AGV carrying monitoring method, system and equipment for underground garage

Abstract

The invention discloses an AGV carrying monitoring method, system and device for an underground garage, and relates to the technical field of AGV carrying monitoring control. The AGV carrying monitoring method for the underground garage comprises the following steps that disaster situations of the underground garage are recognized; the AGV responds to visibility adjustment and optimization according to visibility comparison and analysis; aGV high-temperature adjustment and optimization are carried out according to AGV backboard temperature comparison and analysis; performing electromagnetic pulse adjustment and optimization coped by the AGV according to comparison and analysis of the electromagnetic intensity borne by the AGV backboard; and when the AGV judges that the safe house of the underground garage arrives, a closed fire extinguishing scheme is started. The AGV and the spontaneous combustion vehicle are in butt joint, borne and consigned, the environmental visibility, the backboard temperature and the electromagnetic interference are judged and analyzed in real time in the consignment process and analyzed and adjusted step by step, and the effect of improving the dynamic regulation and control adaptability when the AGV consignes the spontaneous combustion vehicle in the underground garage is achieved; the problem that in the prior art, dynamic regulation and control adaptability is insufficient when the AGV consignes the spontaneous combustion vehicle in the underground garage is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV handling monitoring and control, and particularly to an AGV handling monitoring method, system and equipment for underground garages. Background Art

[0002] With the development of AGV (Automated Guided Vehicle) handling monitoring methods, the background is mainly due to the continuous improvement of the global industrial automation level, which has promoted the rapid development of AGV handling robots. With the rise of labor costs, enterprises' demand for improving production efficiency and reducing costs has become increasingly urgent. AGV handling robots, due to their high efficiency, stability and safety characteristics, have become an important tool for realizing automated production. In addition, the application development in fire protection scenarios has also promoted the wide application of AGVs in the warehousing and logistics fields.

[0003] The existing AGV handling monitoring methods for underground garages have the following main technical functions: achieving autonomous navigation through technologies such as lidar, visual navigation, and inertial navigation without manual intervention. Planning the optimal path according to task requirements and environmental conditions to ensure safe and efficient operation. Multiple AGVs can work collaboratively to achieve collective handling tasks through communication and coordination. Equipped with a variety of sensors, it can real-time sense the surrounding environment, including obstacles, pedestrians, vehicles, etc., as well as the status of goods. It can automatically return to the charging station for charging when needed without manual intervention.

[0004] For example, a patent for invention with the publication number: CN109656256A discloses an AGV-based automatic handling system, including: an AGV ground control system, a communication module, an assignment unit, a sending unit, a receiving unit, a processing unit, and an AGV vehicle body system. The AGV ground control system is signal-connected to the communication module, the communication module is signal-connected to the assignment unit, the assignment unit is signal-connected to the sending unit, the sending unit is signal-connected to the receiving unit, and the receiving unit is signal-connected to the processing unit. This system processes the sent command information through the AGV ground control system, communication module, assignment unit, sending unit, receiving unit, processing unit, and AGV vehicle body system, real-time locates the handling system through the GPS positioning system, stores the walking path of the machine through the storage module, and can real-time monitor and control the system stability through the alarm system, battery monitoring unit, anti-collision protection system, self-check system, and interface module.

[0005] For example, a safety protection system for an AGV handling robot disclosed in a patent invention with the publication number of CN109885050A includes: a second plate body is fixed on the outer side of a turntable, a frame body is fixed on the outer side of the second plate body, a U-shaped elastic piece is fixed inside the frame body by screws, a movable plate body is fixed on the outer side of the U-shaped elastic piece by screws, a convex column is fixed on the movable plate body, a third plate body is fixed on the outer side of the convex column, and an ultrasonic sensor is fixed on the outer side of the third plate body. A control system is provided on the top of the vehicle body. The second plate body is rotated by rollers, so that the ultrasonic sensor always faces the traveling direction. Laser rangefinders are distributed around the robot, and the working conditions of the robot are monitored by the control system.

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

[0007] In the prior art, for the problem of vehicle spontaneous combustion in an underground garage, an AGV can be used to tow the spontaneously combusted vehicle to a safe location. However, due to various factors such as the decrease in environmental visibility caused by the negative impact of the spontaneously combusted vehicle, high-temperature fluctuations, and electromagnetic pulses caused by battery combustion, an accident of failed towing may occur during the process of the AGV towing the spontaneously combusted vehicle, resulting in insufficient dynamic regulation adaptability when the AGV in the underground garage tows the spontaneously combusted vehicle. Summary of the Invention

[0008] The embodiments of the present application provide an AGV handling monitoring method, system and device for an underground garage, which solve the problem of insufficient dynamic regulation adaptability when an AGV in an underground garage tows a spontaneously combusted vehicle in the prior art, and achieve the effect of improving the dynamic regulation adaptability when an AGV in an underground garage tows a spontaneously combusted vehicle.

[0009] The embodiments of the present application provide an AGV handling monitoring method for an underground garage, including the following steps: identifying the disaster situation in the underground garage, if a spontaneously combusted vehicle is detected, the AGV docks with, carries and tows the spontaneously combusted vehicle; the AGV continuously judges the environmental visibility during the towing process, and makes adjustments and optimizations for the AGV to cope with the visibility according to the comparison and analysis of the visibility; the AGV continuously judges the temperature of the AGV backplane during the towing process, and makes adjustments and optimizations for the AGV to cope with the high temperature according to the comparison and analysis of the AGV backplane temperature; the AGV continuously judges the electromagnetic intensity received by the AGV backplane during the towing process, and makes adjustments and optimizations for the AGV to cope with electromagnetic pulses according to the comparison and analysis of the electromagnetic intensity received by the AGV backplane; the AGV judges that it has reached the safe house in the underground garage and activates the closed fire extinguishing plan.

[0010] Furthermore, the AGV docks with, carries, and transports the self-igniting vehicle, specifically including: real-time monitoring of fire warning data in the corresponding underground garage area through a distributed fire sensor array; if the local temperature of the vehicle in the fire warning data is less than the corresponding self-igniting vehicle temperature threshold, no processing is performed; if the local temperature of the vehicle in the fire warning data is equal to or greater than the corresponding self-igniting vehicle temperature threshold, the corresponding vehicle is determined as a self-igniting vehicle, the underground garage area where the self-igniting vehicle is located is recorded, a predefined isolation procedure is initiated for the underground garage area where the self-igniting vehicle is located, and the AGV is called to go to the underground garage area where the self-igniting vehicle is located through a predefined hierarchical path planning scheme; the AGV unfolds the three-stage telescopic arm of the special AGV hydraulic lifting mechanism, grabs the vehicle chassis support point, and the AGV transports the corresponding self-igniting vehicle to a predefined underground garage safe house.

[0011] Furthermore, the AGV response to visibility adjustment and optimization based on visibility contrast analysis specifically includes: real-time collection of the underground garage environment visibility through the AGV's lidar; if the underground garage environment visibility is greater than the first visibility threshold, no adjustment is made; if the underground garage environment visibility is greater than the second visibility threshold and less than or equal to the first visibility threshold, the air brush cleaning is started through the rotary air brush cleaning device built in the AGV; if the underground garage environment visibility is greater than the third visibility threshold and less than or equal to the second visibility threshold, the optical sensor is turned off and the non-optical sensor is retained; if the underground garage environment visibility is less than or equal to the third visibility threshold, relevant personnel are notified for manual remote control.

[0012] Furthermore, the AGV response to high temperature adjustment and optimization based on AGV backplane temperature contrast analysis specifically includes: real-time collection of the AGV backplane temperature through the AGV's temperature sensor; if the AGV backplane temperature is less than or equal to the third AGV temperature tolerance threshold, a correction evaluation adjustment for the negative impact of high temperature is performed; if the AGV backplane temperature is greater than the third AGV temperature tolerance threshold and less than or equal to the second AGV temperature tolerance threshold, an infrared thermal imager thermal radiation compensation is performed; if the AGV backplane temperature is greater than the second AGV temperature tolerance threshold and less than or equal to the first AGV temperature tolerance threshold, a first cooling treatment is performed through the integrated thermoelectric refrigeration device built in the AGV; if the AGV backplane temperature is greater than the first AGV temperature tolerance threshold, a second cooling treatment is performed through the nitrogen curtain protection device built in the edge of the AGV backplane.

[0013] Further, the specific process of performing the high-temperature negative impact correction evaluation and adjustment is as follows: The maximum value of the temperature dispersion of the AGV backplane is obtained by collecting and analyzing through a temperature sensor, and the temperature difference between the optical lens environment of the AGV path planning sensor; The average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor is obtained by collecting through a built-in current sampler; The predefined threshold of the temperature dispersion of the AGV backplane, the preset curvature radius of the optical lens of the AGV path planning sensor, the preset thermal expansion coefficient of the optical lens of the AGV path planning sensor, the expansion difference value between the metal bracket and the glass mirror, and the standard value of the dark current of the APD detector (avalanche photodiode) are directly extracted from the underground garage AGV handling monitoring database; The ratio analysis is performed on the maximum value of the temperature dispersion of the AGV backplane and the predefined threshold of the temperature dispersion of the AGV backplane to obtain the first high-temperature variable of the AGV path planning sensor; The preset thermal expansion coefficient of the optical lens of the AGV path planning sensor and the metal bracket are first superimposed with the expansion difference value between the metal bracket and the glass mirror, and then coupled and analyzed with the preset curvature radius of the optical lens of the AGV path planning sensor and the temperature difference between the optical lens environment of the AGV path planning sensor respectively to obtain the second high-temperature variable of the AGV path planning sensor; The ratio analysis is performed on the average dark current of the APD detector (avalanche photodiode) and the standard value of the dark current of the APD detector (avalanche photodiode) to obtain the third high-temperature variable of the AGV path planning sensor; The first high-temperature variable of the AGV path planning sensor is corrected through the corresponding weight factor of the first high-temperature variable of the AGV path planning sensor to obtain the first weighted variable of the high temperature of the AGV path planning sensor. The second high-temperature variable of the AGV path planning sensor is corrected through the corresponding weight factor of the second high-temperature variable of the AGV path planning sensor to obtain the second weighted variable of the high temperature of the AGV path planning sensor. The third high-temperature variable of the AGV path planning sensor is corrected through the corresponding weight factor of the third high-temperature variable of the AGV path planning sensor to obtain the third weighted variable of the high temperature of the AGV path planning sensor; By jointly analyzing the first weighted variable of the high temperature of the AGV path planning sensor, the second weighted variable of the high temperature of the AGV path planning sensor, and the third weighted variable of the high temperature of the AGV path planning sensor, the high-temperature negative impact correction value of the AGV path planning sensor is obtained. The high-temperature negative impact correction value of the AGV path planning sensor is used to describe the quantification degree of the joint effect of the average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor, the first high-temperature variable of the AGV path planning sensor, and the second high-temperature variable of the AGV path planning sensor on the negative distortion degree of the AGV path planning sensor caused by external high temperature; If the high-temperature negative impact correction value of the AGV path planning sensor is less than the corresponding high-temperature negative impact threshold of the AGV path planning sensor, no adjustment is made;If the correction value of the high-temperature negative impact of the AGV path planning sensor is equal to or greater than the corresponding high-temperature negative impact threshold of the AGV path planning sensor, the parallel drive of the SiCMOSFET of the AGV motor driver is started, and thermal correction is performed through the temperature acquisition data built in the AGV path planning sensor by predefined software.

[0014] Furthermore, the AGV response to electromagnetic pulses is adjusted and optimized according to the comparative analysis of the electromagnetic intensity received by the AGV backplane, which specifically includes: real-time collecting the electromagnetic intensity of the AGV environment through the electromagnetic sensor of the AGV; if the electromagnetic intensity of the AGV environment is less than or equal to the electromagnetic intensity threshold of the AGV environment, no adjustment is made; if the electromagnetic intensity of the AGV environment is greater than the electromagnetic intensity threshold of the AGV environment, a correction evaluation adjustment for the negative impact of high electromagnetic interference is performed.

[0015] Furthermore, the correction evaluation adjustment for the negative impact of high electromagnetic interference specifically includes: real-time collecting the instantaneous maximum intensity and the rise time of the electromagnetic pulse through the broadband electric field probe built in the AGV, recording the starting time of the electromagnetic pulse rise time, if the electromagnetic pulse intensity is less than the electromagnetic pulse intensity attention threshold, recording the termination time of the electromagnetic pulse, and recording the difference between the electromagnetic pulse termination time and the electromagnetic pulse rise time starting time as the electromagnetic pulse duration; directly extracting the allowable value of the electromagnetic pulse intensity from the underground garage AGV handling monitoring database; performing a ratio analysis on the instantaneous maximum intensity of the electromagnetic pulse and the electromagnetic pulse rise time, coupling it with the electromagnetic pulse duration, and then performing a ratio analysis with the allowable value of the electromagnetic pulse intensity to obtain the electromagnetic negative impact component of the AGV path planning sensor. Through the coupling analysis of the high-temperature negative impact correction value of the AGV path planning sensor and the electromagnetic negative impact component of the AGV path planning sensor, the comprehensive electromagnetic negative impact value of the AGV path planning sensor is obtained. The comprehensive electromagnetic negative impact value of the AGV path planning sensor is used to quantitatively represent the degree of negative distortion impact of the joint of the high-temperature negative impact correction value of the AGV path planning sensor and the electromagnetic negative impact component of the AGV path planning sensor on the AGV path planning sensor under the influence of external electromagnetic interference; if the comprehensive electromagnetic negative impact value of the AGV path planning sensor is less than the second threshold, no adjustment is made; if the comprehensive electromagnetic negative impact value of the AGV path planning sensor is equal to or greater than the second threshold and less than the first threshold, generalization denoising processing is performed through predefined first denoising software; if the comprehensive electromagnetic negative impact value of the AGV path planning sensor is equal to or greater than the first threshold, specific denoising processing is performed through predefined second denoising software.

[0016] The embodiment of the present application provides an AGV handling monitoring system for an underground garage, including an underground garage disaster identification module, an AGV consignment environment visibility analysis and adjustment module, an AGV consignment temperature analysis and adjustment module, an AGV consignment electromagnetic intensity analysis and adjustment module, and an underground garage safety house closed fire extinguishing module: The underground garage disaster identification module is used for identifying disasters in the underground garage. If a self-igniting vehicle is detected, the AGV docks with, carries, and consigns the self-igniting vehicle; The AGV consignment environment visibility analysis and adjustment module is used for the AGV to judge the environmental visibility during the consignment process in real time, and optimize the AGV's response to visibility according to the comparison and analysis of visibility; The AGV consignment temperature analysis and adjustment module is used for the AGV to judge the temperature of the AGV backplane during the consignment process in real time, and optimize the AGV's response to high temperature according to the comparison and analysis of the AGV backplane temperature; The AGV consignment electromagnetic intensity analysis and adjustment module is used for the AGV to judge the electromagnetic intensity received by the AGV backplane during the consignment process in real time, and optimize the AGV's response to electromagnetic pulses according to the comparison and analysis of the electromagnetic intensity received by the AGV backplane; The underground garage safety house closed fire extinguishing module is used for the AGV to judge that it has reached the underground garage safety house and start the closed fire extinguishing plan.

[0017] The embodiment of the present application provides an AGV handling monitoring device for an underground garage, including a special AGV high-temperature resistant chassis, a special AGV hydraulic lifting mechanism, a special AGV explosion-proof electrical hardware device, and a special modular underground garage safety house double-layer heat insulation device, a special modular special modular underground garage safety house intelligent fire extinguishing device, and a special modular special modular underground garage safety house negative pressure smoke exhaust device; The special AGV high-temperature resistant chassis is used to resist the negative impact of high temperature in consigning self-igniting vehicles; The special AGV hydraulic lifting mechanism is used to fix and consign self-igniting vehicles; The special AGV explosion-proof electrical hardware device is used to resist the negative impact of explosion and combustion in consigning self-igniting vehicles; The special modular underground garage safety house double-layer heat insulation device is used to resist the negative impact of explosion and combustion in self-igniting vehicles; The special modular special modular underground garage safety house intelligent fire extinguishing device is used to quickly cool down and extinguish the fire of self-igniting vehicles; The special modular special modular underground garage safety house negative pressure smoke exhaust device is used to quickly exhaust the smoke generated by self-igniting vehicles by negative pressure.

[0018] One or more technical solutions provided in the embodiment of the present application have at least the following technical effects or advantages:

[0019] 1. Disaster identification in the underground garage; optimizing the AGV's response to visibility adjustment based on visibility contrast analysis; optimizing the AGV's response to high temperature adjustment based on the comparison analysis of the AGV's backplane temperature; optimizing the AGV's response to electromagnetic pulse adjustment based on the comparison analysis of the electromagnetic intensity received by the AGV's backplane; the AGV determines that it has reached the safe house in the underground garage and activates the enclosed fire extinguishing plan, achieving the effect of improving the dynamic regulation adaptability of the AGV when transporting self-igniting vehicles in the underground garage, and solving the problem of insufficient dynamic regulation adaptability of the AGV when transporting self-igniting vehicles in the underground garage in the existing technology.

[0020] 2. Optimizing the AGV's response to high temperature adjustment based on the comparison analysis of the AGV's backplane temperature. This hierarchical temperature control scheme realizes the comprehensive improvement from data accuracy to system energy efficiency through the coordination of multi-band infrared sensing, directional refrigeration, and dynamic protection, supports the long-term stable operation of the AGV in the high-temperature environment of the underground garage, reduces the total energy consumption at the same time, and then realizes the effectiveness of the AGV's high-temperature adaptability adjustment for the underground garage.

[0021] 3. Optimizing the AGV's response to electromagnetic pulse adjustment based on the comparison analysis of the electromagnetic intensity received by the AGV's backplane. On the basis of the high-temperature adjustment optimization, through real-time monitoring and hierarchical denoising by electromagnetic sensors, the influence of electromagnetic interference on the AGV path planning sensor is reduced to within ±2 cm, ensuring its positioning accuracy in the extreme electromagnetic environment. Combined with the enclosed fire extinguishing plan, a "high temperature - electromagnetic - safety" triple protection system is formed, and then the reliability of the AGV's adaptive adjustment to high electromagnetic interference when transporting self-igniting vehicles in the underground garage is realized. Brief Description of the Drawings

[0022] Figure 1 It is a flowchart of the AGV handling monitoring method for the underground garage provided by the embodiment of the present application;

[0023] Figure 2 It is a structural diagram of the AGV handling monitoring system for the underground garage provided by the embodiment of the present application. Detailed Embodiments

[0024] The embodiment of the present application provides an AGV handling monitoring method, system and equipment for the underground garage, solving the problem of insufficient dynamic regulation adaptability of the AGV when transporting self-igniting vehicles in the underground garage in the existing technology. Through the docking, loading and transportation of the AGV and the self-igniting vehicle, and real-time judgment and analysis of the environmental visibility, backplane temperature, and electromagnetic interference during the transportation process and step-by-step analysis and adjustment, the effect of improving the dynamic regulation adaptability of the AGV when transporting self-igniting vehicles in the underground garage is achieved.

[0025] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the accompanying drawings of the specification and specific embodiments.

[0026] like Figure 1 As shown, it is a flow chart of the AGV handling monitoring method for underground garages provided in an embodiment of the present application. The method is applied to the AGV handling monitoring system of the underground garage, and the method includes the following steps: underground garage disaster identification. If a spontaneously combusting vehicle is detected, the AGV docks with, carries and consigns the spontaneously combusting vehicle; the AGV determines the environmental visibility during the consignment process in real time, and adjusts and optimizes the AGV to cope with visibility based on visibility comparison analysis; the AGV determines the AGV backplane temperature during the consignment process in real time, and adjusts and optimizes the AGV to cope with high temperature based on AGV backplane temperature comparison analysis; the AGV determines the electromagnetic intensity of the AGV backplane during the consignment process in real time, and adjusts and optimizes the AGV to cope with electromagnetic pulses based on the electromagnetic intensity comparison analysis of the AGV backplane; the AGV determines that it has reached the underground garage safety house and starts a closed fire extinguishing plan.

[0027] Furthermore, the AGV docks with, carries and consigns the spontaneous combustion vehicle, specifically including: real-time monitoring of the fire warning data of the corresponding underground garage area through a distributed fire sensor array; if the local temperature of the vehicle in the fire warning data is lower than the corresponding temperature threshold of the spontaneous combustion vehicle, no processing will be performed; if the local temperature of the vehicle in the fire warning data is equal to or greater than the corresponding temperature threshold of the spontaneous combustion vehicle, the corresponding vehicle will be judged as a spontaneous combustion vehicle, the underground garage area where the spontaneous combustion vehicle is located is recorded, a predefined isolation program is started for the underground garage area where the spontaneous combustion vehicle is located, and the AGV is called to go to the underground garage area where the spontaneous combustion vehicle is located through a predefined hierarchical path planning scheme; the AGV unfolds the three-stage telescopic arm of the special AGV hydraulic lifting mechanism, grabs the vehicle chassis support point, and the AGV consigns the corresponding spontaneous combustion vehicle to the predefined underground garage safe house.

[0028] In this embodiment, the distributed fire sensors may be dual-band infrared flame sensors (3-5 μm and 8-14 μm bands) in different underground garage areas (eg, different parking spaces).

[0029] The thermal imaging system detects that the local temperature of the vehicle exceeds the threshold of 200°C (different vehicles have different temperature thresholds, which are manually pre-set by identifying different vehicles).

[0030] The isolation procedure is predefined, and the fire shutter door of the underground garage area where the self-igniting vehicle is located is lowered. The fire shutter door has three sides, and one side is left for the AGV to transport the self-igniting vehicle.

[0031] The predefined hierarchical path planning scheme is the execution scheme of the AGV built-in algorithm. The predefined hierarchical path planning scheme specifically includes global path planning (A* algorithm) and local path adjustment (Dynamic Window Approach DWA). Global planning (A* algorithm): Generate a static optimal path from the starting point to the ending point, avoiding fixed obstacles (such as walls and columns). Local adjustment (DWA): Real-time sense dynamic obstacles (such as pedestrians and vehicles), and dynamically adjust the speed and path to ensure safe obstacle avoidance.

[0032] The step examples of the predefined hierarchical path planning scheme are as follows:

[0033] Global stage (A* algorithm): Input the static map of the garage (raster map or topological map).

[0034] Use the A* algorithm to calculate the shortest path from the starting point to the ending point, and the cost function is:

[0035] f(n) = g(n) + h(n);

[0036] g(n): The actual movement cost (such as distance and turning penalty).

[0037] h(n): Heuristic estimation (such as the Euclidean distance to the ending point).

[0038] Output the global path (sequence of path points).

[0039] Local stage (Dynamic Window Approach DWA): Real-time sample the speed space: Under the current speed and motion constraints of the AGV, generate multiple groups of feasible speed combinations (linear speed and angular speed).

[0040] Trajectory simulation: Predict the motion trajectory of each group of speeds in the short future (such as 0.5 seconds).

[0041] Prioritize the trajectory that is close to the global path, far from obstacles, and has a higher speed.

[0042] Output the optimal local path, and loop until reaching the ending point.

[0043] The best path planning for the AGV in the underground garage needs to adopt a hierarchical strategy: The A* algorithm provides the global optimal path; DWA adjusts the local trajectory in real time. This scheme achieves a balance among efficiency, safety, and computational resource consumption, and is suitable for the usage environment of the underground garage.

[0044] The AGV unfolds its three-stage telescopic arm of the special AGV hydraulic lifting mechanism and grabs the vehicle tire or the chassis support point. Specifically, the AGV scans the self-igniting vehicle 360° to select the best grabbing point (avoiding the deformed / burning parts). The hydraulic arm adjusts the telescopic levels according to the vehicle height (the first stage extends 1m, the second stage 2m, and the third stage 3m). The gripper grabs the vehicle tire or the chassis crossbeam with a constant pressure (5 - 10kN) to avoid structural damage caused by extrusion. The three-stage hydraulic arm lifts synchronously and slowly lifts the vehicle off the ground at a speed of 0.1m / s (the lifting height is 20 - 30cm). The built-in ratchet mechanism of the fixture automatically locks, and the vehicle is rigidly connected to the AGV chassis. The AGV lowers its center of gravity to the lowest mode (10cm from the ground). Speed control: Straight section: The maximum speed is 1m / s (speed limit in the explosion-proof mode). Turning section: The speed is reduced to 0.3m / s, and the hydraulic arm retracts one stage to reduce the turning radius.

[0045] After the AGV unfolds its three-stage telescopic arm of the special AGV hydraulic lifting mechanism and grabs the vehicle chassis support point, the AGV will unfold the foldable high-temperature resistant explosion suppression cover, as follows: After the AGV completes grabbing and lifting the vehicle by 20cm, it triggers the cover unfolding command. The hydraulic push rod is pushed out at a speed of 20mm / s, and the stroke difference of the 4 groups of push rods < 5mm (to prevent deflection), and the cover is initially closed. The pressure sensor monitors the air pressure inside the cover. If the pressure rise < 50Pa within 10 seconds, it starts the secondary extension of the skirt, and the cover is completely closed. There are 8 thermocouples (accuracy ±1℃) and 2 flame optical sensors arranged inside the cover, and the data is transmitted back to the AGV control system in real time. After arriving at the safe house in the underground garage and the AGV stops stably, the hydraulic push rod retracts the cover at a speed of 15mm / s. Through the deep integration of the foldable high-temperature resistant explosion suppression cover and the AGV, the fire and smoke diffusion of the self-igniting vehicle can be effectively controlled without significantly affecting the mobility of the AGV.

[0046] It should be noted that during the entire process of the AGV transporting the self-igniting vehicle to the safe house in the underground garage, the self-igniting vehicle is inside the foldable high-temperature resistant explosion suppression cover.

[0047] Furthermore, the AGV adjusts and optimizes its response to visibility based on visibility contrast analysis, specifically including: The AGV's lidar is used to collect the visibility of the underground garage environment in real time; if the visibility of the underground garage environment is greater than the first visibility threshold, no adjustment is made; if the visibility of the underground garage environment is greater than the second visibility threshold and less than or equal to the first visibility threshold, the rotary air brush cleaning device built into the AGV starts the air brush cleaning; if the visibility of the underground garage environment is greater than the third visibility threshold and less than or equal to the second visibility threshold, the optical sensors are turned off and the non-optical sensors are retained; if the visibility of the underground garage environment is less than or equal to the third visibility threshold, relevant personnel are notified for manual remote control.

[0048] In this embodiment, when a laser beam propagates in a smoke or dust environment, its intensity will attenuate due to scattering and absorption. According to the Beer-Lambert law, the attenuation of the laser intensity is inversely proportional to the visibility. By using the built-in calibration data of the lidar, the attenuation coefficient in the Beer-Lambert law formula is converted into a visibility value.

[0049] Start the air brush cleaning by the rotary air brush cleaning device built in the AGV and activate the refrigeration by the integrated thermoelectric refrigeration device built in the AGV. Specific example:

[0050] Equipped with a rotary air brush cleaning system (compressed air pressure 0.6 MPa, cleaning cycle 10 seconds / time); integrated thermoelectric refrigeration device (TEC refrigeration chip, temperature difference ΔT = 35 °C); start air brush cleaning when the dust concentration is greater than 30 mg / m³.

[0051] The rotary air brush cleaning device can specifically be set above the optical sensor and the non-optical sensor.

[0052] Turn off the optical sensor and keep the non-optical sensors. For example, turn off the optical camera and keep the millimeter-wave radar, ultrasonic array, thermal imaging navigation module, and lidar. Sensor fusion logic priority: millimeter-wave radar > thermal imaging, thermal imaging > ultrasonic, ultrasonic > lidar.

[0053] If the visibility in the underground garage environment is less than or equal to the third threshold, the example is as follows: when the visibility < 0.5 m, the AGV automatically requests manual remote control. The console combines real-time visual positioning via GPS, thermal imaging images, and millimeter-wave point clouds for assisted driving. For example, build an AR console through the Unity engine, support FPV perspective and obstacle attribute marking, and dual-channel communication (5G + Wi-Fi) to ensure a remote control delay of less than 200 ms. When the visibility is less than 0.3 m, the AGV detects an unextinguished electric vehicle via radar and bypasses it. At the same time, the thermal imaging monitors the dynamic deceleration of the construction area personnel to meet the requirements of the complex underground garage environment.

[0054] Furthermore, perform AGV high-temperature adjustment and optimization based on the comparative analysis of the AGV backplane temperature. Specifically, it includes: real-time collecting the AGV backplane temperature through the temperature sensor of the AGV; if the AGV backplane temperature is less than or equal to the third threshold of the AGV temperature tolerance, perform a high-temperature negative impact correction and evaluation adjustment; if the AGV backplane temperature is greater than the third threshold of the AGV temperature tolerance and less than or equal to the second threshold of the AGV temperature tolerance, perform an infrared thermal imager thermal radiation compensation; if the AGV backplane temperature is greater than the second threshold of the AGV temperature tolerance and less than or equal to the first threshold of the AGV temperature tolerance, perform a first cooling treatment through the integrated thermoelectric refrigeration device built in the AGV; if the AGV backplane temperature is greater than the first threshold of the AGV temperature tolerance, perform a second cooling treatment through the nitrogen curtain protection device built in the edge of the AGV backplane.

[0055] In this embodiment, if the temperature of the AGV backplane is greater than the third threshold of the AGV tolerance temperature and less than or equal to the second threshold of the AGV tolerance temperature, infrared thermal imager thermal radiation compensation is performed. Infrared thermal imager thermal radiation compensation: Infrared thermal imager thermal radiation compensation can be directly implemented through python. The example is as follows:

[0056]

[0057] Parameter description;

[0058] raw_data: Original thermal imager data matrix (unit: W / m 2 ·sr);

[0059] emissivity: Target surface emissivity (0.0 - 1.0);

[0060] T_env: Ambient temperature (in degrees Celsius);

[0061] T_ref: Thermal imager calibration reference temperature (default 25°C);

[0062] wavelength: Sensor center wavelength (default 10μm);

[0063] bandwidth: Sensor bandwidth (default 1μm);

[0064] Temperature conversion (degrees Celsius → Kelvin);

[0065]

[0066] Calculate the ambient radiation term (Stefan - Boltzmann law correction);

[0067]

[0068] Calculate the Planck's law wavelength - related correction factor;

[0069]

[0070] Radiation energy correction under a specific wavelength bandwidth;

[0071]

[0072] Integrate over the wavelength bandwidth;

[0073]

[0074] Obtain the sensor response coefficient (to be based on actual calibration data);

[0075]

[0076] Comprehensive compensation formula;

[0077]

[0078] Nonlinear calibration (polynomial fitting example);

[0079]

[0080] If the temperature of the AGV backplane is greater than the third threshold of the AGV tolerance temperature and less than or equal to the second threshold of the AGV tolerance temperature, the first cooling treatment is carried out through the integrated thermoelectric refrigeration device built in the AGV, that is, the TEC refrigeration is activated. A TEC array is arranged in the core area of the AGV backplane (controller, battery compartment, hydraulic pump) where heat conduction is easy, and 3-5 pieces are configured in parallel in each area. The cold end is attached to the cooled component, and the hot end is connected to the heat dissipation system.

[0081] If the temperature of the AGV backplane is greater than the first threshold of the AGV tolerance temperature, the local nitrogen curtain protection is activated, and a circular nitrogen injection pipe (aperture 0.5mm, spacing 50mm) is arranged along the edge backplane of the AGV. The nitrogen flow rate is 10L / min to form a positive pressure air curtain to isolate heat radiation.

[0082] Furthermore, the specific process of the high-temperature negative impact correction evaluation and adjustment is as follows: Obtain the maximum value of the temperature dispersion of the AGV backplane and the temperature difference of the optical lens of the AGV path planning sensor through the acquisition and analysis of the temperature sensor; obtain the average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor through the built-in current sampler; directly extract from the underground garage AGV handling monitoring database the predefined threshold of the temperature dispersion of the AGV backplane, the preset curvature radius of the optical lens of the AGV path planning sensor, the preset thermal expansion coefficient of the optical lens of the AGV path planning sensor, the expansion difference value between the metal bracket and the glass mirror, and the standard value of the dark current of the APD detector avalanche photodiode; perform a ratio analysis on the maximum value of the temperature dispersion of the AGV backplane and the predefined threshold of the temperature dispersion of the AGV backplane to obtain the first high-temperature variable of the AGV path planning sensor; first superimpose the preset thermal expansion coefficient of the optical lens of the AGV path planning sensor and the expansion difference value between the metal bracket and the glass mirror, and then perform a coupled analysis with the preset curvature radius of the optical lens of the AGV path planning sensor and the temperature difference of the optical lens of the AGV path planning sensor to obtain the second high-temperature variable of the AGV path planning sensor; perform a ratio analysis on the average dark current of the APD detector avalanche photodiode and the standard value of the dark current of the APD detector avalanche photodiode to obtain the third high-temperature variable of the AGV path planning sensor; correct the first high-temperature variable of the AGV path planning sensor through the corresponding weight factor of the first high-temperature variable of the AGV path planning sensor to obtain the first weighted variable of the high temperature of the AGV path planning sensor, correct the second high-temperature variable of the AGV path planning sensor through the corresponding weight factor of the second high-temperature variable of the AGV path planning sensor to obtain the second weighted variable of the high temperature of the AGV path planning sensor, and correct the third high-temperature variable of the AGV path planning sensor through the corresponding weight factor of the third high-temperature variable of the AGV path planning sensor to obtain the third weighted variable of the high temperature of the AGV path planning sensor; jointly analyze the first weighted variable of the high temperature of the AGV path planning sensor, the second weighted variable of the high temperature of the AGV path planning sensor, and the third weighted variable of the high temperature of the AGV path planning sensor to obtain the high-temperature negative impact correction value of the AGV path planning sensor. The high-temperature negative impact correction value of the AGV path planning sensor is used to describe the quantification degree of the combined effect of the average dark current of the APD detector avalanche photodiode of the AGV path planning sensor, the first high-temperature variable of the AGV path planning sensor, and the second high-temperature variable of the AGV path planning sensor on the negative distortion degree of the AGV path planning sensor caused by external high temperature; if the high-temperature negative impact correction value of the AGV path planning sensor is less than the corresponding high-temperature negative impact threshold of the AGV path planning sensor, no adjustment is made;If the correction value of the negative impact of the AGV path planning sensor due to high temperature is equal to or greater than the corresponding threshold value of the negative impact of the AGV path planning sensor due to high temperature, then start the parallel drive of the SiCMOSFET of the AGV motor driver, and perform thermal correction through the temperature acquisition data built in the AGV path planning sensor by using predefined software.

[0083] In this embodiment, the function checkpoints of the AGV path planning sensor are divided. FG0 represents the number of function checkpoints of the AGV path planning sensor, FG0 = 1, 2, 3,..., FG, where FG represents the total number of function checkpoints of the AGV path planning sensor. AS0 represents the serial number of the detection time period of the AGV path planning sensor, AS0 = 1, 2, 3,..., AS, where AS represents the total number of serial numbers of the detection time periods of the AGV path planning sensor.

[0084] represents the correction value of the negative impact of the AGV path planning sensor due to high temperature in the AS0-th detection time period of the FG0-th function checkpoint of the AGV path planning sensor. The correction value of the negative impact of the AGV path planning sensor due to high temperature is used to quantify the relative negative distortion degree value caused by external high temperature to the AGV path planning sensor. Specifically, the AGV path planning sensor monitors the degree of negative distortion of sensors directly affecting path planning, such as lidar, millimeter-wave radar, and infrared scanners carried by the AGV, due to the influence of external temperature changes.

[0085]

[0086] e represents the natural constant.

[0087] represents the maximum value of the AGV backplane temperature dispersion in the AS0-th detection time period of the FG0-th function checkpoint of the AGV path planning sensor. The AGV backplane temperature dispersion refers to the degree of dispersion of the AGV backplane temperature corresponding to the function checkpoint of the AGV path planning sensor from the average value of the AGV backplane temperature in the detection time period of the AGV path planning sensor. The maximum value of the degree of dispersion is the maximum value of the AGV backplane temperature dispersion.

[0088] Temperature sensor type: Select a temperature sensor with high precision and fast response. For example: Thermistor: High sensitivity, suitable for small-range temperature monitoring. Infrared temperature sensor: Non-contact measurement, suitable for mobile AGVs or high-temperature areas. Deploy multiple temperature sensors in the key heat-sensitive areas of the AGV backplane (such as near the AGV path planning sensor motor, the power module of the AGV path planning sensor, the heat sink of the AGV path planning sensor, etc.). In practical applications, a combined acquisition method using a thermistor and an infrared temperature sensor can be adopted, that is, the thermistor is called when the temperature is within the applicable temperature range of the thermistor, and the infrared temperature sensor is called when it exceeds the applicable temperature range of the thermistor.

[0089] Represents the predefined threshold of the AGV backplane temperature dispersion for the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint. The predefined threshold of the AGV backplane temperature dispersion is directly extracted from the underground garage AGV handling monitoring database and is used to represent the average value of the AGV backplane temperature dispersion when the AGV backplane is operating at rated power.

[0090] Represents the predefined curvature radius of the AGV path planning sensor optical lens for the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint. The predefined curvature radius of the AGV path planning sensor optical lens is directly extracted from the underground garage AGV handling monitoring database and is specifically extracted from the corresponding manufacturer's production log.

[0091] Represents the predefined coefficient of thermal expansion of the AGV path planning sensor optical lens for the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint. The predefined coefficient of thermal expansion of the AGV path planning sensor optical lens is directly extracted from the underground garage AGV handling monitoring database and is specifically extracted from the corresponding manufacturer's production log.

[0092] Represents the environmental temperature difference of the AGV path planning sensor optical lens for the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint. The environmental temperature difference of the AGV path planning sensor optical lens refers to the difference between the average environmental temperature of the AGV path planning sensor optical lens in the current AGV path planning sensor detection time period and the preset standard temperature. The preset standard temperature is directly extracted from the underground garage AGV handling monitoring database and can be set manually or obtained from the rated operating temperature in the corresponding factory production log.

[0093] Example: Silicon / germanium-based materials are often used for the optical lenses of sensors. When the ambient temperature is higher than 80 °C, the window radius of curvature will change, resulting in a laser beam focusing offset greater than 0.1 mm.

[0094] It represents the expansion difference value between the metal bracket and the glass mirror in the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint. The expansion difference value between the metal bracket and the glass mirror represents the absolute value of the difference obtained by subtracting the expansion coefficient of the glass mirror of the AGV optical accessory from the expansion coefficient of the metal bracket of the AGV optical accessory. The expansion coefficient of the metal bracket of the AGV optical accessory, the expansion coefficient of the glass mirror of the AGV optical accessory, and the expansion difference value between the metal bracket and the glass mirror are directly extracted from the underground garage AGV handling monitoring database, specifically extracted from the corresponding manufacturer's production log.

[0095] Example: The expansion difference between the metal bracket and the glass mirror of a lidar causes the mirror tilt deviation to be greater than 0.02°, resulting in an increase in the point cloud angle measurement error by 1.5°.

[0096] It represents the average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor in the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint. It is caused by electron-hole pairs thermally generated in the material body and is closely related to temperature. The dark current increases exponentially with temperature. The shot noise power of the dark current is proportional to the square root of the current, which has a negative impact on the signal-to-noise ratio. The average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor is specifically obtained in real time through the built-in embedded ADC sampling acquisition circuit.

[0097] It represents the standard value of the dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor at the FG0th AGV path planning sensor function checkpoint. The standard value of the dark current of the APD detector (avalanche photodiode) is directly extracted from the underground garage AGV handling monitoring database, specifically extracted from the corresponding manufacturer's production log.

[0098] When starting the SiCMOSFET parallel drive architecture of the AGV motor driver, it should be noted that, under normal circumstances before this comparative analysis, the traditional IGBT can be used for the AGV motor driver, that is, two drive architectures can be adopted for the AGV motor driver. Generally, only the traditional IGBT is started. After the comparative analysis and judgment, SiCMOSFET is started as the motor drive to cope with the external temperature change;

[0099] The implementation method of the SiC MOSFET parallel drive architecture specifically uses a parallel architecture of silicon carbide (SiC) MOSFET and traditional IGBT, with the temperature resistance increased to 200 °C. It adopts a dual-module parallel topology, allowing automatic switching in case of single-module failure. The continuous output power at 85 °C is increased by 40%, enabling the frequency reduction trigger threshold of the AGV motor driver to change from 80 °C to 110 °C, and the speed can be maintained at 2 m / s without attenuation.

[0100] The temperature acquisition data built in the AGV path planning sensor is thermally corrected through predefined software. The specific example is as follows: Hardware dependence: Embedded temperature ADC sampling is carried out inside the AGV lidar (one is arranged every 5 cm 2 ), and thermal correction is carried out through python. The example code is as follows:

[0101] Real-time processing simple code;

[0102]

[0103] Update the temperature field and deformation model;

[0104]

[0105]

[0106] Through this code framework, real-time point cloud correction of the AGV lidar in a temperature-changing environment can be achieved, further improving the navigation accuracy.

[0107] Represents the first high-temperature variable weight factor of the AGV path planning sensor in the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint;

[0108] Represents the second high-temperature variable weight factor of the AGV path planning sensor in the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint;

[0109] Represents the third high-temperature variable weight factor of the AGV path planning sensor in the AS0th AGV path planning sensor detection time period of the FG0th AGV path planning sensor function checkpoint;

[0110] An example of the weight factor acquisition process is as follows: By controlling the temperature of the AGV backplane, sensor data in different high-temperature scenarios is collected, and a quantitative relationship between temperature and three high-temperature variables (stability risk, optical deformation, dark current noise) is established to determine the weight factor.

[0111] Build a simulation environment: Tools: Thermostatic chamber / heating plate, high-precision temperature sensor (±0.5°C), laser interferometer, oscilloscope. Target temperatures: 25°C (room temperature), 80°C (high temperature), 100°C (extreme high temperature). Data acquisition: Backplane temperature: every 5 cm 2 Arrange thermistors to record the temperature distribution in real time. High-temperature variables: Stability risk (V1): Calculate the proportion of the backplane temperature exceeding 80°C (e.g., V1 = 85% at 100°C). Optical deformation (V2): Measure the change in lens curvature with a laser interferometer and calculate the degree of deformation in combination with the material expansion coefficient. Dark current noise (V3): Collect the dark current of the APD detector with an oscilloscope (e.g., the dark current reaches 1000 nA at 100°C). System performance: Record the navigation path deviation (e.g., ±4.8 cm) and point cloud distortion (e.g., -4.8 dB). Third step: Establish a mathematical model: Normalization: Scale V1, V2, and V3 to the range of 0 - 1 (e.g., V1 = 0.85). Linear regression equation: Substitute the data to solve for the weight factors (e.g., solving the simultaneous equations for the two sets of data at 80°C and 100°C gives ω1 = 45%, ω2 = 35%, ω3 = 20%). Use Monte Carlo simulation to generate 100 sets of data to verify the weight stability (standard deviation < 2%). Run the AGV in a real garage, collect 200 km of data, and the navigation accuracy reaches ±2 cm after correction. Automatically adjust the weights according to the real-time temperature (e.g., increase the stability weight to 50% above 90°C). The weight of the first high-temperature variable (stability) is the highest (45%), as the temperature exceeding the standard directly triggers the safety mechanism. The weight of the dark current noise is the lowest (20%), but it needs to be dynamically increased under extreme high temperatures. Through the four-step method of "controlling temperature - collecting data - mathematical modeling - verification and optimization", the weight relationship between the backplane temperature of the AGV and the three high-temperature variables is quantitatively determined experimentally, obtaining a weight factor mapping table. Input the real-time backplane temperature of the AGV to obtain the weight factor of the first high-temperature variable of the AGV path planning sensor, the weight factor of the second high-temperature variable of the AGV path planning sensor, and the weight factor of the third high-temperature variable of the AGV path planning sensor.

[0112] Furthermore, conduct adjustment and optimization of the AGV's response to electromagnetic pulses based on the comparative analysis of the electromagnetic intensity received by the AGV backplane, specifically including: Real-time collect the electromagnetic intensity of the AGV environment through the electromagnetic sensor of the AGV; If the electromagnetic intensity of the AGV environment is less than or equal to the AGV environment electromagnetic intensity threshold, no adjustment is made; If the electromagnetic intensity of the AGV environment is greater than the AGV environment electromagnetic intensity threshold, then conduct a negative impact correction assessment and adjustment for high electromagnetic interference.

[0113] Furthermore, the correction evaluation and adjustment of the negative impact of high electromagnetic interference specifically include: the instantaneous maximum intensity and the rise time of the electromagnetic pulse are collected in real time through the broadband electric field probe built in the AGV, and the starting time of the electromagnetic pulse rise time is recorded. If the intensity of the electromagnetic pulse is less than the threshold value of the electromagnetic pulse intensity concerned, the termination time of the electromagnetic pulse is recorded, and the difference obtained by subtracting the starting time of the electromagnetic pulse rise time from the termination time of the electromagnetic pulse is recorded as the duration of the electromagnetic pulse; the allowable value of the electromagnetic pulse intensity is directly extracted from the underground garage AGV handling monitoring database; the ratio analysis of the instantaneous maximum intensity of the electromagnetic pulse and the rise time of the electromagnetic pulse is carried out, coupled with the duration of the electromagnetic pulse, and then the ratio analysis with the allowable value of the electromagnetic pulse intensity is carried out to obtain the electromagnetic negative impact component of the AGV path planning sensor. Through the coupling analysis of the high-temperature negative impact correction value of the AGV path planning sensor and the electromagnetic negative impact component of the AGV path planning sensor, the comprehensive electromagnetic negative impact value of the AGV path planning sensor is obtained. The comprehensive electromagnetic negative impact value of the AGV path planning sensor is used to quantitatively represent the degree of the combined negative distortion impact of the high-temperature negative impact correction value of the AGV path planning sensor and the electromagnetic negative impact component of the AGV path planning sensor on the AGV path planning sensor under the influence of external electromagnetic interference; if the comprehensive electromagnetic negative impact value of the AGV path planning sensor is less than the second threshold value, no adjustment is made; if the comprehensive electromagnetic negative impact value of the AGV path planning sensor is equal to or greater than the second threshold value and less than the first threshold value, generalization denoising processing is carried out through the predefined first denoising software; if the comprehensive electromagnetic negative impact value of the AGV path planning sensor is equal to or greater than the first threshold value, specific denoising processing is carried out through the predefined second denoising software.

[0114] In this embodiment, the electromagnetic pulse rise time specifically refers to the time when the pulse rises from 10% to 90% intensity. The shorter the electromagnetic pulse rise time, the more strongly concentrated the electromagnetic pulse energy is.

[0115] It should be noted that the general electromagnetic interference built in the AGV is sufficient to cope with general situations. The electromagnetic interference correction and adjustment here occur for the special electromagnetic pulses that may be caused by intense combustion or battery combustion and discharge during the burning process of the consignment vehicle. Therefore, the correction evaluation and adjustment of the negative impact of high electromagnetic interference at this time are after the AGV's response to high temperature adjustment and optimization.

[0116] The electromagnetic sensor of the AGV can be a broadband electric field probe. Through the principle of capacitive coupling, the probe tip induces charges, which are converted into voltage signals and then into the environmental electromagnetic intensity;

[0117] It represents the comprehensive electromagnetic negative impact value of the AGV path planning sensor during the AS0th AGV path planning sensor detection time period at the FG0th AGV path planning sensor function checkpoint, and is used to quantify the level of negative distortion of the AGV path planning sensor when it is affected by external electromagnetic interference.

[0118]

[0119] It represents the correction value of the high-temperature negative impact of the AGV path planning sensor during the AS0th AGV path planning sensor detection time period at the FG0th AGV path planning sensor function checkpoint.

[0120] e represents the natural constant.

[0121] It represents the instantaneous maximum intensity of the electromagnetic pulse at the FG0th AGV path planning sensor function checkpoint.

[0122] It represents the rise time of the electromagnetic pulse at the FG0th AGV path planning sensor function checkpoint.

[0123] It is used to quantify the energy release rate per unit time, which is convenient for avoiding relying solely on the absolute intensity. For example, a short-term high-intensity pulse may be underestimated due to its short duration. For example: two pulses have the same intensity, but one has a rise time of 1 μs and the other has a rise time of 10 μs, then the former has an energy release rate 10 times higher and is more harmful.

[0124] It is used to place the instantaneous energy release rate on a longer time scale, to quantify the cumulative energy released over a long time, and to quantify the persistence of interference. For example, if the duration of the electromagnetic pulse is 100 ms, then the energy release is 100 times the original value, and the harm is significantly increased. It prevents long-pulse interference (such as continuous electromagnetic noise) from being misjudged due to its low instantaneous intensity.

[0125] It is used to eliminate the dimension, convert the absolute interference intensity into the relative threshold excess, standardize the thresholds in different scenarios, and is more suitable for quantitative evaluation in different environments.

[0126] It represents the duration of the electromagnetic pulse at the FG0th AGV path planning sensor function checkpoint.

[0127] It represents the allowable value of the electromagnetic pulse intensity at the FG0th AGV path planning sensor function inspection point. The allowable value of the electromagnetic pulse intensity is directly extracted from the underground garage AGV handling monitoring database, and can be specifically set manually or obtained from the anti-electromagnetic interference intensity setting value under the rated power in the AGV production log.

[0128] The comprehensive electromagnetic negative impact value of the AGV path planning sensor can represent the quantization level of the AGV path planning sensor after being corrected by the high-temperature negative impact correction value of the AGV path planning sensor after being affected by electromagnetic interference. The quantization of the high-temperature negative impact correction value is such that high temperature causes the sensor material to expand or the performance of electronic components to drift (such as the change in the resistance value of a thermistor), reducing the electromagnetic signal detection accuracy. High temperature accelerates the aging of the circuit and introduces additional thermal noise (such as local temperature rise caused by poor heat conduction of the substrate). At the same time, considering the instantaneous intensity, duration, and ambient temperature of the electromagnetic pulse, single-index misjudgment is avoided.

[0129] For example: When the battery burns, high temperature may cause the allowable value of the electromagnetic pulse intensity to decrease, but the electromagnetic component increases due to short-term high-energy release, resulting in a double-overlay risk for the comprehensive value. By real-time temperature monitoring, the threshold and filtering parameters are dynamically adjusted to adapt to the working condition changes of the AGV from normal temperature to high temperature (such as 70°C).

[0130] The following is an example: In a battery burning test of an underground garage AGV: Without correction: The comprehensive value is calculated from the electromagnetic component, triggering secondary denoising, but high temperature causes sensor offset, and the actual path planning error reaches ±5 cm. After correction: Trigger primary denoising, and the path planning error is reduced to ±2 cm. The correction mechanism quantifies the impact of high temperature on sensor performance, making the interference assessment closer to the real risk and improving the path planning accuracy.

[0131] In the AGV handling monitoring method, environmental visibility, backplane temperature, and electromagnetic interference are interrelated interference sources. For example, high temperature may exacerbate electromagnetic interference (such as more electromagnetic pulses generated during battery discharge), and the transient characteristics of the electromagnetic pulse may affect the real-time performance of the navigation system, thereby affecting the path planning accuracy. Therefore, the formula realizes multi-factor collaborative optimization through step-by-step adjustment, and finally ensures the adaptability of the AGV in a complex environment through the coupling of the comprehensive value.

[0132] If the comprehensive electromagnetic negative impact value of the AGV path planning sensor is equal to or greater than the second threshold and less than the first threshold, noise reduction processing is performed through pre-defined noise reduction software. The pre-defined first noise reduction software can be matlab, and the example code is as follows:

[0133]

[0134] It can be used for electromagnetic interference filtering in the range of 30 - 300 MHZ.

[0135] For broadband / non-stationary interference, Matlab can be selected for filtering.

[0136] The predefined second denoising software can be Python. The example code is as follows:

[0137]

[0138] It can be used for electromagnetic interference filtering at 3 GHz.

[0139] For narrowband / fixed-point interference, Python can be selected for filtering.

[0140] Through the combined selection method of the two, the AGV sensor can maintain stable navigation in a complex electromagnetic environment, and the path planning error can be controlled within ±2 cm.

[0141] Furthermore, start the enclosed fire extinguishing plan, which specifically includes: after the AGV determines that it has reached the safe house in the underground garage, it decouples and separates from the self-igniting vehicle; the safe house starts the total flooding injection of heptafluoropropane, continuous cooling with fine water mist, waste gas treatment, and automatic sewage discharge; the AGV returns to the standby position and starts the AGV self-check.

[0142] In this embodiment, after the AGV determines that it has reached the safe house in the underground garage, it triggers the command to retract the cover, and the AGV hydraulic arm slowly lowers the vehicle to the ground (speed 0.05 m / s). The pressure of the gripper is released, and the AGV retreats 5 m to disengage.

[0143] The safe house starts the enclosed fire extinguishing plan, including: the first stage: total flooding injection of heptafluoropropane (the concentration reaches 10% within 30 seconds); the second stage: continuous cooling with fine water mist (flow rate 5 L / min, lasting for 3 minutes); waste gas treatment: the catalytic oxidation device is started to maintain the indoor negative pressure below -50 Pa; environmental monitoring: the enclosure is released when the temperature is less than 50 °C and the CO concentration is less than 30 ppm; automatic sewage discharge: collect the fire extinguishing wastewater into a special treatment tank. System reset: The AGV returns to the standby position, and the self-cleaning program of the safe house is started.

[0144] Example of AGV self-check: The high-temperature resistant chassis cooling system is turned off, and the explosion-proof module is reset to the normal mode. The hydraulic arm retracts to the storage state, and the sensor is calibrated to prepare for the next task.

[0145] Such as Figure 2As shown in the figure, the structural diagram of the AGV handling monitoring system for an underground garage provided by an embodiment of the present application. The AGV handling monitoring system for an underground garage provided by an embodiment of the present application includes: an underground garage disaster identification module, an AGV shipping environment visibility analysis and adjustment module, an AGV shipping temperature analysis and adjustment module, an AGV shipping electromagnetic intensity analysis and adjustment module, and an underground garage safe house closed fire extinguishing module. The underground garage disaster identification module is used for identifying disasters in the underground garage. If a self-igniting vehicle is detected, the AGV docks with, carries, and transports the self-igniting vehicle. The AGV shipping environment visibility analysis and adjustment module is used for the AGV to judge the environmental visibility during the shipping process in real time, and optimizes the AGV's response to visibility according to the comparative analysis of the visibility. The AGV shipping temperature analysis and adjustment module is used for the AGV to judge the temperature of the AGV backplane during the shipping process in real time, and optimizes the AGV's response to high temperature according to the comparative analysis of the AGV backplane temperature. The AGV shipping electromagnetic intensity analysis and adjustment module is used for the AGV to judge the electromagnetic intensity received by the AGV backplane during the shipping process in real time, and optimizes the AGV's response to electromagnetic pulses according to the comparative analysis of the electromagnetic intensity received by the AGV backplane. The underground garage safe house closed fire extinguishing module is used for the AGV to judge that it has reached the underground garage safe house and starts the closed fire extinguishing plan.

[0146] An AGV handling monitoring device for an underground garage provided by an embodiment of the present application, characterized in that it includes a special AGV high-temperature resistant chassis, a special AGV hydraulic lifting mechanism, a special AGV explosion-proof electrical hardware device, a special modular underground garage safe house double-layer heat insulation device, a special modular special modular underground garage safe house intelligent fire extinguishing device, and a special modular special modular underground garage safe house negative pressure smoke exhaust device. The special AGV high-temperature resistant chassis is used to resist the negative impact of high temperature in transporting self-igniting vehicles. The special AGV hydraulic lifting mechanism is used to fix and transport self-igniting vehicles. The special AGV explosion-proof electrical hardware device is used to resist the negative impact of deflagration in transporting self-igniting vehicles. The special modular underground garage safe house double-layer heat insulation device is used to resist the negative impact of deflagration in self-igniting vehicles. The special modular special modular underground garage safe house intelligent fire extinguishing device is used to quickly cool down and extinguish the fire of self-igniting vehicles. The special modular special modular underground garage safe house negative pressure smoke exhaust device is used to quickly exhaust the smoke generated by self-igniting vehicles under negative pressure.

[0147] In this embodiment, the special AGV high-temperature resistant chassis: is made of silicon carbide composite material and can withstand a high temperature of 800 °C for 5 minutes.

[0148] The special AGV hydraulic lifting mechanism: is equipped with a three-stage telescopic arm, and the maximum lifting weight is 3.5 tons.

[0149] The special AGV explosion-proof electrical hardware device: complies with the ATEX Zne1 standard and has an IP67 protection level.

[0150] Special modular underground garage safety house double-layer heat insulation equipment: outer calcium silicate board (thickness 50 mm) + inner aerogel coating.

[0151] Special modular underground garage safety house intelligent fire extinguishing equipment: dual-mode injection of heptafluoropropane + fine water mist, with a flow control accuracy of ±5%.

[0152] Special modular underground garage safety house negative pressure smoke exhaust equipment: equipped with a catalytic oxidation treatment unit, with a VCs removal rate of more than 95%.

[0153] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-RM, optical storage, etc.) that contain computer-usable program code.

[0154] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also 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, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0155] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1Steps of the functions specified in one or more boxes.

[0157] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0158] Obviously, those skilled in the art can make various changes and deformations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and deformations of the present invention fall within the scope of the claims of the present invention and its equivalent technologies, the present invention is also intended to include these modifications and deformations.

Claims

1. An AGV handling monitoring method for an underground garage, characterized in that It includes the following steps: Disaster recognition in the underground garage. If a self-igniting vehicle is detected, the AGV docks with, carries, and transports the self-igniting vehicle; The AGV continuously judges the environmental visibility during the transportation process and optimizes the AGV's response to visibility according to the comparison and analysis of the visibility; The AGV continuously judges the temperature of the AGV backplane during the transportation process and optimizes the AGV's response to high temperature according to the comparison and analysis of the AGV backplane temperature; The AGV continuously judges the electromagnetic intensity received by the AGV backplane during the transportation process and optimizes the AGV's response to electromagnetic pulses according to the comparison and analysis of the electromagnetic intensity received by the AGV backplane; The AGV judges that it has reached the safe house in the underground garage and activates the enclosed fire extinguishing plan.

2. The AGV handling monitoring method for an underground garage as claimed in claim 1, characterized in that, The docking, carrying, and transporting of the AGV with the self-igniting vehicle specifically include: Real-time monitoring of fire warning data in the corresponding underground garage area through a distributed fire sensor array; If the local temperature of the vehicle in the fire warning data is less than the corresponding self-igniting vehicle temperature threshold, no processing is performed; If the local temperature of the vehicle in the fire warning data is equal to or greater than the corresponding self-igniting vehicle temperature threshold, the corresponding vehicle is judged as a self-igniting vehicle, the underground garage area where the self-igniting vehicle is located is recorded, a predefined isolation program is started for the underground garage area where the self-igniting vehicle is located, and the AGV is called to go to the underground garage area where the self-igniting vehicle is located through a predefined hierarchical path planning scheme; The AGV unfolds the three-stage telescopic arm of the special AGV hydraulic lifting mechanism, grabs the vehicle chassis support point, and the AGV transports the corresponding self-igniting vehicle to the predefined underground garage safe house.

3. The AGV handling monitoring method for an underground garage according to claim 1, characterized in that, The optimization of the AGV's response to visibility according to the comparison and analysis of visibility specifically includes: Real-time collection of the underground garage environmental visibility through the AGV's lidar; If the underground garage environmental visibility is greater than the first visibility threshold, no adjustment is made; If the underground garage environmental visibility is greater than the second visibility threshold and less than or equal to the first visibility threshold, the air brush cleaning is started through the rotary air brush cleaning device built in the AGV; If the underground garage environmental visibility is greater than the third visibility threshold and less than or equal to the second visibility threshold, the optical sensor is turned off and the non-optical sensor is retained; If the underground garage environmental visibility is less than or equal to the third visibility threshold, relevant personnel are notified for manual remote control.

4. The AGV handling monitoring method for an underground garage according to claim 1, characterized in that The optimization of the AGV's response to high temperature according to the comparison and analysis of the AGV backplane temperature specifically includes: Real-time collection of the AGV backplane temperature through the AGV's temperature sensor; If the AGV backplane temperature is less than or equal to the third AGV temperature tolerance threshold, a correction evaluation adjustment for the negative impact of high temperature is performed; If the AGV backplane temperature is greater than the third AGV temperature tolerance threshold and less than or equal to the second AGV temperature tolerance threshold, an infrared thermal imaging thermal radiation compensation is performed; If the AGV backplane temperature is greater than the second AGV temperature tolerance threshold and less than or equal to the first AGV temperature tolerance threshold, a first cooling treatment is performed through the integrated thermoelectric refrigeration device built in the AGV; If the AGV backplane temperature is greater than the first AGV temperature tolerance threshold, a second cooling treatment is performed through the nitrogen curtain protection device built in the edge of the AGV backplane.

5. The AGV handling monitoring method for an underground garage according to claim 4, wherein The specific process of performing the correction evaluation adjustment for the negative impact of high temperature is: The maximum value of the temperature dispersion of the AGV backplane is obtained by collecting and analyzing through a temperature sensor, as well as the temperature difference of the optical lens of the AGV path planning sensor in the environment; The average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor is obtained by collecting through a built-in current sampler; The predefined threshold of the temperature dispersion of the AGV backplane, the preset curvature radius of the optical lens of the AGV path planning sensor, the preset coefficient of thermal expansion of the optical lens of the AGV path planning sensor, the expansion difference value between the metal bracket and the glass mirror, and the standard value of the dark current of the APD detector (avalanche photodiode) are directly extracted from the AGV handling monitoring database in the underground garage; A ratio analysis is performed on the maximum value of the temperature dispersion of the AGV backplane and the predefined threshold of the temperature dispersion of the AGV backplane to obtain the first high-temperature variable of the AGV path planning sensor; The preset coefficient of thermal expansion of the optical lens of the AGV path planning sensor and the metal bracket are first superimposed with the expansion difference value between the metal bracket and the glass mirror, and then coupled and analyzed with the preset curvature radius of the optical lens of the AGV path planning sensor and the temperature difference of the optical lens of the AGV path planning sensor in the environment respectively to obtain the second high-temperature variable of the AGV path planning sensor; A ratio analysis is performed on the average dark current of the APD detector (avalanche photodiode) and the standard value of the dark current of the APD detector (avalanche photodiode) to obtain the third high-temperature variable of the AGV path planning sensor; The first high-temperature variable of the AGV path planning sensor is corrected through the corresponding weight factor of the first high-temperature variable of the AGV path planning sensor to obtain the first weighted variable of the high temperature of the AGV path planning sensor. The second high-temperature variable of the AGV path planning sensor is corrected through the corresponding weight factor of the second high-temperature variable of the AGV path planning sensor to obtain the second weighted variable of the high temperature of the AGV path planning sensor. The third high-temperature variable of the AGV path planning sensor is corrected through the corresponding weight factor of the third high-temperature variable of the AGV path planning sensor to obtain the third weighted variable of the high temperature of the AGV path planning sensor; Combined analysis of the first weighted variable of the high temperature of the AGV path planning sensor, the second weighted variable of the high temperature of the AGV path planning sensor, and the third weighted variable of the high temperature of the AGV path planning sensor is carried out to obtain the correction value of the negative impact of the high temperature of the AGV path planning sensor. The correction value of the negative impact of the high temperature of the AGV path planning sensor is used to describe the quantification degree of the combined effect of the average dark current of the APD detector (avalanche photodiode) of the AGV path planning sensor, the first high-temperature variable of the AGV path planning sensor, and the second high-temperature variable of the AGV path planning sensor on the negative distortion degree of the AGV path planning sensor caused by external high temperature; If the correction value of the negative impact of the high temperature of the AGV path planning sensor is less than the corresponding threshold of the negative impact of the high temperature of the AGV path planning sensor, no adjustment is made; If the correction value of the negative impact of the AGV path planning sensor due to high temperature is equal to or greater than the corresponding threshold value of the negative impact of the AGV path planning sensor due to high temperature, then start the parallel drive of the SiCMOSFET of the AGV motor driver, and perform thermal correction on the temperature acquisition data built into the AGV path planning sensor through predefined software.

6. The AGV handling monitoring method for an underground garage according to claim 1, characterized in that, The adjustment and optimization of the AGV's response to electromagnetic pulses according to the comparative analysis of the electromagnetic intensity received by the AGV backplane specifically includes: Real-time collect the electromagnetic intensity of the AGV environment through the electromagnetic sensor of the AGV; If the electromagnetic intensity of the AGV environment is less than or equal to the threshold value of the electromagnetic intensity of the AGV environment, no adjustment is made; If the electromagnetic intensity of the AGV environment is greater than the threshold value of the electromagnetic intensity of the AGV environment, then perform the correction evaluation and adjustment of the negative impact of high electromagnetic interference.

7. The AGV handling monitoring method for an underground garage as claimed in claim 6, characterized in that, The correction evaluation and adjustment of the negative impact of high electromagnetic interference specifically includes: Obtain the instantaneous maximum intensity of the electromagnetic pulse and the rise time of the electromagnetic pulse through real-time collection by the broadband electric field probe built into the AGV, record the starting time of the rise time of the electromagnetic pulse. If the electromagnetic pulse intensity is less than the threshold value of the electromagnetic pulse intensity concerned, then record the termination time of the electromagnetic pulse, and record the difference between the termination time of the electromagnetic pulse and the starting time of the rise time of the electromagnetic pulse as the duration of the electromagnetic pulse; Directly extract the allowable value of the electromagnetic pulse intensity from the underground garage AGV handling monitoring database; Perform ratio analysis on the instantaneous maximum intensity of the electromagnetic pulse and the rise time of the electromagnetic pulse, couple it with the duration of the electromagnetic pulse, and then perform ratio analysis with the allowable value of the electromagnetic pulse intensity to obtain the electromagnetic negative impact component of the AGV path planning sensor. Through the coupling analysis of the correction value of the negative impact of the AGV path planning sensor due to high temperature and the electromagnetic negative impact component of the AGV path planning sensor, obtain the comprehensive value of the electromagnetic negative impact of the AGV path planning sensor. The comprehensive value of the electromagnetic negative impact of the AGV path planning sensor is used to quantitatively represent the degree of negative distortion impact of the joint of the correction value of the negative impact of the AGV path planning sensor due to high temperature and the electromagnetic negative impact component of the AGV path planning sensor on the AGV path planning sensor under the influence of external electromagnetic interference; If the comprehensive value of the electromagnetic negative impact of the AGV path planning sensor is less than the second threshold value, no adjustment is made; If the comprehensive value of the electromagnetic negative impact of the AGV path planning sensor is equal to or greater than the second threshold value and less than the first threshold value, then perform generalization denoising processing through predefined first denoising software; If the comprehensive value of the electromagnetic negative impact of the AGV path planning sensor is equal to or greater than the first threshold value, then perform specific denoising processing through predefined second denoising software.

8. The AGV handling monitoring method for an underground garage according to claim 1, characterized in that, The start of the closed fire extinguishing plan specifically includes: After the AGV determines that it has reached the safe house in the underground garage, unhook and separate from the self-igniting vehicle; The safe house starts the total flooding injection of heptafluoropropane, continuous cooling with fine water mist, waste gas treatment and automatic sewage discharge; The AGV returns to the standby position and starts the self-inspection of the AGV.

9. An AGV handling monitoring system for an underground garage, characterized in that, Including the disaster situation identification module in the underground garage, the visibility analysis and adjustment module of the AGV consignment environment, the temperature analysis and adjustment module of the AGV consignment, the electromagnetic intensity analysis and adjustment module of the AGV consignment, and the closed fire extinguishing module of the underground garage safe house: Underground garage disaster identification module, used for underground garage disaster identification. If a self-igniting vehicle is detected, the AGV docks with, carries, and transports the self-igniting vehicle. AGV transportation environment visibility analysis and adjustment module, used for the AGV to judge the environmental visibility during transportation in real time, and optimize the AGV's response to visibility according to the comparative analysis of visibility. AGV transportation temperature analysis and adjustment module, used for the AGV to judge the temperature of the AGV backplane during transportation in real time, and optimize the AGV's response to high temperature according to the comparative analysis of the AGV backplane temperature. AGV transportation electromagnetic intensity analysis and adjustment module, used for the AGV to judge the electromagnetic intensity received by the AGV backplane during transportation in real time, and optimize the AGV's response to electromagnetic pulses according to the comparative analysis of the electromagnetic intensity received by the AGV backplane. Underground garage safety house closed fire extinguishing module, used for the AGV to judge that it has reached the underground garage safety house and start the closed fire extinguishing plan.

10. An AGV handling monitoring device for an underground garage, characterized in that, It includes a special AGV high-temperature resistant chassis, a special AGV hydraulic lifting mechanism, special AGV explosion-proof electrical hardware equipment, and special modular underground garage safety house double-layer heat insulation equipment, special modular underground garage safety house intelligent fire extinguishing equipment, and special modular underground garage safety house negative pressure smoke exhaust equipment. Special AGV high-temperature resistant chassis, used to resist the negative impact of high temperature in transporting self-igniting vehicles. Special AGV hydraulic lifting mechanism, used to fix and transport self-igniting vehicles. Special AGV explosion-proof electrical hardware equipment, used to resist the negative impact of deflagration in transporting self-igniting vehicles. Special modular underground garage safety house double-layer heat insulation equipment, used to resist the negative impact of deflagration in self-igniting vehicles. Special modular underground garage safety house intelligent fire extinguishing equipment, used to quickly cool down and extinguish the fire of self-igniting vehicles. Special modular underground garage safety house negative pressure smoke exhaust equipment, used to quickly exhaust the smoke generated by self-igniting vehicles by negative pressure.

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