Multi-area linkage emergency response and disposal decision-making system for cigarette storage scenarios

Abstract

This invention discloses a multi-operation area linkage emergency response and disposal decision-making system for cigarette storage scenarios, relating to the field of tobacco storage safety technology. The system includes the following components: First, based on the FAS fire alarm hard-wired signal, VOCs concentration exceeding limit sensor signal, and WCS load attributes, a fire thermal radiation equipotential surface and a water spray settling field are constructed to generate high-value escape clusters and low-value isolation clearing clusters. Then, along the escape corridor, HVAC inverter equipment, nitrogen-rich gas, and fine water mist are linked to restore effective optical visibility. Next, the locking time window is determined based on the dynamic displacement sequence of the bottom edge of the metal fireproof roller shutter door, and passage is controlled. Finally, when obstructed at the bottom of the door, a closed-loop disposal is completed through reverse hydraulic lowering, the front metal cover plate, and cross-door communication transmission. This achieves a linkage chain of disaster identification, differentiated evacuation, door access determination, obstacle clearing, and status feedback, reducing the risk of cigarettes being affected by fire and water, and improving the continuity of emergency response and operational safety.

Description

Technical Field

[0001] This invention relates to the field of tobacco storage safety technology, specifically to a multi-operation area linkage emergency response and disposal decision-making system for cigarette storage scenarios. Background Technology

[0002] Cigarette storage scenarios are characterized by large storage capacity, numerous storage locations, close access, and strong equipment linkage. They need to meet the fire alarm, mechanical smoke extraction, and automatic fire extinguishing functions of cigarette warehouses, as well as be equipped with WCS, conveying equipment, and automated logistics equipment such as AGVs. Currently, the technical approach commonly used in engineering is to first link fire protection with smoke extraction, fire extinguishing, and equipment scheduling control in an alarm-linkage-response manner to ensure the safety of the storage area and the continuous operation of logistics.

[0003] Chinese patent document CN120305618A discloses a self-ignition control system, method, and equipment for underground parking garages based on AGV (Automated Guided Vehicle) transport. This document includes an AGV transport module, a fire extinguishing analysis module, a smoke diffusion analysis module, and a smoke exhaust response analysis module; a water storage device, a smoke exhaust device, and a harmful gas decomposition device are installed in the safe room. The system first uses an AGV transport robot to move abnormal vehicles to the safe room for fire extinguishing, then performs fire extinguishing analysis on the abnormal vehicles in the safe room to determine whether dynamic optimization of smoke exhaust pressure is needed; next, it performs smoke diffusion analysis to determine whether dynamic optimization of the smoke exhaust speed is needed; finally, it performs response analysis on the smoke exhaust device, and controls the smoke exhaust based on the smoke exhaust response control accuracy value and the smoke concentration change rate. The entire technology mainly consists of a chain of abnormal vehicle transport and isolation - fire extinguishing in the safe room - smoke diffusion analysis - smoke exhaust response control, primarily controlling the response status of the abnormal vehicle after transport, the environment inside the safe room, and the smoke exhaust device.

[0004] However, the existing technologies described above are applicable only under the condition that the abnormal object is first moved to a safe room and then fire extinguishing, smoke diffusion analysis, and smoke exhaust control are carried out in a relatively separate handling space. The analysis chain only focuses on a single abnormal vehicle and the interior of the safe room. In the case of cigarette storage, the fire occurs in the storage area where continuous operations are carried out. Different work areas within the warehouse simultaneously contain objects such as cargo AgVs, storage passages, sprinkler linkages, smoke control zones, roller shutters, and cross-area status transmissions. After the fire, the accumulation of smoke and heat affects the visibility of passages and the identification status of equipment, while the intervention of sprinklers affects the status of goods and passage conditions. Neither of these exists in isolation. Existing technologies mainly focus on post-handling handling and smoke exhaust adjustment, failing to address the continuous coupling relationship between the needs of cargo protection, path organization, dynamic obstacles in front of doors, and cross-area status feedback under the conditions of multiple work areas within the warehouse. The continued use of single-point handling isolation and single smoke exhaust response can easily lead to insufficient connection between front-end perception, in-transit scheduling, and back-end handling.

[0005] Therefore, the key technical problem that needs to be solved in this field is how to establish a continuous and consistent emergency response and handling decision-making mechanism in the context of cigarette storage, where fire, sprinkler, logistics equipment, access control and status transmission are coupled under the real-world conditions of multi-operation area linkage. Summary of the Invention

[0006] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a multi-area coordinated emergency response and disposal decision-making system for cigarette storage scenarios. First, based on the FAS fire alarm hard-wired signal, VOCs concentration exceeding limit sensor signal, and WCS load attributes, an equipotential surface of fire thermal radiation and a water spray settling field are constructed to generate high-value escape clusters and low-value isolation and clearing clusters. Then, along the escape corridor, HVAC inverter equipment, nitrogen-rich gas, and fine water mist are coordinated to restore effective optical visibility. Next, the locking time window is determined based on the dynamic displacement sequence of the bottom edge of the metal fireproof roller shutter door, and passage is controlled. Finally, when obstructed at the bottom of the door, a closed-loop disposal is completed through reverse hydraulic lowering, the front metal cover plate, and cross-door communication transmission. This achieves a linkage chain of disaster identification, differentiated evacuation, door access determination, obstacle clearing, and status feedback, reducing the risk of cigarettes being affected by fire and water, improving the continuity of emergency response and operational safety; and solving the technical problems described in the background art.

[0007] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: The multi-operation area linkage emergency response and disposal decision-making system for cigarette storage scenarios includes receiving FAS fire alarm hard-wired signals and VOCs concentration exceeding limit sensor signals, extracting the load attributes of AGVs in WCS, superimposing the fire thermal radiation equipotential surface and water spray settling field in the digital twin engine, and clustering according to the economic value and water insensitivity level of a single roll of cigarettes to obtain a dual-cluster physical topology map and initial escape target nodes. Based on the initial escape target node, nitrogen-rich gas and fine water mist are used for pressure control to restore the effective optical line of sight. Based on the effective optical line of sight, the displacement sequence of the bottom edge of the metal fireproof roller shutter door is obtained to determine the locking time window, and high-value escape clusters are controlled to pass through or be stopped accordingly. In response to the exhaustion of the locking time window and the presence of disconnected or dead devices under the door, low-value isolation clearing clusters are controlled to push away the disconnected or dead devices, and cross-door communication is restored through the gap between the front metal cover and the bottom of the door.

[0008] Furthermore, after receiving the FAS fire alarm hardwired signal and the VOCs concentration exceeding limit sensor signal, the load attributes and position status of the global AGV in WCS are extracted, and the fire thermal radiation equipotential surface and water spray settling field are mapped to the same warehouse coordinate system in the digital twin engine. At the same time, the current associated pallets, channel nodes, adjacent shelf opening relationships and spray coverage boundaries of each AGV are attached.

[0009] Furthermore, based on the economic value and water resistance level of the current associated pallets of each AGV under the warehouse coordinate system, differentiated right-of-way constraints are imposed on the feasible channels of each AGV. Higher-priority AGVs are assigned to the high-value escape cluster, while unloaded AGVs, low-priority AGVs, and AGVs with leading edges suitable for jacking are assigned to the low-value isolation clearing cluster. At the same time, an initial escape target node is generated.

[0010] Furthermore, when the backbone network experiences packet loss and disconnection, Edge-STC reads the last payload snapshot from its local cache. The last payload snapshot includes the AGV number, location coordinates, heading angle, currently associated pallet, and the most recent valid target node. Based on this, static blind clustering and exit direction maintenance control are performed to maintain the clustering status of high-value escape clusters and low-value isolation clearing clusters.

[0011] Furthermore, to restore effective optical line of sight, the following measures are taken: based on the dual-cluster physical topology map and the initial escape target node, pressure control is applied only to the escape corridors of high-value escape clusters, and the edge servo controller coordinates the adjustment of HVAC inverter equipment, nitrogen-rich branches and fine water mist branches according to the corridor net width, ceiling height and branch pressure difference.

[0012] Furthermore, smoke-proof zones and slit-shaped air vents are set above the escape corridor. When the ICP matching rate of the chassis LiDAR point cloud decreases, the edge servo controller activates the nitrogen-rich branch and the fine water mist branch. Based on the flow rate sensor, differential pressure sensor and point cloud efficiency, it continuously maintains the effective optical line of sight, allowing high-value escape clusters to approach the metal fireproof roller shutter door along the escape corridor.

[0013] Furthermore, the displacement sequence of the bottom edge of the metal fireproof roller shutter door is obtained, including: continuous scanning of the bottom edge of the metal fireproof roller shutter door by LiDAR at the vehicle roof elevation angle, vehicle body pitch information provided by the door front positioning inertial navigation unit, vehicle controller constructing dynamic displacement sequence based on this, and extracting the thermal expansion nonlinear friction damping coefficient from the dynamic displacement sequence.

[0014] Furthermore, controlling the passage or stopping of high-value escape clusters includes: the on-board controller calculates the locking time window based on the thermal expansion nonlinear friction damping coefficient and dynamic displacement sequence; when the locking time window meets the driving conditions, it switches to the emergency control mode and controls the drive actuator to pass directly through; when the locking time window is exhausted, it performs door-to-door stopping.

[0015] Furthermore, in response to the expiration of the locking time window and the presence of a disconnected or malfunctioning device under the door, the reverse hydraulic lowering mechanism of the low-value isolation clearing cluster is lowered to increase the rubber grounding area of ​​the chassis, and the front metal cover pushes the disconnected or malfunctioning device away from the dangerous section under the door under the limited mechanical impulse.

[0016] Furthermore, restoring cross-door communication pass-through includes: after the front metal cover plate enters the bottom gap of the door, activating the top radio frequency module and using an adaptive impedance matching network to tune the bottom gap of the door, enabling the local self-organizing network inside and outside the door to establish cross-door pass-through through the bottom gap of the door, and using the reported escape status of the high-value escape cluster as the termination condition.

[0017] (III) Beneficial Effects This invention provides a multi-operation area linkage emergency response and disposal decision-making system for cigarette storage scenarios, which has the following beneficial effects: By integrating the FAS fire alarm hardwired signal, VOCs concentration exceeding limit sensor signal, WCS load attributes, and AGV position status into the fire thermal radiation equipotential surface and water spray settling field within the digital twin engine, disaster identification, pallet attribute identification, and vehicle scheduling are connected under the same coordinate system, achieving separation of fire assessment and warehouse operation status in cigarette storage scenarios. AGVs are allocated right-of-way based on the economic value and water insensitivity level of a single pallet of cigarettes, dividing them into high-value escape clusters and low-value isolation and clearing clusters. Emergency response shifts from average scheduling to hierarchical scheduling, preserving both high-priority cargo routes and clearing vehicle positions, forming an object chain for downstream steps.

[0018] By linking HVAC inverter equipment, nitrogen-rich gas, and fine water mist with the escape corridors surrounding high-value escape clusters to restore the effective optical range at the bottom, the chassis LIDAR can continuously identify the corridor boundaries, the outline of the vehicle in front, and the status of the passage in front of the door even in a dense smoke environment. This transforms the normal smoke exhaust process into a directional clearance process for vehicle passage. By obtaining the dynamic displacement sequence of the bottom edge of the metal fireproof roller shutter door through the roof-mounted elevation LIDAR, and by acquiring the thermal expansion nonlinear friction damping coefficient and the locking time window, the roller shutter door is no longer an ordinary obstacle falling at a fixed speed, but a control object for passage in front of the door, making the decision under the door consistent with the actual situation.

[0019] By calling the reverse hydraulic lowering mechanism of the low-value isolation clearing cluster and the controlled push-away disconnection and shutdown equipment of the front metal cover after the locking time window is exhausted, the clearing action of the dangerous section under the door is directly connected to the result of the previous clustering. This allows the high-value escape cluster to remain in front of the door when it cannot pass through, ensuring that the emergency link has subsequent handling capabilities. Attached Figure Description

[0020] Figure 1 This is a diagram illustrating the overall architecture of a multi-operation area coordinated emergency response and handling decision-making system according to the present invention. Figure 2 This is a schematic diagram of disaster twin field coupling and dual-cluster physical topology graph generation in this invention; Figure 3 This is a schematic diagram illustrating the formation of the mixed-phase airflow clearance at the bottom of the escape corridor according to the present invention; Figure 4This is a schematic diagram illustrating the identification of the bottom edge of the metal fireproof roller shutter door and the determination of the locking time window according to the present invention. Figure 5 This is a schematic diagram of the low-value isolation clearing cluster with limited impulse outside the gate for obstacle removal according to the present invention; Figure 6 This is a schematic diagram of the bottom gap waveguide coupling and cross-door transmission reconstruction of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figures 1-6 This invention provides a multi-operation area linkage emergency response and disposal decision-making system for cigarette storage scenarios. The system includes: Fires in cigarette storage scenarios not only change the temperature distribution, but also simultaneously change the spray water, passage occupancy, pallet transferability, and subsequent roller shutter door passage conditions. Therefore, it is necessary to aggregate the heterogeneous information scattered in the FAS fire alarm hard-wired signal, cigarette-specific VOCs over-limit sensing signal, WCS load record, and AGV position status into a dual-cluster physical topology map that can directly drive subsequent corridor cleaning and passage control as soon as the disaster is detected.

[0023] The following tasks are handled by the cross-domain gateway, edge scheduling host, digital twin engine, and Edge-STC. The cross-domain gateway handles alarm access, the edge scheduling host organizes WCS and AGV, the digital twin engine performs scene mapping and cluster push, and Edge-STC performs downgrade for connection loss.

[0024] Step 1: Compress the disaster location, which goods should not be exposed to the rain, which vehicles should go first, and which vehicles should give way into an executable priority right-of-way result, and output a dual-cluster physical topology map with spatiotemporal coordinates and priority labels and the initial escape node for Step 2.

[0025] In cigarette storage warehouses, the most common mismatch in the initial stage of a fire is not a lack of fire detection, but rather that fire information, cargo value information, damage mechanisms, and vehicle locations exist in different systems, causing dispatching to continue according to conventional obstacle avoidance rules. For cigarette pallets, heat radiation causes softening of packaging materials, instability of filter layers, and shrinkage of the outer film of cigarette cartons, while water spray causes moisture absorption of the outer packaging, deformation of cartons, and disruption of stacking stability. These two types of damage occur simultaneously on site. If sorting is only based on the distance from the fire source, water-sensitive pallets may end up in the spray zone; if sorting is only based on cargo value, it may block the movement windows of subsequent clearing vehicles.

[0026] Therefore, the equipotential surface of fire thermal radiation and the water spray settlement field are first mapped onto the digital twin base map. Then, the economic and water-resistant grades of a single cigarette are written into the evaluation chain. The allocation of road rights will be affected by the physical disaster site and cargo attributes, rather than being limited to the logistics scheduling level.

[0027] From the execution path perspective, the cross-domain gateway first obtains the FAS fire alarm hard-wired signal, and at the same time obtains the VOCs over-limit sensor signals from the end of the shelf, the adjacent edge of the charging area, and the turnaround bend. The edge dispatch host does not directly treat the alarm point as a single point of failure, but uses the alarm source as a seed to unfold two fields in the digital twin engine. One is the fire thermal radiation equipotential surface that spreads along the depth of the shelf, the opening of the aisle, and the ceiling obstacle. The other is the water spray settling field that unfolds along the sprinkler head coverage, the column shielding, and the ground slope.

[0028] Meanwhile, the edge scheduling host extracts the pallet number, cigarette type, packaging form, pallet material, task destination, and lane occupation position of each AGV from the WCS, and then stitches it with the position coordinates, heading angle, and load status uploaded by the AGV controller to form a load snapshot. The digital twin engine attaches the load snapshot to the specific cargo location and channel node in the scene before calculating the equivalent damage load of each AGV on its initial feasible path, instead of calculating the route first and then supplementing the cargo attributes, thus ensuring that the disaster site and the cargo are solved as a whole.

[0029] The digital twin engine first discretizes the reservoir area into a continuously connected channel grid. Each grid cell stores the fire thermal radiation field intensity, water spray settlement load, road occupancy status, and passable orientation. Then, it further analyzes the data for the... Taiwan AGV in the first The equivalent damage load on a grid cell is defined as:

[0030] Among them, equivalent damage load : No. The AGV's cargo loading status has passed the first The comprehensive damage intensity borne by a grid cell, with a value range of [value range missing]. The higher the value, the less suitable it is to pass through; the intensity of the thermal radiation field at the fire scene. No. The normalized intensity of thermal radiation corresponding to each grid cell, with a value range of [value range missing]. The location is determined jointly by the FAS fire alarm location, VOCs exceeding the limit location, shelf obstruction relationship, and aisle opening relationship; Water spray settlement load No. The normalized intensity of the waterfall corresponding to each grid cell, with a value range of [value range missing]. The direction of the sprinkler head coverage, the column shielding, and the direction of the floor drainage are determined by the direction of the sprinkler head coverage, the direction of the column shielding, and the direction of the floor drainage. Water-restricted rating No. The sensitivity of pallets transported by Taiwanese AGVs to water spillage ranges from [value range missing]. The higher the value, the more averse to water; it indicates the number of... The sensitivity of the pallet corresponding to each AGV to damage when subjected to spraying, fine water mist or ground water is a dimensionless classification parameter. It is pre-classified based on the cigarette packaging form, outer material, packaging integrity, tendency to deform after moisture absorption and risk of failure due to moisture. For example, it matches the preset classification rules. The larger the value, the less water resistant the pallet is. High water spray and settling areas should be avoided in route planning and cluster scheduling. Thermal coupling coefficient The contribution weight of the thermal field to the overall damage, with a value range of [value range missing]. Water field coupling coefficient The contribution weight of the water field to the overall damage, with a value range of [value range missing]. Exponential mapping This is used to compress the growth trend of the superimposed thermal field and water field into the monotonic saturation range, preventing local extreme values ​​from overwhelming other grid information along the entire path.

[0031] The purpose of this formula is not to provide an abstract risk score, but to express heat loss and water loss as the same physical quantity, so that subsequent right-of-way deprivation has a clear field theory basis.

[0032] In a representative implementation, a hard-wired FAS fire alarm signal first appears near the end shelf of a Class A storage warehouse. Subsequently, VOCs detectors adjacent to the charging turnaround area continuously report exceeding limits. Based on this, the edge dispatch host depicts the area between the end shelf and the corner of the main aisle as a high-heat zone on the digital twin base map, and the turnaround area with strong sprinkler coverage as a high-water-fall zone. At this time, two of the three cargo AGVs are carrying pallets of soft-pack cigarettes and pallets of cartons of cigarettes, respectively, while the other is an empty pallet return vehicle. The digital twin engine sets the water resistance level for the soft-pack cigarette pallets to high, the water resistance level for the carton cigarette pallets to medium, and the water resistance level for the empty pallet return vehicle to low. Thus, the same aisle appears as having different passability to different vehicles, resulting in path determination consistent with the on-site cargo damage mechanism, rather than treating all AGVs as homogeneous chassis.

[0033] After obtaining the equivalent damage load, the digital twin engine no longer uses the first-in-first-out storage rule. Instead, it calculates a priority right-of-way index for each AGV and performs dual-cluster partitioning accordingly. The priority right-of-way index is defined as follows:

[0034] Among them, the priority right-of-way index : No. The strength of the priority evacuation right granted to the AGV is indicated by a higher value, suggesting it should enter a high-value escape cluster; the economic value coefficient... : No. The value grade of the pallets transported by Taiwanese AGVs is within the range of [value range missing]. The value is calculated from the pallet value, order urgency, or batch scarcity indicator in WCS; water resistance rating. The previous definition is retained; Path collection : No. The initial feasible path for each AGV from its current location to the nearest safe docking point; path weight. : No. The positional weight of each grid cell in the path, with a value range of [value range missing]. The closer the grid cell is to the current parking space, the higher its weight, to emphasize the decisive role of near-end congestion in the start-up phase; equivalent damage load Using the previous definition; scavenging adaptation coefficient : No. The adaptability of the AGV to perform isolation, pushing, or positioning tasks is within a certain range. Vehicles with empty trays, low cargo value, and those whose leading edges are more suitable for jacking correspond to higher values; value weight. Avoid water weight Damage weight He Qingdao's weight All are positive coefficients, used to balance the priority relationship between cargo value preservation, water protection, path damage and road cleaning needs.

[0035] Furthermore, based on this index, the digital twin engine will... Vehicles were grouped into high-value escape clusters, while low-value ones were excluded. and Higher-value vehicles are assigned to low-value isolation clearing clusters, and the right-of-way rights for both clusters are frozen or opened in the topology map, thus completing the redistribution of conventional obstacle avoidance rights. The edge scheduling host pre-maintains a pallet attribute table, which includes at least the pallet number, cigarette type, packaging form, outer material, water resistance level, priority protection level, and current storage location. The priority protection level is not an independent business field but a control parameter for emergency scheduling, mapped from the inventory importance of the cigarettes corresponding to the pallet, the moisture sensitivity of the packaging, and the urgency of the task. When generating the dual-cluster physical topology map, the edge scheduling host reads the pallet attribute table associated with each AGV and writes the priority protection level and water resistance level into the right-of-way allocation calculation. This ensures that loaded AGVs with high priority protection and high water resistance enter the high-value escape cluster first, while empty AGVs, low-priority protection AGVs, or AGVs more suitable for jacking operations enter the low-value isolation clearing cluster.

[0036] The above classification is not merely a matter of color coding on a map, but directly alters on-site actions. In the aforementioned implementation, after the AGV carrying a pallet of soft-pack cigarettes is classified into the high-value escape cluster, its forward lateral branch is preserved, and lateral movement requests from empty pallet return vehicles are suppressed; the empty pallet return vehicle is then classified into the low-value isolation clearing cluster and dispatched to a branch near the spray zone boundary to make room for subsequent doorway clearing actions. If the WCS records a pallet of irregularly shaped gift-box cigarettes or a mixed pallet covered with a cardboard box and film, the water-resistant rating... The packaging structure can be pre-designed; if the warehouse uses sealed plastic crates instead of wooden pallets, the economic value coefficient will be [not specified]. It can remain unchanged, only the water-restricted level needs to be rewritten. The mapping rules are sufficient, therefore this clustering principle does not depend on a single wrapper form.

[0037] As a supplement: After receiving the FAS fire alarm hardwired signal, the cross-domain gateway first maps the corresponding fire alarm zone according to the fire alarm loop number; then it reads the VOCs concentration time series in the fire alarm zone and its adjacent zones. For example, the FAS fire alarm hardwired signal is used as the main triggering condition, and the continuous state of VOCs concentration exceeding the limit is used as the same-zone verification condition; when the FAS fire alarm hardwired signal is valid, and the VOCs concentration in the same fire alarm zone remains above the verification threshold for a preset duration, the edge scheduling host writes the event into the disaster trigger queue. If the FAS fire alarm hardwired signal is valid but the VOCs concentration does not exceed the limit, the system retains the fire alarm event and continues to track VOCs concentration changes at a fixed sampling period; if only the VOCs concentration exceeds the limit without the FAS fire alarm hardwired signal, the system only generates an early warning record and does not enter the clustering process of high-value escape clusters and low-value isolation clearing clusters. When continuous packet loss in the backbone network reaches a preset threshold, the Edge-STC stops requesting the upper-level scheduling refresh and reads the most recent load snapshot from the local cache. The load snapshot includes at least the AGV number, the most recent position coordinates, the heading angle, the pallet number, the priority protection level, the water resistance level, and the most recent valid target node. Edge-STC performs static blind clustering locally according to preset rules: AGVs with a priority protection level and a water resistance level not lower than the preset level are classified into the high-value escape cluster; unloaded AGVs, low-priority protection AGVs, or AGVs with a push-pull structure at the front edge of the vehicle are classified into the low-value isolation and clearing cluster; then, keeping the most recent valid target node unchanged, it only allows continued exit along the buffer direction, and no longer re-plans the through-turning action.

[0038] By integrating the fire's thermal radiation equipotential surface, water spray settlement field, and cargo attributes into the same evaluation chain, this step first transforms the single-factor rule of "fire proximity first" into a scenario solution with simultaneous constraints of heat, water, value, and vehicle. This ensures that high-value, water-sensitive cigarette cargoes gain the right-of-way from the sprinkler zone from the outset. This is achieved through a priority right-of-way index. Compatibility coefficient with cleaning The coordinated division means that the site no longer relies on manual on-site designation of which vehicle to evacuate or which vehicle to give way. Instead, it forms high-value escape clusters and low-value isolation clearing clusters, preserving continuous channels for the bottom clearance formation in step two and subsequent crossing control.

[0039] Step 2: Generate an effective optical line of sight at the bottom of the escape corridor of the high-value escape cluster that does not induce combustion and suction, so that the initial escape target node given in Step 1 can be continuously identified by the vehicle and handed over to Step 3 as a prerequisite for passing through the roller shutter door.

[0040] Step one has already separated the high-value escape clusters from the low-value isolation and clearing clusters, releasing an escape corridor exclusively for the high-value escape clusters. However, as the fire progresses, particles in the dense smoke will cause significant scattering near the emission wavelength of the chassis LiDAR. The near-ground echo in the point cloud is first covered by noise, and then the ICP matching rate continues to decline. Although the vehicles still have the right-of-way, they cannot confirm the ground boundary, the buffer zone in front of the door, or the outline of the vehicle in front. If the downward airflow is increased directly, the hot smoke and outer air on both sides of the corridor will be drawn into the bottom, instead pulling the smoke layer that was originally only at the top to the ground. Therefore, this step adopts a single-chain action of selecting the corridor, limiting the supply, laminar flow downward pressure, and near-ground clearance. This allows nitrogen-rich gas to play the main role in suppressing entrainment, while fine water mist plays an auxiliary role in capturing smoke particles and removing local heat. Both work together to restore the usable line of sight of the chassis LiDAR, rather than simply applying ordinary smoke exhaust logic to a cigarette storage scenario.

[0041] The edge dispatch host first reads the dual-cluster physical topology map output in step one, selecting only the corridor sections that high-value escape clusters are about to pass through as processing objects, and sends the start point, end point, width, top plate height, adjacent shelf opening direction, and sprinkler coverage boundary of the section to the edge servo controller. The edge servo controller then receives the point cloud effectiveness rate and ICP matching rate uploaded by the chassis LiDAR. When the ICP matching rate approaches the preset lower limit, instead of directly increasing the fan speed, it first calculates the controlled laminar flow window of the mixed-phase airflow in the corridor, and then allocates the frequency of the HVAC inverter equipment, the valve position of the nitrogen-rich branch, and the valve position of the fine water mist branch within the window.

[0042] The clearance of a corridor is not generated by a single actuator, but is determined by wind speed, gas viscosity, droplet load and channel geometry. Only by first maintaining the mixed airflow in a range that can be pushed close to the ground, and then allowing the fine water mist to enter the range, will the droplets sweep away the smoke particles along the bottom of the corridor, instead of first swirling into clumps near the air outlet.

[0043] The edge servo controller reads the differential pressure sensor, flow rate sensor, nitrogen-rich mass flow meter, and fine water mist pipeline pressure switch of the branch where the slotted air outlet is located in each control cycle, and calculates the effective Reynolds number after correction for droplet load by combining the equivalent hydraulic diameter of the corridor. The effective Reynolds number is defined as:

[0044] Among them, the effective Reynolds number : No. The laminar flow criterion for the mixed-phase airflow within each corridor section is set to a positive value; the lower the value, the less likely lateral entrainment will occur. The mixed-phase density... : No. The equivalent density formed by nitrogen-rich gas, air, and mist droplets within each corridor section is taken as a positive value; the downward pressure velocity... : Average axial velocity below the slotted air outlet, taken as a positive value; hydraulic diameter : No. The equivalent geometric dimension of each corridor segment is determined by the net width and the near-ground clearance height, and the value is positive. Miscible viscosity : Equivalent dynamic viscosity of the mixed-phase gas flow, with a positive value; load correction factor : The correction weight of droplets on flow field disturbance, with a positive value; droplet loading ratio : Fine water mist volume fraction or equivalent load ratio, with a value range of [range missing]. A higher value indicates a higher degree of droplet involvement.

[0045] The denominator term in the formula To characterize the inhibitory effect of fine water mist on the mainstream shear layer, the edge servo controller is used... As a condition for maintaining laminar flow, piecewise linear interpolation combined with binary approximation is used to first lock the frequency of the HVAC inverter equipment, and then fine-tuning the valve positions of the nitrogen-rich branch and the fine water mist branch, thereby avoiding large fluctuations in the three execution quantities at the same time.

[0046] As a supplement: the edge servo controller only performs airflow down-pressurization on the high-value escape cluster escape corridor generated in step one, and the escape corridor should be located within the non-fire-prone body passage. The edge servo controller calculates the effective Reynolds number of the mixed-phase airflow based on the net width of the escape corridor, the height of the ceiling, the cross-sectional dimensions of the air outlet, the branch pressure difference, the flow rate of the nitrogen-rich branch, and the opening status of the fine water mist branch, and constrains the frequency of the HVAC inverter equipment to keep the effective Reynolds number within the laminar flow control range, in order to suppress near-ground lateral entrainment and local backmixing, rather than for the purpose of exhausting smoke from the entire storage area.

[0047] In one implementation, slot-shaped air outlets are arranged along the centerline of the escape corridor. A nitrogen-enriched branch connects to the static mixing section from the rear of the fan. Fine water mist nozzles are embedded on both sides of the slot-shaped air outlets and slightly inward towards the front of the corridor. After the edge dispatch host selects a corridor between double-row racks, the edge servo controller first opens the nitrogen-enriched branch above that corridor, then instructs the HVAC inverter equipment to reverse the airflow. Fine water mist is introduced only after the main flow at the bottom stabilizes. The visible result is that the smoke layer is not completely compressed to the ground; instead, a clear, ground-level band appears at the bottom of the corridor, and the outline near the front wheels of the high-value escape cluster becomes visible again. If the storage area does not have a centralized nitrogen-enriched branch, nitrogen-enriched gas is supplied from the cylinder group at the end of the corridor via a pressure reducing valve. If slot-shaped air outlets are inconvenient to install, a perforated rectifier plate combined with parallel nozzles forms a ground-level main flow with equivalent function; the terminology remains mixed-phase airflow.

[0048] After the laminar flow window stabilizes, the edge servo controller does not simply check whether the wind speed meets the standard, but combines the multi-beam echo of the chassis LiDAR to determine the optical permeability of the corridor bottom.

[0049] Therefore, the edge servo controller accumulates the smoke particle attenuation and fog droplet attenuation of each echo beam as an optical access factor, and sums them according to the near-ground sector weights to obtain the segment clearance index. The segment clearance index is defined as:

[0050] Among them, the segment airspace index : No. The overall penetration capability of each corridor section under the chassis LiDAR view, with a value range of [value range missing]. A higher value indicates greater ease of point cloud reuse; weight : No. The importance of the near-ground sector corresponding to the beam echo is given by the following values: And satisfy the condition that the sum of the weights of each beam is 1; smoke particle extinction coefficient : No. The attenuation intensity per unit length of the beam echo when it encounters smoke particles along its path, taken as a positive value; smoke particle concentration. : No. The equivalent smoke particle concentration on the beam echo path is taken as a positive value; Fog droplet extinction coefficient : No. The attenuation intensity per unit length of the beam echo when it encounters fog droplets along its path, taken as a positive value; fog droplet concentration. : No. The equivalent droplet concentration along the beam echo path is a positive value; propagation length : No. The equivalent propagation distance of the beam echo in the clearance layer at the bottom of the corridor is a positive value; number of beams. The number of valid echo beams involved in the determination is a positive integer.

[0051] Exponential mapping is used to express the combined attenuation of smoke particles and fog droplets as a monotonically decreasing accessibility. Edge servo controllers only apply this to the segment clearance index. Only when the ICP matching rate exceeds the reuse threshold is the segment marked as cleared, and the result is sent back to the vehicle controller of the high-value escape cluster.

[0052] In another implementation, when a high-value escape cluster vehicle moves along the escape corridor released in step one, the chassis LiDAR initially only sees the area near the vehicle body, with the middle section of the corridor still obscured by smoke. The edge servo controller maintains the nitrogen-rich branch valve position unchanged, only slightly increasing the fine water mist branch valve position, extending the near-ground droplet distribution towards the middle section of the corridor. Subsequently, the ground reflection points in front of the vehicle change from intermittent to continuous, and the base of the shelf pillars and the corridor boundary line reappear in the point cloud. Based on this, the edge scheduling host rewrites the section as a passable section. If the chassis LiDAR is installed below the front of the vehicle body, the echo from that installation position is directly used; if the chassis LiDAR is installed below the side of the vehicle body, the onboard controller performs coordinate transformation before uploading, and the section clearance index is... The calculation method remains unchanged.

[0053] By using the effective Reynolds number By constraining the linkage between HVAC inverter equipment, nitrogen-rich branches, and fine water mist branches, the mixed-phase airflow is confined to a region where it is less likely to entrain outer layer hot smoke, thus forming a continuous, clearly defined strip along the floor of the escape corridor. This is achieved by using the section clearance index... Together with the ICP matching rate, the edge servo controller no longer infers whether the clearance has been formed based solely on the fan status. Instead, it directly incorporates the chassis LiDAR echo into the decision chain, thereby enabling the initial escape target node given in step one to re-enter the vehicle's identifiable range.

[0054] Step 3: Based on the effective optical line of sight restored in Step 2, extract the actual locking pattern of the metal fireproof roller shutter door after it is heated, and give the passable time window and corresponding driving action of the escape cluster accordingly.

[0055] Step two addresses the issue of visibility at the bottom, but another type of mismatch remains when crossing in front of the door: conventional logistics obstacle avoidance treats roller shutters as ideal rigid bodies, assuming their bottom velocity matches the nominal curve of the door controller. However, in fire scenarios, metal fireproof roller shutters are affected by the combined effects of thermal expansion of the guide rails, surface soot adhesion, local warping of the door panels, and gravity link obstruction, causing the instantaneous velocity, acceleration, and left-right alignment of the bottom edge of the door to deviate from the normal temperature model. If a fixed safety margin is still used for judgment, it is easy to encounter situations where crossing is possible but blocked, or the door body is already sluggish but the system still misjudges that there is a margin. Therefore, this step does not directly compare the bottom height of the door with the height of the vehicle body, but treats the door body as a thermally ill moving body, first identifying the actual movement of the bottom of the door, and then feeding the identification results back into the crossing decision.

[0056] The vehicle controller first allows only high-value escape clusters located within the cleared corridor section to enter the door buffer zone, and reads the section clearance index sent back in step two. When the zone's net airspace index While maintaining above the usable threshold, the roof-mounted LiDAR continuously scans to acquire the door bottom edge contour, while the door-front positioning inertial navigation unit simultaneously uploads the vehicle's pitch angle and longitudinal deceleration. Based on this, the onboard controller removes spurious displacements introduced by vehicle braking pitch from the original echoes and then reconstructs the dynamic displacement sequence of the door bottom in chronological order. Subsequently, the onboard controller first uses Kalman filtering to obtain the smoothed velocity term, and then uses three-point unequal-distance differential to recover the acceleration term at the bottom of the door, thereby distinguishing between two different deceleration sources: active deceleration by the door controller and dragging due to thermal friction of the guide rail. During this period, the edge scheduling host keeps the low-value isolation clearing clusters on both sides outside the door, preventing them from cutting across into the buffer zone in front of the door, thus ensuring that door recognition and subsequent passage are continuously executed by a single escape cluster.

[0057] Dynamic displacement sequence at the bottom of the door Once established, the vehicle controller treats the door as a vertically moving body driven by thermal damping, and calculates the thermal expansion nonlinear friction damping coefficient in reverse based on the displacement, velocity, and acceleration at consecutive moments. .

[0058] Its relation is written as:

[0059] Among them, the thermal expansion nonlinear friction damping coefficient The equivalent resistance strength of the roller shutter door guide rail and door panel to the falling motion under heated conditions is taken as a positive value; the equivalent mass of the door body. : The equivalent mass of the door panel and connecting components involved in the downward fall, taken as a positive value; gravitational acceleration. : Local gravitational acceleration, with positive values; driving compensation force : Door control link at time The resulting holding, braking, or electromagnetic release equivalent force is a non-negative value; the actual acceleration at the bottom of the door. The second-order time derivative recovered from the dynamic displacement sequence is defined as downwards in the positive direction and can take either positive or negative values; the true velocity at the bottom of the door. The first-order time derivative of the dynamic displacement sequence, with non-negative values; stability term. To avoid instability in the denominator when the speed at the bottom of the door approaches zero, a small amount is taken as a positive value that is much smaller than the actual speed at the bottom of the door.

[0060] If the gate is only subjected to gravity and the control link, the acceleration change can be explained by the nominal release process; if the guide rail generates additional resistance after heating, this resistance will be addressed through… It exhibits discernible increments over continuous time intervals. The onboard controller preferably employs a combination of extended Kalman filtering and piecewise cubic interpolation to obtain the desired result. and This is to avoid derivative jumps caused by occasional gaps in the smoke echo.

[0061] In one embodiment, the first vehicle in the high-value escape cluster approaches the metal fireproof roller shutter door along the corridor cleared in step two. The LiDAR scanner continuously scans the bottom left side of the door, showing that it descends earlier than the right side. The vehicle controller first uses the door-front positioning inertial navigation unit to eliminate the vehicle's nose-diving caused by sudden deceleration, and then detects that the overall descent speed of the bottom of the door gradually slows down. At this point, the vehicle controller no longer uses the fixed door speed model, but instead continuously updates the thermal expansion nonlinear friction damping coefficient according to the above formula. Thus, the state where the door appears to be falling but is actually dragging is separated from the point cloud time sequence. If the roof-mounted LiDAR is installed at the front edge of the roof beam, the front edge scanning plane is read directly; if it is installed at the center of the roof, it is first converted to the front reference coordinate system according to the installation extrinsic parameters before participating in the calculation. The dynamic displacement sequence is... The definition remains unchanged.

[0062] The nonlinear friction damping coefficient of thermal expansion was obtained. Subsequently, the vehicle controller backfills the data into the door drop prediction model and, in conjunction with the vehicle length, the height of the pallet top edge, the vehicle speed, and the remaining distance in front of the door, calculates the locking time window. The determination relationship is written as:

[0063] Among them, the locking time window : The remaining crossing margin time from the current moment until the bottom of the door descends to the upper edge of the vehicle's safety envelope; the value can be positive or negative, with a positive value indicating that there is still a crossing margin; the actual displacement of the bottom of the door. : The actual height of the bottom of the door relative to the ground at the current moment, with a positive value; vehicle safety envelope height. The safety height formed by the highest rigid point of the vehicle body and the upper edge of the cargo pallet is taken as a positive value; additional clearance margin. : Height margin reserved to suppress door sway, ground slope, and vehicle bounce; value is non-negative; actual speed at the bottom of the door. Using the previous definition; damping conversion factor The nonlinear friction damping coefficient of thermal expansion The proportional coefficient converted into the effective speed correction amount for bottom door locking is taken as a positive value; Remaining crossing length of the car front : The remaining longitudinal distance from the vehicle's current reference point to the dangerous section at the bottom of the door, a positive value; the vehicle's current speed. : The longitudinal speed of the vehicle after entering the buffer zone in front of the gate, which is a positive value.

[0064] When the lockout time window is closed When the value is positive and greater than the drive link response delay, the vehicle controller sends the maximum PWM duty cycle to the drive actuator and locks the steering angle, no longer making lateral corrections, allowing the vehicle to perform a sliding through maneuver in a predetermined posture; when the locking time window is closed... When the value turns negative, the vehicle controller immediately cancels the crossing command and remarks the area in front of the door as a non-crossable section. To ensure the execution chain is complete, the drive actuator freezes the regenerative braking ratio simultaneously after receiving the crossing command, preventing attitude jitter caused by the slippery ground in front of the door when switching between electric and mechanical braking.

[0065] As a supplement: when the locking time window is greater than the sum of the drive response delay and the brake release delay, the vehicle controller switches to emergency control mode. The emergency control mode does not remove all restrictions, but instead calls the drive upper limit table pre-written into the vehicle controller. Without exceeding the vehicle attitude stability threshold and the pallet safety envelope height, it increases the longitudinal drive duty cycle and freezes the lateral steering correction, so that the vehicle performs a straight-through action along the centerline of the cleared corridor determined in step two. When the locking time window decreases to below the exit threshold, the vehicle controller immediately exits the emergency control mode and performs a door-front braking.

[0066] In another embodiment, as the first vehicle approaches the roller shutter door, the roof elevation LiDAR has continuously provided the bottom profile of the door, and the onboard controller calculates that a positive locking time window still exists. The actuator then maintains the steering along the centerline of the corridor, allowing the vehicle to pass directly under the door without swaying. The visible result is a continuous clearance between the roof guard and the bottom of the door, with no rubbing of the front edge of the pallet against the door panel. If the bottom of the door is partially obscured by soot, resulting in an incomplete single-frame outline, the onboard controller uses the outlines of the preceding and following three frames to extrapolate and complete the bottom boundary of the door. If the door panel material is changed from steel to composite fireproof board, only the equivalent mass of the door needs to be rewritten. With additional net clearance The preset mapping does not affect the latching time window. The solution chain.

[0067] By analyzing dynamic displacement sequences Inverse extraction of thermal expansion nonlinear friction damping coefficient This step transforms the metal fireproof roller shutter door into a diagnosable, heat-sensitive moving body, allowing the door's actual locking behavior to enter the vehicle's decision chain. The output crossing command no longer relies on fixed empirical margins but directly corresponds to the current door state and the current vehicle state.

[0068] Step 4: During the locking time window When the network is exhausted and there are disconnected or dead devices under the door, the low-value isolation clearing cluster is used to push away the dead devices outside the door and convert the mechanical slit at the bottom of the door into a transparent electromagnetic coupling channel, so that the escape status of the high-value escape cluster can be transmitted back across the door.

[0069] Step 3 has already provided the locking time window. The positive and negative conclusions are determined by the time window. When the time window turns negative, the high-value escape cluster's continued attempt to reach the door is no longer feasible. The problem at the door then shifts from whether vehicles can pass through to whether the malfunctioning equipment under the door is blocked and whether the cross-door status can still be reported. In the fire scenario of the cigarette storage warehouse, the floor inside the door is slippery due to the fine water mist from step two. Malfunctioning equipment often stops under the door or in the buffer zone in front of the door, with its wheels locked and drive malfunctioning. If the dispatcher outside the door cannot receive the escape status from inside the door, it is impossible to determine whether the high-value escape cluster has completed its evacuation. Therefore, this step merges obstacle clearing and communication restoration into the same execution chain: first, the low-value isolation clearing cluster establishes controllable grounding and controllable pushing outside the door, and then uses the metal gap at the bottom of the door formed after the impact to establish cross-door electromagnetic coupling, ultimately restoring the connection between the inside and outside of the door.

[0070] The edge scheduling host continuously listens for the latching time window returned in step three. The clearance at the bottom of the door and the occupancy status in front of the door. Once the locking time window is met... When three conditions are met—the network is exhausted, a disabled device is located directly below the threshold, and the cross-gate signal-to-noise ratio falls below the pass-through threshold—the edge dispatch host sends an emergency message to the low-value isolation clearing cluster waiting outside the gate. This emergency message includes at least the coordinates of the disabled device, the location of the dangerous section at the bottom of the gate, the maximum allowable impulse, the retreat endpoint, and the communication restoration target. Upon receiving the message, the vehicle controller of the low-value isolation clearing cluster does not directly ram at high speed. Instead, it first controls the reverse hydraulic lowering mechanism to descend, increasing the chassis rubber contact area, lowering the center of gravity, and reducing the nose-down angle, thus creating a stable pushing posture on the slippery ground. Subsequently, the vehicle controller selects a direct push or offset push-away route based on the occupancy status in front of the gate, causing the disabled device to move away from the dangerous section at the bottom of the gate. Only when the local self-organizing network outside the gate has not been restored does the front metal cover continue to advance and enter the gap at the bottom of the gate, so as to transform the mechanical contact boundary into an RF coupling boundary.

[0071] The front section of the vehicle body for the low-value isolation clearing cluster is equipped with a reverse hydraulic pallet lowering mechanism. This mechanism operates in the opposite direction to the conventional pallet lifting and retrieval mechanism. In emergency mode, the hydraulic cylinder returns oil, causing the front load-bearing component to sink, thus driving the rubber drive wheels to more fully contact the ground. In conjunction with this, a front metal cover is fixed to the lower edge of the vehicle's front end. Its height is lower than the remaining door gap height corresponding to the door bottom clearance state output in step three. The front edge features a rounded chamfer, and the preferred material is stainless steel, galvanized steel, or other conductive metal plates, to accommodate both pushing away the stalled equipment and subsequently forming an electromagnetic boundary for the gap.

[0072] During the jacking process, the vehicle controller is not allowed to exceed the force boundary of the housing corresponding to the Battery Management System (BMS). Therefore, the actual impact impulse is first estimated based on the hydraulic cylinder pressure, vehicle speed, and contact establishment time, and then compared with the upper limit of the allowable impulse. The allowable impulse relationship is written as:

[0073] Among them, the actual impact impulse The total impulse of the low-value isolation cleaning cluster after contacting the malfunctioning device is a positive value; the upper limit of the allowable impulse. : The maximum allowable impulse without exceeding the yield boundary of the target battery casing, with a positive value; structural margin coefficient. The safety reduction factor, taking into account assembly deviations and uneven contact in the housing, has a range of values ​​of [value range missing]. ; Shell yield stress : Yield stress of the battery casing material of the device that crashed, taken as a positive value; projected area of ​​force. : The equivalent force transmission area formed after the front metal cover plate comes into contact with the frozen equipment, and the value is positive; contact establishment time The duration of hydraulic buffer contact from initial contact to stable force transmission, which is a positive value.

[0074] The above formula translates the requirement of avoiding damage to the battery casing into a calculable upper limit of impulse. The onboard controller preferably uses a combination of hydraulic cylinder pressure sensors and wheel encoders to estimate the permissible upper limit of impulse. When the actual impact impulse Approaching the maximum allowed impulse Immediately reduce the hydraulic cylinder's thrust rate and switch to continuous low-speed pushing.

[0075] In one embodiment, a disabled device is parked under the door. Upon receiving an emergency message, the low-value isolation clearing cluster outside the door first lowers its platform, causing the front of the vehicle to noticeably sink, with the rubber drive wheels pressing against the slippery ground. It then approaches the left rear corner of the disabled device along the offset path provided by the edge dispatch host. After the metal cover contacts the disabled device, the onboard controller does not accelerate further but instead maintains a slow, controlled advance with the hydraulic cylinders, allowing the disabled device to slide diagonally away from the bottom of the door. The visible result is that the disabled device is pushed out of the dangerous section under the door, the area under the door is cleared again, and the low-value isolation clearing cluster remains in the controllable area outside the door. If the disabled device is covered by a protective shield, the front metal cover contacts the rigid connection of the shield; if the disabled device has a skid structure at the bottom, the onboard controller changes the direction of advancement to align with the long side of the skid to reduce jamming.

[0076] After the obstacles under the door are cleared, if the escape status of the high-value escape cluster still cannot be reported across the door, the low-value isolation clearing cluster continues the second stage of the operation. The front metal cover plate maintains contact with the metal edge of the bottom of the door, the top radio frequency module begins to sweep frequency and transmit detection signals, and the adaptive impedance matching network automatically switches the matching branch according to the change of reflection coefficient, forming a narrow conductive boundary between the gap at the bottom of the door, the front metal cover plate, and the edge of the door.

[0077] At this point, the mechanical gap at the bottom of the door is no longer just a structural void, but a narrow channel through which radio frequency energy from both sides can couple. To determine whether this channel is sufficient to handle the transparent transmission of a local ad hoc network, the vehicle controller and the edge dispatch host jointly calculate the cross-door transparent transmission index:

[0078] Among them, the cross-door transparent transmission index : The effective transmission capability of the gap at the bottom of the door to the local self-organizing network signal on both sides of the door under the current contact state. The value is non-negative, and the larger the value, the better the communication recovery; Received power The effective radio frequency power measured at the receiver on the other side of the gate is a positive value; noise power spectral density. : Equivalent noise power spectral density at the receiver, with positive values; signal bandwidth : The communication bandwidth currently used by the top RF module, with a positive value; Reflection coefficient The equivalent reflection coefficient of the adaptive impedance matching network under the current gap boundary, with a value satisfying... ; Gap width The equivalent slit width formed between the bottom metal edge of the door and the front metal cover plate is a positive value; the waveguide wavelength is... The equivalent guided wavelength in the conductive boundary of the gap in the current operating frequency band is a positive value.

[0079] In the formula An adaptive impedance matching network is used to characterize the effect of gap geometry on coupling efficiency and to improve the cross-door pass-through index. To achieve the desired result, the most suitable capacitor and inductor combination is switched among multiple matching branches. Only when the cross-door pass-through index... Only when the pass-through threshold is exceeded will the edge scheduling host mark the door as having completed cross-door topology reconstruction.

[0080] In another embodiment, the malfunctioning device has been pushed out of the door, but the status of the high-value escape cluster inside the door still cannot be transmitted to the outside. At this time, the low-value isolation clearing cluster continues to advance a short distance, and the lower edge of the front metal cover gets stuck in the gap at the bottom of the door. The top RF module begins to switch matching branches one by one. As the adaptive impedance matching network completes tuning, the monitoring interface outside the door receives the cluster status message again, and the edge scheduling host confirms that the high-value escape cluster has crossed the danger zone inside the door. If the bottom edge of the smoke door is not a continuous metal edge, but is covered with an insulating strip, a conductive insert can be set at the front edge of the front metal cover so that the conductive insert contacts the bottom metal substrate before matching; if the top RF module uses an ultra-wideband module, only the bandwidth is rewritten. and guided wave wavelength The mapping relationship remains unchanged, while the rest of the control chain remains the same.

[0081] As a supplement: After the leading edge of the current metal cover plate enters the bottom slit of the smoke-proof metal door, the front metal cover plate, the bottom metal edge of the door, and the conductive connectors on both sides together form the slit coupling boundary. The top RF module performs frequency sweep transmission within a preset frequency band, and the adaptive impedance matching network switches between multiple matching branches according to changes in the reflection coefficient to improve the received power and message arrival rate between nodes inside and outside the door. The edge scheduling host only determines that the cross-door local self-organizing network has recovered when the received signal strength, bit error rate check result, and continuous message arrival rate simultaneously meet the preset transparent transmission conditions. The message must contain at least the cluster number, node number, status word, timestamp, and check field.

[0082] Through a reverse hydraulic lowering mechanism, a front metal cover, and an upper limit on permissible impulse. By combining constraints, this step limits the external obstacle clearing action within a controlled impulse, enabling the low-value isolation clearing cluster to stably push away the disconnected or malfunctioning equipment on slippery ground without exceeding the force boundaries of the target battery casing. An electromagnetic coupling link is formed at the bottom of the door gap by the metal cover, top RF module, and adaptive impedance matching network, and a cross-door pass-through exponent is used. As a criterion for restoration, this step transforms the metal smokeproof door that originally blocked communication into a narrow, transparent channel.

[0083] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0084] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A multi-operation area linkage emergency response and disposal decision-making system for cigarette storage scenarios, characterized by: include, Receive the hard-wired signal of the fire alarm from FAS and the signal of VOCs concentration exceeding the limit from the sensor, extract the load attributes of the AGV in WCS, superimpose the equipotential surface of the fire thermal radiation and the water spray settling field in the digital twin engine, and cluster them according to the economic value and water insensitivity level of a single cigarette roll to obtain the dual-cluster physical topology map and the initial escape target node. Based on the initial escape target node, nitrogen-rich gas and fine water mist are used for pressure control to restore the effective optical line of sight; based on the effective optical line of sight, the displacement sequence of the bottom edge of the metal fireproof roller shutter door is obtained, the locking time window is calculated, and high-value escape clusters are controlled to pass through or be stopped accordingly. In response to the expiration of the locking time window and the presence of a network outage or dead device under the door, the control low-value isolation clearing cluster pushes away the network outage or dead device and restores cross-door communication through the gap between the front metal cover and the bottom of the door.

2. The multi-operation area coordinated emergency response and handling decision-making system according to claim 1, characterized in that: After receiving the FAS fire alarm hardwired signal and the VOCs concentration exceeding limit sensor signal, the load attributes and position status of the global AGV in WCS are extracted, and the fire thermal radiation equipotential surface and water spray settling field are mapped to the same warehouse coordinate system in the digital twin engine. At the same time, the current associated pallets, channel nodes, adjacent shelf opening relationships and spray coverage boundaries of each AGV are attached.

3. The multi-operation area coordinated emergency response and handling decision-making system according to claim 2, characterized in that: Based on the economic value and water resistance level of the current associated pallets of each AGV in the warehouse area coordinate system, differentiated right-of-way constraints are imposed on the feasible channels of each AGV. Higher-priority AGVs are assigned to the high-value escape cluster, while unloaded AGVs, low-priority AGVs, and AGVs with leading edges suitable for jacking are assigned to the low-value isolation clearing cluster. At the same time, an initial escape target node is generated.

4. The multi-operation area coordinated emergency response and disposal decision-making system according to claim 3, characterized in that: When the backbone network experiences packet loss and disconnection, Edge-STC reads the last payload snapshot from the local cache. The last payload snapshot includes the AGV number, location coordinates, heading angle, currently associated pallet, and the most recent valid target node. Based on this, static blind clustering and exit direction maintenance control are performed to maintain the clustering status of high-value escape clusters and low-value isolation clearing clusters.

5. The multi-operation area coordinated emergency response and handling decision-making system according to claim 4, characterized in that: Restoring effective optical line of sight includes: based on the dual-cluster physical topology map and the initial escape target node, applying downward pressure control only to the escape corridors of high-value escape clusters, and having the edge servo controller coordinate the adjustment of HVAC inverter equipment, nitrogen-rich branches, and fine water mist branches according to the corridor net width, ceiling height, and branch pressure difference.

6. The multi-operation area coordinated emergency response and disposal decision-making system according to claim 5, characterized in that: Smoke-proof zones and slit-shaped air vents are set above the escape corridor. When the ICP matching rate of the chassis LiDAR point cloud decreases, the edge servo controller activates the nitrogen-rich branch and the fine water mist branch. Based on the flow rate sensor, differential pressure sensor and point cloud efficiency, it continuously maintains the effective optical line of sight, allowing high-value escape clusters to approach the metal fireproof roller shutter door along the escape corridor.

7. The multi-operation area coordinated emergency response and disposal decision-making system according to claim 6, characterized in that: The process of obtaining the displacement sequence of the bottom edge of the metal fireproof roller shutter door includes: continuous scanning of the bottom edge of the metal fireproof roller shutter door by LiDAR at the roof elevation angle, providing vehicle body pitch information by the door front positioning inertial navigation unit, constructing a dynamic displacement sequence based on this information, and extracting the thermal expansion nonlinear friction damping coefficient from the dynamic displacement sequence.

8. The multi-operation area coordinated emergency response and disposal decision-making system according to claim 7, characterized in that: Controlling the passage or stopping of high-value escape clusters includes: the on-board controller calculates the locking time window based on the thermal expansion nonlinear friction damping coefficient and dynamic displacement sequence; when the locking time window meets the driving conditions, it switches to the emergency control mode and controls the drive actuator to pass through directly; and when the locking time window is exhausted, it performs a stop in front of the door.

9. The multi-operation area coordinated emergency response and handling decision-making system according to claim 8, characterized in that: When the locking time window expires and there is a dead device under the door, the reverse hydraulic lowering mechanism of the low-value isolation clearing cluster is lowered to increase the rubber grounding area of ​​the chassis, and the dead device is pushed away from the dangerous section under the door by the front metal cover under the limited mechanical impulse.

10. The multi-operation area coordinated emergency response and disposal decision-making system according to claim 9, characterized in that: Resumption of cross-door communication pass-through includes: after the front metal cover plate enters the bottom gap of the door, activating the top radio frequency module and using an adaptive impedance matching network to tune the bottom gap of the door, enabling the local self-organizing network inside and outside the door to establish cross-door pass-through through the bottom gap of the door, and using the reporting of the escape status of the high-value escape cluster as the termination condition.

Images