust response-diffusion speed evaluation value, the smoke exhaust response-smoke exhaust speed evaluation value, the smoke exhaust response-concentration change evaluation value, and the smoke exhaust response-visibility evaluation value;

[0014] Further, the specific process of determining whether to optimize the smoke exhaust control is as follows: Determine whether the accurate value of the smoke exhaust device's response control is greater than the preset smoke exhaust response control threshold obtained from the database; when the accurate value of the smoke exhaust device's response control is greater than the preset smoke exhaust response control threshold, continue with the smoke exhaust process; when the accurate value of the smoke exhaust device's response control is not greater than the preset smoke exhaust response control threshold, perform smoke exhaust control optimization.

[0015] Further, the specific process of performing smoke exhaust control optimization is as follows: When the monitored smoke concentration change rate is greater than the preset smoke concentration change rate threshold obtained from the database, send a signal to increase the smoke exhaust speed until the monitored smoke concentration change rate is not greater than the preset smoke concentration change rate threshold; when the monitored smoke concentration change rate is not greater than the preset smoke concentration change rate threshold obtained from the database, send a signal to decrease the smoke exhaust speed until the monitored smoke concentration change rate is within the preset smoke concentration change rate range obtained from the database.

[0016] Further, a water storage device, a smoke exhaust device, and a harmful gas decomposition device are arranged in the safe house; the smoke exhaust device is used to discharge the smoke generated by abnormal vehicles in the safe house to a preset area; the water storage device is used to assist in cooling; the harmful gas decomposition device is used to receive the smoke discharged by the smoke exhaust device and perform water storage conversion; the water storage conversion means oxidizing harmful gases into harmless carbon dioxide and water through a catalytic oxidation method and transmitting the harmless water to the water storage device.

[0017] The embodiment of the present application provides an underground garage spontaneous combustion control method based on AGV handling, including the following steps: Using an AGV handling robot to move an abnormal vehicle to a safe house for fire extinguishing; performing fire extinguishing analysis on the abnormal vehicle in the safe house and determining whether to perform dynamic optimization of the smoke exhaust pressure; performing smoke diffusion analysis on the abnormal vehicle in the safe house and determining whether to perform dynamic optimization of the influence of the smoke exhaust speed; performing response analysis on the smoke exhaust device and determining whether to perform smoke exhaust control optimization.

[0018] The embodiment of the present application provides an electronic device, characterized in that the electronic device includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the underground garage spontaneous combustion control system based on AGV handling.

[0019] One or more technical solutions provided in the embodiment of the present application have at least the following technical effects or advantages:

[0020] 1. The AGV handling robot transports the abnormal vehicle to the safe house for fire extinguishing treatment. Then, fire extinguishing analysis is carried out on the abnormal vehicle in the safe house, and it is judged whether to perform dynamic optimization of the smoke exhaust pressure. Next, smoke diffusion analysis is carried out on the abnormal vehicle in the safe house, and it is judged whether to perform dynamic optimization of the influence of the smoke exhaust speed. Finally, response analysis is carried out on the smoke exhaust device, and it is judged whether to perform optimization of the smoke exhaust control, thereby improving the reliability of the response control of the smoke exhaust device, and further improving the safety in the spontaneous combustion control of underground garage vehicles based on AGV, effectively solving the problem of low safety in the spontaneous combustion control of underground garage vehicles based on AGV in the prior art.

[0021] 2. By performing coupling processing on the data of the influence analysis of the smoke exhaust speed to obtain the influence value of the smoke exhaust speed, and finally performing dynamic optimization of the influence of the smoke exhaust speed based on whether the influence value of the smoke exhaust speed is used, the reliability of the dynamic optimization of the influence of the smoke exhaust speed is improved, and further the accuracy of the dynamic optimization of the influence of the smoke exhaust speed is improved.

[0022] 3. By monitoring the change rate of the smoke concentration in the safe house and judging whether to send a signal for adjusting the smoke exhaust rotation speed, when the monitored change rate of the smoke concentration is greater than the preset threshold of the change rate of the smoke concentration, a signal for increasing the smoke exhaust rotation speed is sent, and when the monitored change rate of the smoke concentration is not greater than the preset threshold of the change rate of the smoke concentration, a signal for decreasing the smoke exhaust rotation speed is sent, thereby realizing the dynamic optimization of the smoke exhaust control optimization, and further improving the accuracy of the smoke exhaust control optimization. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the underground garage spontaneous combustion control system based on AGV handling provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The embodiment of the present application provides a system, method and equipment for controlling spontaneous combustion in an underground garage based on AGV handling, which solves the problem of low safety in the spontaneous combustion control of underground garage vehicles based on AGV in the prior art. The AGV handling robot transports the abnormal vehicle to the safe house for fire extinguishing treatment. Then, fire extinguishing analysis is carried out on the abnormal vehicle in the safe house, and it is judged whether to perform dynamic optimization of the smoke exhaust pressure. When the pressure change amount is greater than the maximum value of the preset pressure change amount, dynamic optimization of the smoke exhaust pressure is performed. Next, smoke diffusion analysis is carried out on the abnormal vehicle in the safe house, and it is judged whether to perform dynamic optimization of the influence of the smoke exhaust speed. Finally, response analysis is carried out on the smoke exhaust device, and it is judged whether to perform optimization of the smoke exhaust control, thereby improving the safety in the spontaneous combustion control of underground garage vehicles based on AGV.

[0025] The technical solution in the embodiment of the present application is to solve the problem of low safety in the spontaneous combustion control of underground garage vehicles based on AGV, and the general idea is as follows:

[0026] The abnormal vehicle is transported to the safe house by the AGV handling robot for fire extinguishing treatment. Then, fire extinguishing analysis is carried out on the abnormal vehicle in the safe house, and it is judged whether to carry out dynamic optimization of the smoke exhaust pressure. Next, smoke diffusion analysis is carried out on the abnormal vehicle in the safe house, and it is judged whether to carry out dynamic optimization of the influence of the smoke exhaust speed. Finally, response analysis is carried out on the smoke exhaust device, and it is judged whether to carry out optimization of the smoke exhaust control, achieving the effect of improving the safety in the control of vehicle spontaneous combustion in the underground garage based on AGV.

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

[0028] As Figure 1 shown, it is a schematic structural diagram of an underground garage spontaneous combustion control system based on AGV handling provided by an embodiment of the present application, including an AGV handling module, a fire extinguishing analysis module, a smoke diffusion analysis module, and a smoke exhaust response analysis module: Among them, the AGV handling module is used to transport the abnormal vehicle to the safe house by the AGV handling robot for fire extinguishing treatment; the fire extinguishing analysis module is used to carry out fire extinguishing analysis on the abnormal vehicle in the safe house and judge whether to carry out dynamic optimization of the smoke exhaust pressure; the smoke diffusion analysis module is used to carry out smoke diffusion analysis on the abnormal vehicle in the safe house and judge whether to carry out dynamic optimization of the influence of the smoke exhaust speed; the smoke exhaust response analysis module is used to carry out response analysis on the smoke exhaust device and judge whether to carry out optimization of the smoke exhaust control.

[0029] In this embodiment, the AGV handling module, the fire extinguishing analysis module, the smoke diffusion analysis module, and the smoke exhaust response analysis module are interconnected. The abnormal vehicle (the vehicle with spontaneous combustion in the underground garage) is transported to the safe house by the AGV handling robot for fire extinguishing. The safe house is located in the preset edge area of the underground garage; it is judged whether to carry out dynamic optimization of the smoke exhaust pressure through the fire extinguishing analysis module. When the pressure change amount is greater than the maximum value of the preset pressure change amount, dynamic optimization of the smoke exhaust pressure is carried out; then, the smoke exhaust speed influence value is obtained through the smoke diffusion analysis module. When the smoke exhaust speed influence value is greater than the preset smoke exhaust speed influence threshold, dynamic reduction setting of the smoke exhaust speed is carried out; the smoke exhaust response analysis module is used to further improve the smoke exhaust capacity of the fire extinguishing analysis module and the smoke diffusion analysis module. The smoke exhaust response analysis module is included in the fire extinguishing analysis module and the smoke diffusion analysis module. When the monitored accurate value of the response control of the smoke exhaust device is not greater than the preset smoke exhaust response control threshold, optimization of the smoke exhaust control is carried out to improve the accuracy of the smoke exhaust control, thereby achieving the effect of improving the safety in the control of vehicle spontaneous combustion in the underground garage based on AGV.

[0030] Underground garages are usually located on the ground floor or underground of a building. Their space is relatively enclosed, and the natural ventilation conditions with the outside world are limited. This enclosure causes smoke and toxic gases to be difficult to quickly exhaust during a fire and easily accumulate in the garage. In the emergency treatment of underground garage fires, the AGV handling module, fire extinguishing analysis module, smoke diffusion analysis module, and smoke exhaust response analysis module cooperate with each other. The AGV handling module is responsible for isolating the self-igniting vehicle; the fire extinguishing analysis module is responsible for optimizing the smoke exhaust pressure; the smoke diffusion analysis module is responsible for predicting the smoke diffusion trend and adjusting the smoke exhaust speed; the smoke exhaust response analysis module is responsible for optimizing the operating state of the smoke exhaust system, closely cooperating to improve the emergency handling ability and control ability of self-igniting vehicles in the underground garage.

[0031] Furthermore, conduct a fire extinguishing analysis on the abnormal vehicle in the safe house and determine whether to perform dynamic optimization of the smoke exhaust pressure. The specific process is as follows: Conduct preliminary fire extinguishing treatment on the abnormal vehicle. Preliminary fire extinguishing treatment means spraying the abnormal vehicle all around with a fire extinguisher to cool it down; after conducting preliminary fire extinguishing treatment on the abnormal vehicle (i.e., the self-igniting vehicle), monitor the pressure change amount. The pressure change amount represents the air pressure fluctuation condition at a preset position point in the safe house within a preset time period; the pressure change amount is represented by the absolute value of the difference between the initial air pressure and the final air pressure corresponding to the preset position point in the safe house within a preset time period; determine whether the pressure change amount is greater than the preset pressure change amount obtained from the database; when the pressure change amount is greater than the maximum value of the preset pressure change amount, perform dynamic optimization of the smoke exhaust pressure; when the pressure change amount is less than the minimum value of the preset pressure change amount, perform smoke exhaust power optimization processing. When the monitored pressure change amount is within the preset pressure change amount range obtained from the database, the upper limit of the preset pressure change amount range is the maximum value of the preset pressure change amount, and the lower limit of the preset pressure change amount range is the minimum value of the preset pressure change amount, and stop execution; Smoke exhaust power optimization processing means sending a prompt to a preset person to gradually increase the smoke exhaust power by a preset multiple; The specific steps of dynamic optimization of the smoke exhaust pressure are as follows: First step, send a signal to open the pressure valve; Second step, perform smoke exhaust power reduction processing. When the monitored pressure change amount is not greater than the minimum value of the preset pressure change amount, stop execution. Smoke exhaust power reduction processing means sending a prompt to a preset person to gradually reduce the smoke exhaust power by a preset multiple.

[0032] In this embodiment, the aforementioned database is a database provided by the underground garage self-ignition control system based on AGV handling for storing various setting data. The database includes but is not limited to the maximum preset smoke concentration, the maximum preset safe house humidity, the maximum preset smoke temperature change rate, etc. Various values therein are directly set by technicians; for example, the preset pressure change amount is represented by the average value of the pressure change amount in the historical time period.

[0033] Optimize the exhaust power by sending prompts to preset personnel to increase the exhaust power step by step at a preset multiple. For example, when the pressure change is less than the minimum value of the preset pressure change, increase the exhaust power to be greater than the preset exhaust power threshold. When the preset multiple (usually 2 times) of the pressure change is less than the preset pressure change, increase the exhaust power to be greater than the preset multiple (usually 2 times) of the preset exhaust power threshold, and so on; send prompts to preset personnel to decrease the exhaust power step by step at a preset multiple. When the pressure change is greater than the maximum value of the preset pressure change, decrease the exhaust power to be not greater than the preset exhaust power threshold. When the pressure change is greater than the preset multiple (usually 2 times) of the preset pressure change, decrease the exhaust power to be not greater than the preset multiple (usually 2 times) of the preset exhaust power threshold, and so on; the preset exhaust power threshold is preset by preset personnel.

[0034] Cool the abnormal vehicle by spraying it all around with a fire extinguisher, which can quickly control the fire at the initial stage of the abnormal vehicle's spontaneous combustion and prevent the fire from spreading. By monitoring the change in air pressure at a preset position point in the safety house, the impact of the abnormal vehicle's spontaneous combustion on the internal environment of the safety house can be understood in real time. By opening the pressure valve and adjusting the exhaust power, the smoke concentration and air pressure in the safety house can be controlled to prevent low visibility caused by smoke accumulation, which helps to improve the exhaust efficiency, ensure the air circulation and smoke discharge in the safety house, and thus improve the safety in the control of vehicle spontaneous combustion in the underground garage based on AGV.

[0035] Further, the specific process of smoke diffusion analysis for abnormal vehicles in the safe house is as follows: Obtain the smoke exhaust speed influence parameters and the preset smoke exhaust speed influence parameters; Obtain the speed influence reflection factor through the analysis of the ratio approaching degree between the average smoke exhaust speed and the preset average smoke exhaust speed; After analyzing the ratio approaching degree between the maximum smoke concentration and the preset maximum smoke concentration, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and concentration weight to obtain the smoke exhaust speed and concentration evaluation value, which is used to reflect the comprehensive influence of the maximum smoke concentration and the average smoke exhaust speed within the preset time period on the smoke exhaust speed of the smoke exhaust device; After analyzing the ratio approaching degree between the maximum humidity of the preset safe house and the maximum humidity of the safe house, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and humidity weight to obtain the smoke exhaust speed and humidity evaluation value, which is used to reflect the comprehensive influence of the maximum humidity of the safe house and the average smoke exhaust speed within the preset time period on the smoke exhaust speed of the smoke exhaust device; After analyzing the ratio approaching degree between the maximum value of the smoke temperature change rate and the preset maximum value of the smoke temperature change rate, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and temperature change weight to obtain the smoke exhaust speed and temperature change evaluation value, which is used to reflect the comprehensive influence of the maximum value of the smoke temperature change rate and the average smoke exhaust speed within the preset time period on the smoke exhaust speed of the smoke exhaust device; After analyzing the ratio approaching degree between the number of abnormal vehicles transported by AGV and the maximum value of the preset number of abnormal vehicles, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and abnormal quantity weight to obtain the smoke exhaust speed and abnormal quantity evaluation value, which is used to reflect the comprehensive influence of the number of abnormal vehicles transported by AGV and the average smoke exhaust speed within the preset time period on the smoke exhaust speed of the smoke exhaust device; Perform coupling processing on the smoke exhaust speed influence analysis data to obtain the smoke exhaust speed influence value, which is used to reflect the comprehensive influence of the smoke exhaust speed influence parameters and the preset smoke exhaust speed influence parameters on the smoke exhaust speed of the smoke exhaust device within the preset time period. The smoke exhaust speed influence parameters include the maximum smoke concentration, the maximum humidity of the safe house, the maximum value of the smoke temperature change rate, the number of abnormal vehicles transported by AGV, and the average smoke exhaust speed; The preset smoke exhaust speed influence parameters are obtained from the database, specifically including the preset maximum smoke concentration, the preset maximum humidity of the safe house, the preset maximum value of the smoke temperature change rate, the preset maximum value of the number of abnormal vehicles, the preset average smoke exhaust speed, and the preset smoke exhaust speed influence weight value; The preset smoke exhaust speed influence weight value includes the preset smoke exhaust speed and concentration weight, the preset smoke exhaust speed and humidity weight, the preset smoke exhaust speed and temperature change weight, and the preset smoke exhaust speed and abnormal quantity weight, which are used to reflect the influence degree of the smoke exhaust speed influence analysis data on the smoke exhaust speed influence value;The analysis data of the smoke exhaust speed influence includes the evaluation values of the smoke exhaust speed and concentration, the smoke exhaust speed and humidity, the smoke exhaust speed and temperature change, and the smoke exhaust speed and abnormal quantity; the speed influence reflection factor is obtained by performing a ratio operation on the average smoke exhaust speed and the preset average smoke exhaust speed; the evaluation value of the smoke exhaust speed and concentration is obtained by performing a ratio operation on the maximum smoke concentration and the preset maximum smoke concentration, and then performing a product operation with the speed influence reflection factor and the preset weight of the smoke exhaust speed and concentration; the evaluation value of the smoke exhaust speed and humidity is obtained by performing a ratio operation on the maximum humidity of the preset safe house and the maximum humidity of the safe house, and then performing a product operation with the speed influence reflection factor and the preset weight of the smoke exhaust speed and humidity; the evaluation value of the smoke exhaust speed and temperature change is obtained by performing a ratio operation on the maximum value of the smoke temperature change rate and the preset maximum value of the smoke temperature change rate, and then performing a product operation with the speed influence reflection factor and the preset weight of the smoke exhaust speed and temperature change; the evaluation value of the smoke exhaust speed and abnormal quantity is obtained by performing a ratio operation on the number of abnormal vehicles transported by the AGV and the preset maximum number of abnormal vehicles, and then performing a product operation with the speed influence reflection factor and the preset weight of the smoke exhaust speed and abnormal quantity.

[0036] Among them, the smoke exhaust speed influence value is obtained by the following method:

[0037]

[0038] In the formula, PYYX F represents the smoke exhaust speed influence value in the F-th preset time period, F = 1, 2,..., T, F represents the number of the preset time period, and T represents the total number of the preset time periods. YS F represents the speed influence reflection factor in the F-th preset time period, represents the maximum smoke concentration in the F-th preset time period, represents the maximum humidity of the safe house in the F-th preset time period, represents the maximum value of the smoke temperature change rate in the F-th preset time period. YCN represents the number of abnormal vehicles transported by the AGV, represents the average smoke exhaust speed in the F-th preset time period, represents the preset maximum smoke concentration, represents the preset maximum humidity of the safe house, represents the preset maximum value of the smoke temperature change rate, YCN 0 represents the preset maximum number of abnormal vehicles, represents the preset average smoke exhaust speed, C 1 represents the preset weight of the smoke exhaust speed and concentration, C 2 represents the preset weight of the smoke exhaust speed and humidity, C 3 represents the preset weight of the smoke exhaust speed and temperature change, C 4Indicates the preset smoke exhaust speed and the weight of the number of anomalies.

[0039] In this embodiment, the maximum value of the preset smoke concentration is represented by the maximum value of the smoke concentration in the historical time period, the maximum value of the preset safe house humidity is represented by the maximum value of the safe house humidity in the historical time period, the maximum value of the preset smoke temperature change rate is represented by the maximum value of the smoke temperature change rate in the historical time period, the maximum value of the preset number of abnormal vehicles is represented by the maximum value of the number of abnormal vehicles in the safe house in the historical time period, and the average value of the preset smoke exhaust speed is represented by the average value of the smoke exhaust speed in the safe house in the historical time period; the units of the maximum value of the smoke concentration and the preset smoke concentration are both milligrams per cubic meter, the maximum value of the safe house humidity and the preset safe house humidity have no unit, the units of the maximum value of the smoke temperature change rate and the preset smoke temperature change rate are both degrees Celsius per minute, the units of the number of abnormal vehicles carried by the AGV and the maximum value of the preset number of abnormal vehicles are both vehicles, and the units of the average value of the smoke exhaust speed and the preset smoke exhaust speed are both meters per second.

[0040] The smoke concentration at the preset position point in the safe house corresponding to the preset time period is monitored by a smoke concentration detector, and its maximum value is counted to obtain the maximum value of the smoke concentration; the air humidity at the preset position point in the safe house corresponding to the preset time period is monitored by a humidity sensor, and its maximum value is counted to obtain the maximum value of the safe house humidity; the initial state smoke temperature and the final state smoke temperature at the preset position point in the safe house corresponding to the preset time period are monitored by a temperature sensor, the absolute value of the difference between them is analyzed and a ratio operation is performed with the duration corresponding to the preset time period, and the maximum value of the result is counted to obtain the maximum value of the smoke temperature change rate; the number of abnormal vehicles carried by the AGV in the safe house is automatically recorded by the AGV to obtain the number of abnormal vehicles carried by the AGV; the smoke exhaust speed at the preset position point in the safe house corresponding to the preset time period is monitored by a hot wire anemometer, and its average value is counted to obtain the average value of the smoke exhaust speed.

[0041] This embodiment provides a set of mapping groups obtained from a database. The mapping groups contain mapping sets that reflect the mapping relationships between the smoke exhaust speed impact analysis groups and the corresponding preset smoke exhaust speed impact weight values. The mapping relationships in the mapping sets can be one-to-one or many-to-one relationships. The mapping sets are obtained from the mapping groups, and the mapping groups are obtained from the database; by inputting the real-time smoke exhaust speed impact analysis group into the mapping group, the preset smoke exhaust speed impact weight value can be obtained; for example, in this embodiment, the value range of the weight is 0-1. The smoke exhaust speed impact analysis group includes the maximum value of the smoke concentration, the maximum value of the safe house humidity, the maximum value of the smoke temperature change rate, and the number of abnormal vehicles carried by the AGV.

[0042] In this embodiment, the influence value of the smoke exhaust speed is obtained by analyzing the data on the influence of the smoke exhaust speed. In this embodiment, a logarithmic function is used to process the data on the influence of the smoke exhaust speed to reflect the positive correlation between the data on the influence of the smoke exhaust speed and the influence value of the smoke exhaust speed. The corresponding change trend of the logarithmic function is that as the data on the influence of the smoke exhaust speed gradually increases, the influence value of the smoke exhaust speed gradually increases. The logarithmic function can increase and smooth the non-uniform data on the influence of the smoke exhaust speed. The greater the smoke exhaust speed and the concentration evaluation value, the greater the comprehensive influence of the maximum smoke concentration and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device, resulting in a greater influence value of the smoke exhaust speed; the greater the smoke exhaust speed and the humidity evaluation value, the greater the comprehensive influence of the maximum humidity in the safe house and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device, resulting in a greater influence value of the smoke exhaust speed; the greater the smoke exhaust speed and the temperature change evaluation value, the greater the comprehensive influence of the maximum smoke temperature change rate and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device, resulting in a greater influence value of the smoke exhaust speed; the greater the smoke exhaust speed and the abnormal quantity evaluation value, the greater the comprehensive influence of the number of abnormal AGV transport vehicles and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device, resulting in a greater influence value of the smoke exhaust speed; in summary, the data on the influence of the smoke exhaust speed is in a proportional relationship with the influence value of the smoke exhaust speed.

[0043] In this embodiment, the parameters affecting the smoke exhaust speed do not exist independently and are interrelated, and need to be analyzed comprehensively. The greater the maximum smoke concentration, the faster the smoke exhaust speed is required to effectively remove the smoke, which in turn leads to an increase in the average smoke exhaust speed; the greater the maximum smoke concentration, the higher the heat release may be, resulting in an increase in the smoke temperature, which in turn leads to an increase in the smoke temperature change rate; the greater the average smoke exhaust speed, the lower the temperature in the safe house may be due to the removal of the smoke, resulting in a greater maximum humidity in the safe house; the greater the number of abnormal AGV transport vehicles, the greater the average smoke exhaust speed may be; by analyzing the comprehensive influence between the parameters, the accurate evaluation of the interference situation of the smoke exhaust speed of the smoke exhaust device within the preset time period is realized, and further the improvement of the safety in the control of vehicle spontaneous combustion in the underground garage based on AGV is realized.

[0044] Further, the specific process of determining whether to perform dynamic optimization of the smoke exhaust speed is as follows: Determine whether the smoke exhaust speed influence value is greater than the preset smoke exhaust speed influence threshold obtained from the database; when the smoke exhaust speed influence value is greater than the preset smoke exhaust speed influence threshold, perform dynamic reduction setting of the smoke exhaust speed, and when the monitored smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, stop execution; when the smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, perform dynamic increase setting of the smoke exhaust speed, and when the monitored smoke exhaust speed influence value is within the preset minimum speed influence range obtained from the database, stop execution; the dynamic reduction setting of the smoke exhaust speed means sending a prompt to the preset personnel to gradually reduce the smoke exhaust speed of the smoke exhaust device by a preset multiple; the dynamic increase setting of the smoke exhaust speed means sending a prompt to the preset personnel to gradually increase the smoke exhaust speed of the smoke exhaust device by a preset multiple.

[0045] In this embodiment, the preset smoke exhaust speed influence threshold is represented by the average value of the smoke exhaust speed influence values in the historical time period, and the preset minimum speed influence range is set in advance by the preset personnel; when the smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, perform dynamic increase setting of the smoke exhaust speed by sending a prompt to the preset personnel to gradually increase the smoke exhaust speed of the smoke exhaust device by a preset multiple. For example, when the smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, set the smoke exhaust speed to be greater than the minimum preset smoke exhaust speed. When the preset multiple (usually 2 times) of the smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, set the smoke exhaust speed to be greater than the preset multiple (usually 2 times) of the minimum preset smoke exhaust speed, and so on; perform dynamic reduction setting of the smoke exhaust speed by sending a prompt to the preset personnel to gradually reduce the smoke exhaust speed of the smoke exhaust device by a preset multiple. For example, when the smoke exhaust speed influence value is greater than the preset smoke exhaust speed influence threshold, set the smoke exhaust speed to not be greater than the minimum preset smoke exhaust speed. When the smoke exhaust speed influence value is greater than the preset multiple (usually 2 times) of the preset smoke exhaust speed influence threshold, set the preset multiple (usually 2 times) of the smoke exhaust speed to not be greater than the minimum preset smoke exhaust speed, and so on. The minimum preset smoke exhaust speed is set in advance by the preset personnel; by real-time monitoring and dynamically optimizing the smoke exhaust speed, the stability and reliability of the smoke exhaust system are ensured, and thus the effect of improving the safety in the vehicle spontaneous combustion control in the underground garage based on AGV is achieved.

[0046] Further, a response analysis is performed on the smoke exhaust device, indicating that it is analyzed based on the obtained smoke exhaust device response parameters and the preset smoke exhaust device response parameters obtained from the database. The specific process is as follows: The smoke exhaust response reflection factor is obtained by analyzing the ratio approaching degree between the average value of the smoke exhaust device response speed and the preset average value of the smoke exhaust device response speed; after analyzing the ratio approaching degree between the maximum value of the preset smoke diffusion speed and the maximum value of the smoke diffusion speed, a weighted analysis is performed with the smoke exhaust response reflection factor and the preset smoke exhaust response-diffusion speed weight to obtain the smoke exhaust response-diffusion speed evaluation value, which is used to reflect the comprehensive influence of the maximum value of the smoke diffusion speed and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; after analyzing the ratio approaching degree between the maximum value of the preset smoke exhaust speed and the maximum value of the smoke exhaust speed, a weighted analysis is performed with the smoke exhaust response reflection factor and the preset smoke exhaust response-smoke exhaust speed weight to obtain the smoke exhaust response-smoke exhaust speed evaluation value, which is used to reflect the comprehensive influence of the maximum value of the smoke exhaust speed and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; after analyzing the ratio approaching degree between the maximum value of the preset smoke concentration change rate and the maximum value of the smoke concentration change rate, a weighted analysis is performed with the smoke exhaust response reflection factor and the preset smoke exhaust response-concentration change weight to obtain the smoke exhaust response-concentration change evaluation value, which is used to reflect the comprehensive influence of the maximum value of the smoke concentration change rate and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; after analyzing the ratio approaching degree between the maximum value of the preset visibility change rate and the maximum value of the visibility change rate, a weighted analysis is performed with the smoke exhaust response reflection factor and the preset smoke exhaust response-visibility change weight to obtain the smoke exhaust response-visibility evaluation value, which is used to reflect the comprehensive influence of the maximum value of the visibility change rate and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; the smoke exhaust device response control accurate value is obtained by coupling the smoke exhaust device response data; the smoke exhaust device response control accurate value is used to reflect the comprehensive influence of the smoke exhaust device response parameters and the preset smoke exhaust device response parameters on the smoke exhaust response speed of the smoke exhaust device within a preset time period; the smoke exhaust response reflection factor is obtained by performing a ratio operation on the average value of the smoke exhaust device response speed and the preset average value of the smoke exhaust device response speed; the smoke exhaust response-diffusion speed evaluation value is obtained by performing a ratio operation on the maximum value of the preset smoke diffusion speed and the maximum value of the smoke diffusion speed, and then performing a multiplication operation with the smoke exhaust response reflection factor and the preset smoke exhaust response-diffusion speed weight; the smoke exhaust response-smoke exhaust speed evaluation value is obtained by performing a ratio operation on the maximum value of the preset smoke exhaust speed and the maximum value of the smoke exhaust speed, and then performing a multiplication operation with the smoke exhaust response reflection factor and the preset smoke exhaust response-smoke exhaust speed weight;The evaluation value of the smoke exhaust response - concentration change is obtained by performing a ratio operation on the maximum value of the preset smoke concentration change rate and the maximum value of the smoke concentration change rate, and then performing a multiplication operation with the smoke exhaust response reflection factor and the preset smoke exhaust response - concentration change weight; the evaluation value of the smoke exhaust response - visibility is obtained by performing a ratio operation on the maximum value of the preset visibility change rate and the maximum value of the visibility change rate, and then performing a multiplication operation with the smoke exhaust response reflection factor and the preset smoke exhaust response - visibility change weight; the response parameters of the smoke exhaust device include the maximum smoke diffusion speed, the maximum smoke exhaust speed, the maximum smoke concentration change rate, the maximum visibility change rate, and the average response speed of the smoke exhaust device; the preset response parameters of the smoke exhaust device include the preset maximum smoke diffusion speed, the preset maximum smoke exhaust speed, the preset maximum smoke concentration change rate, the preset maximum visibility change rate, the preset average response speed of the smoke exhaust device, and the preset smoke exhaust response weight value; the preset smoke exhaust response weight value includes the preset smoke exhaust response - diffusion speed weight, the preset smoke exhaust response - smoke exhaust speed weight, the preset smoke exhaust response - concentration change weight, and the preset smoke exhaust response - visibility change weight, which is used to reflect the influence degree of the response data of the smoke exhaust device on the accurate value of the smoke exhaust device response control within the preset time period; the response data of the smoke exhaust device includes the smoke exhaust response - diffusion speed evaluation value, the smoke exhaust response - smoke exhaust speed evaluation value, the smoke exhaust response - concentration change evaluation value, and the smoke exhaust response - visibility evaluation value.

[0047] Among them, the accurate value of the smoke exhaust device response control is obtained by the following method:

[0048]

[0049] In the formula, PYXY F represents the accurate value of the smoke exhaust device response control in the F - th preset time period, F = 1, 2,..., T, F represents the number of the preset time period, and T represents the total number of the preset time periods. XS F represents the smoke exhaust response reflection factor in the F - th preset time period, represents the maximum smoke diffusion speed in the F - th preset time period, represents the maximum smoke exhaust speed in the F - th preset time period, represents the maximum smoke concentration change rate in the F - th preset time period, represents the maximum visibility change rate in the F - th preset time period, represents the average response speed of the smoke exhaust device in the F - th preset time period, represents the preset maximum smoke diffusion speed, represents the preset maximum smoke exhaust speed, represents the preset maximum smoke concentration change rate, represents the preset maximum visibility change rate, Denote the average response speed of the preset smoke exhaust device, N 1 Denote the preset smoke exhaust response-diffusion speed weight, N 2 Denote the preset smoke exhaust response-smoke exhaust speed weight, N 3 Denote the preset smoke exhaust response-concentration change weight, N 4 Denote the preset smoke exhaust response-visibility change weight, where e represents the natural constant.

[0050] In this embodiment, the maximum value of the preset smoke diffusion speed is represented by the maximum value of the smoke diffusion speed in the historical time period, the maximum value of the preset smoke exhaust speed is represented by the maximum value of the smoke exhaust speed in the historical time period, the maximum value of the preset smoke concentration change rate is represented by the maximum value of the smoke concentration change rate in the historical time period, the maximum value of the preset visibility change rate is represented by the maximum value of the visibility change rate in the historical time period, and the average value of the preset smoke exhaust device response speed is represented by the average value of the smoke exhaust device response speed in the historical time period; the units of the maximum value of the smoke diffusion speed and the preset smoke diffusion speed are both meters per second, the units of the maximum value of the smoke exhaust speed and the preset smoke exhaust speed are both meters per second, the units of the maximum value of the smoke concentration change rate and the preset smoke concentration change rate are both milligrams per cubic meter per second, the units of the maximum value of the visibility change rate and the preset visibility change rate are both meters per minute, and the units of the average value of the smoke exhaust device response speed and the preset smoke exhaust device response speed are both meters per second.

[0051] Monitor the smoke diffusion speed at the preset position point in the safe house corresponding to the preset time period through a smoke diffusion speed measuring instrument, and count its maximum value to obtain the maximum value of the smoke diffusion speed; monitor the smoke exhaust speed at the preset position point in the safe house corresponding to the preset time period through a hot-wire anemometer, and count its maximum value to obtain the maximum value of the smoke exhaust speed; monitor the initial state smoke concentration and the final state smoke concentration at the preset position point in the safe house corresponding to the preset time period through a smoke concentration detector, analyze the absolute value of their difference and perform a ratio operation with the duration corresponding to the preset time period, and count the maximum value of the result to obtain the maximum value of the smoke concentration change rate; monitor the initial state visibility and the final state visibility at the preset position point in the safe house corresponding to the preset time period through a visibility measuring instrument, analyze the absolute value of their difference and perform a ratio operation with the duration corresponding to the preset time period, and count the maximum value of the result to obtain the maximum value of the visibility change rate; monitor the response speed of the smoke exhaust device in the safe house through a timer and an oscilloscope and count its average value to obtain the average value of the smoke exhaust device response speed.

[0052] This embodiment provides a set of mapping groups obtained from a database. The mapping groups contain a mapping set for reflecting the mapping relationship between the smoke exhaust device response analysis group and the corresponding preset smoke exhaust response weight value. The mapping relationship in the mapping set can be a one-to-one or many-to-one relationship. The mapping set is obtained from the mapping group, and the mapping group is obtained from the database. By inputting the real-time smoke exhaust device response analysis group into the mapping group, the preset smoke exhaust response weight value can be obtained. For example, in this embodiment, the value range of the weight is 0-1. The smoke exhaust device response analysis group includes the maximum smoke diffusion speed, the maximum smoke exhaust speed, the maximum visibility change rate, and the maximum visibility change rate.

[0053] This embodiment combines the smoke exhaust device response data analysis to obtain the accurate value of the smoke exhaust device response control. In this embodiment, the exponential function is used to process the smoke exhaust device response data to reflect the positive correlation change trend between the smoke exhaust device response data and the accurate value of the smoke exhaust device response control. The corresponding change trend of the exponential function is that as the smoke exhaust device response data increases, the accurate value of the smoke exhaust device response control gradually increases. The exponential function has the function of smoothing the data and amplifying the change trend. The greater the smoke exhaust response-diffusion speed evaluation value, the greater the comprehensive influence of the maximum smoke diffusion speed and the average smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device, resulting in a greater accurate value of the smoke exhaust device response control; the greater the smoke exhaust response-smoke exhaust speed evaluation value, the greater the comprehensive influence of the maximum smoke exhaust speed and the average smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device, resulting in a greater accurate value of the smoke exhaust device response control; the greater the smoke exhaust response-concentration change evaluation value, the greater the comprehensive influence of the maximum smoke concentration change rate and the average smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device, resulting in a greater accurate value of the smoke exhaust device response control; the greater the smoke exhaust response-visibility evaluation value, the greater the comprehensive influence of the maximum visibility change rate and the average smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device, resulting in a greater accurate value of the smoke exhaust device response control. In summary, the smoke exhaust device response data is in a proportional relationship with the accurate value of the smoke exhaust device response control.

[0054] In this embodiment, the response parameters of the smoke exhaust device do not exist independently and are interrelated, and comprehensive analysis is required. The greater the maximum value of the smoke diffusion speed, the higher the smoke exhaust speed may need to be increased to quickly exhaust the smoke, which in turn leads to an increase in the maximum value of the smoke exhaust speed; the acceleration of the smoke diffusion speed may cause the smoke concentration to rise rapidly in a short period of time, thereby increasing the maximum value of the smoke concentration change rate; the acceleration of the smoke diffusion speed may reduce the visibility, resulting in an increase in the maximum value of the visibility change rate; the increase in the smoke concentration may reduce the visibility because the smoke particles will block the line of sight, leading to a decrease in visibility, thereby increasing the visibility change rate. By analyzing the comprehensive influence between parameters, the accurate evaluation of the control accuracy of the smoke exhaust response speed of the smoke exhaust device within a preset time period is realized, and further the improvement of safety in the control of vehicle spontaneous combustion in the underground garage based on AGV is achieved.

[0055] Further, the specific process of determining whether to optimize the smoke exhaust control is as follows: Determine whether the accurate value of the smoke exhaust device response control is greater than the preset smoke exhaust response control threshold obtained from the database; when the accurate value of the smoke exhaust device response control is greater than the preset smoke exhaust response control threshold, it indicates that the response performance of the smoke exhaust device is less affected by smoke interference, and continue with the smoke exhaust process; when the accurate value of the smoke exhaust device response control is not greater than the preset smoke exhaust response control threshold, it indicates that the response performance of the smoke exhaust device is greatly affected by smoke interference, and optimize the smoke exhaust control.

[0056] It should be added that the specific process of optimizing the smoke exhaust control is as follows: Monitor the change rate of the smoke concentration in the safe room and determine whether to send a signal to adjust the smoke exhaust speed; the signal to adjust the smoke exhaust speed includes a signal to increase the smoke exhaust speed and a signal to decrease the smoke exhaust speed; when the monitored change rate of the smoke concentration is greater than the preset smoke concentration change rate threshold obtained from the database, send a signal to increase the smoke exhaust speed until the monitored change rate of the smoke concentration is not greater than the preset smoke concentration change rate threshold; when the monitored change rate of the smoke concentration is not greater than the preset smoke concentration change rate threshold obtained from the database, send a signal to decrease the smoke exhaust speed until the monitored change rate of the smoke concentration is within the preset smoke concentration change rate range obtained from the database.

[0057] In this embodiment, the preset smoke exhaust response control threshold is represented by the average value of the accurate values of the smoke exhaust device response control in the historical time period, the preset smoke concentration change rate threshold is represented by the average value of the smoke concentration change rates in the historical time period, and the preset smoke concentration change rate range is set in advance by the preset personnel; by sending a signal to increase the smoke exhaust speed, for example, when the smoke concentration change rate is greater than the preset smoke concentration change rate threshold, the speed of the smoke exhaust device is set to be greater than the preset smoke exhaust speed, and when the smoke concentration change rate is greater than a preset multiple (generally 2 times) of the preset smoke concentration change rate threshold, the speed of the smoke exhaust device is set to be greater than a preset multiple (generally 2 times) of the preset smoke exhaust speed, and so on; by sending a signal to decrease the smoke exhaust speed, when the smoke concentration change rate is not greater than the preset smoke concentration change rate threshold, the speed of the smoke exhaust device is set to not be greater than the preset smoke exhaust speed, and when a preset multiple (generally 2 times) of the smoke concentration change rate is not greater than the preset smoke concentration change rate threshold, the preset multiple (generally 2 times) of the speed of the smoke exhaust device is set to not be greater than the preset smoke exhaust speed, and so on; by dynamically adjusting the speed of the smoke exhaust device, the smoke diffusion can be controlled more effectively, the potential safety hazards in the case of abnormal vehicle spontaneous combustion can be reduced, and thus the safety in the vehicle spontaneous combustion control in the underground garage based on AGV is improved.

[0058] Further, a water storage device, a smoke exhaust device and a harmful gas decomposition device are arranged in the safe house; the smoke exhaust device is used to discharge the smoke generated by the abnormal vehicle in the safe house to a preset area; the water storage device is used to assist in cooling; the harmful gas decomposition device is used to receive the smoke discharged by the smoke exhaust device and perform water storage conversion; water storage conversion means oxidizing the harmful gas into harmless carbon dioxide and water by a catalytic oxidation method and transmitting the harmless water to the water storage device.

[0059] It should be added that the method for controlling spontaneous combustion in an underground garage based on AGV handling provided in the embodiment of the present application includes the following steps: AGV handling: transporting the abnormal vehicle to the safe house for fire extinguishing treatment by an AGV handling robot; fire extinguishing analysis: performing fire extinguishing analysis on the abnormal vehicle in the safe house and judging whether to perform dynamic optimization of the smoke exhaust pressure; smoke diffusion analysis: performing smoke diffusion analysis on the abnormal vehicle in the safe house and judging whether to perform dynamic optimization of the influence of the smoke exhaust speed; smoke exhaust response analysis: performing response analysis on the smoke exhaust device and judging whether to perform smoke exhaust control optimization.

[0060] Among them, the embodiment of the present application also provides an electronic device, which is characterized in that the electronic device includes a memory for storing computer program instructions and a processor for executing the program instructions. Among them, when the computer program instructions are executed by the processor, the electronic device is triggered to execute the underground garage spontaneous combustion control system based on AGV handling.

[0061] In this embodiment, the AGV handling robot transports the abnormal vehicle to the safe house, which is used to place the abnormal vehicle (self-igniting vehicle). When an abnormality (such as vehicle fire) occurs in the safe house, the smoke exhaust device can be activated to discharge the generated smoke to a preset safe area, which helps prevent the accumulation of smoke in the safe house; harmful gases (such as carbon monoxide, nitrogen oxides, etc.) are oxidized into harmless carbon dioxide and water through the catalytic oxidation method, realizing the resource utilization of harmful substances in the smoke; when the temperature in the safe house rises, the water in the water storage device can be used for cooling to reduce the indoor temperature. Through the coordinated work of the smoke exhaust device, harmful gas decomposition device and water storage device, the smoke exhaust efficiency and harmful gas treatment capacity are improved, thereby realizing the improvement of safety in the control of vehicle self-ignition in the underground garage based on AGV.

[0062] In the embodiment of the present application, the safe house is used for discharging and treating toxic smoke. The harmful gas decomposition device is combined with the smoke exhaust device to collect the harmful gases discharged to the preset safe area, and the harmful gases in the smoke (such as carbon monoxide, nitrogen oxides, etc.) are oxidized into harmless carbon dioxide and water through the catalytic oxidation method, and the oxidized water is collected by the water storage device for auxiliary cooling.

[0063] In summary, the abnormal vehicle is transported to the safe house by the AGV handling robot for fire extinguishing treatment, and then the abnormal vehicle in the safe house is analyzed for fire extinguishing and it is judged whether to perform dynamic optimization of the smoke exhaust pressure. Then, the smoke diffusion of the abnormal vehicle in the safe house is analyzed and it is judged whether to perform dynamic optimization of the influence of the smoke exhaust speed. Finally, the response of the smoke exhaust device is analyzed and it is judged whether to perform optimization of the smoke exhaust control, realizing the improvement of the reliability of the response control of the smoke exhaust device, and further realizing the improvement of safety in the control of vehicle self-ignition in the underground garage based on AGV, effectively solving the problem of low safety in the control of vehicle self-ignition in the underground garage based on AGV in the prior art.

[0064] 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 complete hardware embodiment, a complete 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.

[0065] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce a means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0066] 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, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0067] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0068] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0069] 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 underground garage spontaneous combustion control system based on AGV handling, characterized in that It includes an AGV handling module, a fire extinguishing analysis module, a smoke diffusion analysis module, and a smoke exhaust response analysis module: Among them, the AGV handling module is used to transport the abnormal vehicle to the safe house through the AGV handling robot for fire extinguishing treatment; The fire extinguishing analysis module is used to analyze the fire extinguishing of the abnormal vehicle in the safe house and judge whether to perform dynamic optimization of the smoke exhaust pressure; The smoke diffusion analysis module is used to analyze the smoke diffusion of the abnormal vehicle in the safe house and judge whether to perform dynamic optimization of the influence of the smoke exhaust speed; The smoke exhaust response analysis module is used to analyze the response of the smoke exhaust device and judge whether to perform optimization of the smoke exhaust control.

2. The underground garage spontaneous combustion control system based on AGV handling according to claim 1, wherein The process of analyzing the fire extinguishing of the abnormal vehicle in the safe house and judging whether to perform dynamic optimization of the smoke exhaust pressure is as follows: After the preliminary fire extinguishing treatment of the abnormal vehicle, monitor the pressure change amount, which represents the air pressure fluctuation condition at the preset position point in the safe house within the preset time period; The pressure change amount is represented by the absolute value corresponding to the difference between the initial air pressure and the final air pressure at the preset position point in the safe house within the preset time period; When the pressure change amount is greater than the maximum value of the preset pressure change amount, perform dynamic optimization of the smoke exhaust pressure; When the pressure change amount is less than the minimum value of the preset pressure change amount, perform optimization processing of the smoke exhaust power. When the monitored pressure change amount is within the preset pressure change amount range obtained from the database, stop execution; The optimization processing of the smoke exhaust power means sending a prompt to the preset personnel to gradually increase the smoke exhaust power by a preset multiple; The specific steps of the dynamic optimization of the smoke exhaust pressure are as follows: The first step is to send a pressure valve opening signal; The second step is to perform reduction processing of the smoke exhaust power. When the monitored pressure change amount is not greater than the minimum value of the preset pressure change amount, stop execution. The reduction processing of the smoke exhaust power means sending a prompt to the preset personnel to gradually reduce the smoke exhaust power by a preset multiple.

3. The underground garage spontaneous combustion control system based on AGV handling according to claim 1, wherein, The specific process of analyzing the smoke diffusion of the abnormal vehicle in the safe house is as follows: Obtain the influence parameter of the smoke exhaust speed and the preset influence parameter of the smoke exhaust speed; Obtain the speed influence reflection factor through the analysis of the approaching degree of the ratio of the average smoke exhaust speed to the preset average smoke exhaust speed; After analyzing the approaching degree of the ratio of the maximum smoke concentration to the preset maximum smoke concentration, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and concentration weight to obtain the smoke exhaust speed and concentration evaluation value, which is used to reflect the comprehensive influence of the maximum smoke concentration and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within the preset time period; After analyzing the approaching degree of the ratio of the maximum humidity in the preset safe house to the maximum humidity in the safe house, perform weighted analysis with the speed influence reflection factor and the preset smoke exhaust speed and humidity weight to obtain the smoke exhaust speed and humidity evaluation value, which is used to reflect the comprehensive influence of the maximum humidity in the safe house and the average smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within the preset time period; After analyzing the ratio approaching degree between the maximum value of the smoke temperature change rate and the preset maximum value of the smoke temperature change rate, and performing a weighted analysis with the speed influence reflection factor and the preset weight of the smoke exhaust speed and temperature change, the smoke exhaust speed and temperature change evaluation value is obtained. The smoke exhaust speed and temperature change evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke temperature change rate and the average value of the smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within a preset time period; After analyzing the ratio approaching degree between the number of abnormal vehicles transported by AGV and the preset maximum value of the number of abnormal vehicles, and performing a weighted analysis with the speed influence reflection factor and the preset weight of the smoke exhaust speed and the number of abnormalities, the smoke exhaust speed and number of abnormalities evaluation value is obtained. The smoke exhaust speed and number of abnormalities evaluation value is used to reflect the comprehensive influence of the number of abnormal vehicles transported by AGV and the average value of the smoke exhaust speed on the smoke exhaust speed of the smoke exhaust device within a preset time period; The smoke exhaust speed influence value is obtained by coupling the smoke exhaust speed influence analysis data. The smoke exhaust speed influence value is used to reflect the comprehensive influence of the smoke exhaust speed influence parameters and the preset smoke exhaust speed influence parameters on the smoke exhaust speed of the smoke exhaust device within a preset time period. The smoke exhaust speed influence parameters include the maximum value of the smoke concentration, the maximum value of the safety house humidity, the maximum value of the smoke temperature change rate, the number of abnormal vehicles transported by AGV, and the average value of the smoke exhaust speed; The smoke exhaust speed influence analysis data includes the smoke exhaust speed and concentration evaluation value, the smoke exhaust speed and humidity evaluation value, the smoke exhaust speed and temperature change evaluation value, and the smoke exhaust speed and number of abnormalities evaluation value.

4. The underground garage spontaneous combustion control system based on AGV handling according to claim 3, characterized in that, The specific process of judging whether to perform dynamic optimization of the smoke exhaust speed influence is as follows: When the smoke exhaust speed influence value is greater than the preset smoke exhaust speed influence threshold, a dynamic reduction setting of the smoke exhaust speed is performed. When the monitored smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, the execution stops; When the smoke exhaust speed influence value is not greater than the preset smoke exhaust speed influence threshold, a dynamic increase setting of the smoke exhaust speed is performed. When the monitored smoke exhaust speed influence value is within the preset minimum speed influence range obtained from the database, the execution stops.

5. The underground garage spontaneous combustion control system based on AGV handling according to claim 1, characterized in that, The response analysis of the smoke exhaust device means analyzing based on the obtained response parameters of the smoke exhaust device and the preset response parameters of the smoke exhaust device obtained from the database. The specific process is as follows: The smoke exhaust response reflection factor is obtained by analyzing the ratio approaching degree between the average value of the smoke exhaust device response speed and the preset average value of the smoke exhaust device response speed; After analyzing the ratio approaching degree between the preset maximum value of the smoke diffusion speed and the maximum value of the smoke diffusion speed, and performing a weighted analysis with the smoke exhaust response reflection factor and the preset weight of the smoke exhaust response - diffusion speed, the smoke exhaust response - diffusion speed evaluation value is obtained. The smoke exhaust response - diffusion speed evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke diffusion speed and the average value of the smoke exhaust device response speed on the smoke exhaust response speed of the smoke exhaust device within a preset time period; After analyzing the degree of approaching the ratio between the maximum value of the preset smoke exhaust speed and the maximum value of the smoke exhaust speed, and performing a weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-smoke exhaust speed weight, the smoke exhaust response-smoke exhaust speed evaluation value is obtained. The smoke exhaust response-smoke exhaust speed evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke exhaust speed and the average value of the response speed of the smoke exhaust device on the smoke exhaust response speed of the smoke exhaust device within a preset time period; After analyzing the degree of approaching the ratio between the maximum value of the preset smoke concentration change rate and the maximum value of the smoke concentration change rate, and performing a weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-concentration change weight, the smoke exhaust response-concentration change evaluation value is obtained. The smoke exhaust response-concentration change evaluation value is used to reflect the comprehensive influence of the maximum value of the smoke concentration change rate and the average value of the response speed of the smoke exhaust device on the smoke exhaust response speed of the smoke exhaust device within a preset time period; After analyzing the degree of approaching the ratio between the maximum value of the preset visibility change rate and the maximum value of the visibility change rate, and performing a weighted analysis with the smoke exhaust response reflection factor and the preset smoke exhaust response-visibility change weight, the smoke exhaust response-visibility evaluation value is obtained. The smoke exhaust response-visibility evaluation value is used to reflect the comprehensive influence of the maximum value of the visibility change rate and the average value of the response speed of the smoke exhaust device on the smoke exhaust response speed of the smoke exhaust device within a preset time period; The accurate value of the smoke exhaust device response control is obtained by coupling the response data of the smoke exhaust device; The accurate value of the smoke exhaust device response control is used to reflect the comprehensive influence of the response parameters of the smoke exhaust device and the preset response parameters of the smoke exhaust device on the smoke exhaust response speed of the smoke exhaust device within a preset time period; The response parameters of the smoke exhaust device include the maximum value of the smoke diffusion speed, the maximum value of the smoke exhaust speed, the maximum value of the smoke concentration change rate, the maximum value of the visibility change rate, and the average value of the response speed of the smoke exhaust device; The response data of the smoke exhaust device includes the smoke exhaust response-diffusion speed evaluation value, the smoke exhaust response-smoke exhaust speed evaluation value, the smoke exhaust response-concentration change evaluation value, and the smoke exhaust response-visibility evaluation value.

6. The underground garage spontaneous combustion control system based on AGV handling according to claim 5, characterized in that, The specific process of judging whether to optimize the smoke exhaust control is as follows: Judge whether the accurate value of the smoke exhaust device response control is greater than the preset smoke exhaust response control threshold obtained from the database; When the accurate value of the smoke exhaust device response control is greater than the preset smoke exhaust response control threshold, continue the smoke exhaust treatment; When the accurate value of the smoke exhaust device response control is not greater than the preset smoke exhaust response control threshold, optimize the smoke exhaust control.

7. The underground garage spontaneous combustion control system based on AGV handling according to claim 6, wherein The specific process of optimizing the smoke exhaust control is as follows: When the monitored smoke concentration change rate is greater than the preset smoke concentration change rate threshold obtained from the database, send a signal to increase the smoke exhaust speed until the monitored smoke concentration change rate is not greater than the preset smoke concentration change rate threshold; When the monitored smoke concentration change rate is not greater than the preset smoke concentration change rate threshold obtained from the database, send a signal to decrease the smoke exhaust speed until the monitored smoke concentration change rate is within the preset smoke concentration change rate range obtained from the database.

8. The self-ignition control system for an underground garage based on AGV transportation according to claim 1, wherein, A water storage device, a smoke exhaust device, and a harmful gas decomposition device are arranged in the safe room; The smoke exhaust device is used to discharge the smoke generated by abnormal vehicles in the safe house to a preset area; The water storage device is used to assist in cooling; The harmful gas decomposition device is used to receive the smoke discharged by the smoke exhaust device and perform water storage conversion; The water storage conversion means oxidizing harmful gases into harmless carbon dioxide and water by a catalytic oxidation method and transmitting the harmless water to the water storage device.

9. The method for controlling spontaneous combustion in an underground garage based on AGV transportation is characterized in that It includes the following steps: Use an AGV handling robot to move the abnormal vehicle to the safe house for fire extinguishing treatment; Conduct a fire extinguishing analysis on the abnormal vehicle in the safe house and determine whether to perform dynamic optimization of the smoke exhaust pressure; Conduct a smoke diffusion analysis on the abnormal vehicle in the safe house and determine whether to perform dynamic optimization of the influence of the smoke exhaust speed; Conduct a response analysis on the smoke exhaust device and determine whether to perform optimization of the smoke exhaust control.

10. An electronic device, characterized in that, The electronic device includes a memory for storing computer program instructions and a processor for executing the program instructions. Among them, when the computer program instructions are executed by the processor, the electronic device is triggered to execute the underground garage spontaneous combustion control system based on AGV handling as described in any one of claims 1-8.

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