Method for locating concealed fire sources inside coal bunker

Abstract

The application discloses a positioning method for hidden fire source in a coal bunker, comprising the following steps: S1, arranging n first temperature measuring optical cables l1-ln in a vertical direction in the coal bunker, and arranging m second temperature measuring optical cables p1-pm in a horizontal circumferential direction in the coal bunker; n S2, obtaining a preliminary positioning result of a fire source point in the coal bunker; m S3, optimizing the preliminary positioning result of the fire source point based on dynamic clustering to obtain a final positioning result of the fire source point. The application can significantly improve the positioning accuracy and reliability of the fire source point by finding the preliminary position of the fire source point in the coal bunker first and then optimizing the preliminary position of the fire source point based on dynamic clustering to obtain the final positioning result of the fire source point.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety, and in particular to a method for locating a hidden fire source inside a coal bunker. Background Art

[0002] Safety management during coal mining is a matter of considerable concern. A coal bunker is a temporary storage facility at the bottom of a coal mine. While a crucial step in the coal production process, coal bunker storage also presents a potential safety risk. Coal bunkers present a variety of safety hazards, including spontaneous combustion, gas accumulation, and dust explosions. Spontaneous combustion can occur for a variety of reasons, including substandard coal quality and improper management. Not only are spontaneous combustion fires difficult to predict, but accurately locating the fire source after it occurs is crucial for fire prevention. Therefore, a method is needed to accurately locate the fire source. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: how to accurately find the fire source point inside the coal bunker.

[0004] To this end, the present invention provides a method for locating a hidden fire source inside a coal bunker, which can accurately locate the position of the fire source.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a method for locating a hidden fire source inside a coal bunker, comprising: step S1, arranging n first temperature measuring optical cables l1 to l2 in a vertical direction inside the coal bunker; n And m second temperature measuring optical cables p1 to p2 are arranged along the horizontal circumferential direction. m ; Step S2, obtain the preliminary positioning result of the fire source point inside the coal bunker; Step S3, optimize the preliminary positioning result of the fire source point based on dynamic clustering to obtain the final positioning result of the fire source point.

[0006] Furthermore, the calculation of the preliminary positioning result of the fire source inside the coal bunker includes:

[0007] S2.1. Obtain the position l of the highest temperature point on n first temperature measurement optical cables 1max ~l nmax , and calculate the vertical average value of the highest temperature point

[0008] S2.2, find the vertical position average value l max_avg The second temperature measuring optical cable closest to p x , and record the second temperature measuring optical cable p x The highest temperature point position p xmax ; Calculate the highest temperature point position p xmax and the vertical position average l max_avg The distance d1 in the vertical direction;

[0009] S2.3. Preliminary estimation of the fire source and the position of the highest temperature point p xmax The straight-line distance d2 between them;

[0010] S2.4. Calculate the preliminary location of the fire source.

[0011] Furthermore, the position l of the highest temperature point on the n first temperature measuring optical cables is obtained. 1max ~l nmax ,include:

[0012] Get the actual temperature T in the coal bunker measured by the first temperature measuring optical cable in real time measured , and record the actual maximum temperature T max ;

[0013] For actual temperature T measured Perform thermal convection compensation to obtain the corrected temperature T after compensation compensated :

[0014] T compensated =T measured -α·(T max -T ambient ),

[0015] α represents the thermal convection compensation coefficient, T ambient Indicates the ambient temperature,

[0016] According to the corrected temperature T compensated Record the position of the highest temperature point on the first temperature measuring optical cable.

[0017] Furthermore, the preliminary estimation process of the straight-line distance d2 includes:

[0018] Construct the heat conduction equation: T represents the temperature of any point inside the coal bunker, and β represents the thermal diffusivity of coal;

[0019] Under steady-state conditions, When , assuming that the temperature distribution is radially symmetric, we can obtain:

[0020] Set the boundary conditions as follows: when r = d2, T = T ambient ; When r = 0, T = T source ; r represents the radial coordinate value of the coal bunker, r0 represents the radius of the coal bunker, T source represents the temperature of the fire source, and the heat conduction equation is solved according to the convenient conditions to obtain:

[0021]

[0022] Set the temperature of the fire source The solution is:

[0023]

[0024] Furthermore, the preliminary position of the fire source includes: the vertical position is l max_avg , the horizontal position is

[0025] Furthermore, the preliminary location results of the fire source are optimized based on dynamic clustering, including:

[0026] Initialize the number of samples of fire source points N=0, set the initial cluster center Z to the initial position of the fire source point obtained in step S2 of the first input, and set the initial search radius to R;

[0027] Enter the newly detected fire source location x j , and update the number of samples N=N+1; update the cluster center

[0028] Determine the positioning area, calculate the average position of the fire source points within the positioning area, and output the comprehensive positioning results.

[0029] Furthermore, determining the positioning area includes: setting the distance threshold to W1, the positioning area to be a cylindrical area with Z as the center and a radius of W1, and the height of the cylindrical area is within the height range of the coal bunker; that is,

[0030] The radius constraint of the cylindrical region is: ||x horizontal -Z horizontal ‖≤W1;

[0031] The height constraint of the cylindrical area is: h min,coalbin ≤x vertiacal ≤h max,coalbin ;

[0032] x horizontal Indicates the horizontal position of the fire source, x vertical Indicates the vertical position of the fire source, Z horizontal Indicates the horizontal position of the cluster center, h min,coalbin 、h max,coalbin They represent the minimum height and maximum height of the coal bunker respectively.

[0033] Furthermore, the average value of the fire source position within the positioning area includes:

[0034] Horizontal position average:

[0035] Vertical position mean:

[0036] where \(k = 1, 2, \ldots, M\); \(M\) represents the number of fire sources in the positioning area; \(x\) k,horizontal , \(x\) k,vertical respectively represent the horizontal position and vertical position of the \(k\)-th fire source in the positioning area, and \(w\) k represents the weight of the vertical position of the \(k\)-th fire source;

[0037] The comprehensive positioning result is:

[0038] Furthermore, the iteration termination condition for optimizing the preliminary position of the fire source based on dynamic clustering is:

[0039] If \(|I\) E - I\) E，prev | < W2, then terminate the iteration;

[0040] where I\) E represents the sum of squared errors of the current iteration, \(I\) E,prev represents the sum of squared errors of the previous iteration, and W2 represents the set threshold.

[0041] Furthermore, the first temperature measurement optical cable arranged along the vertical center line of the coal bunker is denoted as l1, and the first temperature measurement optical cables l2 to l n are equally spaced along the circumferential direction on the inner wall of the coal bunker; the second temperature measurement optical cables p1 to p m are all arranged along the circumferential direction of the inner wall of the coal bunker and are equally spaced in the vertical direction.

[0042] The beneficial effect of the present invention is that the method for positioning hidden fire sources inside the coal bunker of the present invention first finds the preliminary position of the fire source inside the coal bunker, and then optimizes the preliminary position of the fire source through dynamic clustering to obtain the final positioning result of the fire source, which can significantly improve the positioning accuracy and reliability of the fire source. Brief Description of the Drawings

[0043] The present invention will be further described below in conjunction with the drawings and embodiments.

[0044] Figure 1 is a flowchart of the method for positioning hidden fire sources inside the coal bunker of the present invention.

[0045] Figure 2 is a schematic diagram of the layout of the temperature measurement optical cable inside the coal bunker of the present invention.

[0046] Figure 3 is a schematic diagram of the simulation of dynamic clustering of the present invention.

[0047] Figure 4 is a schematic diagram of the error value between the actual coordinates and the calculated coordinates of the present invention.

[0048] Figure 5 It is a schematic diagram of the distribution of errors between actual coordinates and calculated coordinates in three-dimensional space of the present invention. DETAILED DESCRIPTION

[0049] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0051] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0052] like Figures 1 to 2 As shown, the method for locating a hidden fire source inside a coal bunker of the present invention comprises: S1, arranging n first temperature measuring optical cables l1 to l2 along a vertical direction inside the coal bunker. n And m second temperature measuring optical cables p1 to p2 are arranged along the horizontal circumferential direction. m S2. Obtain the preliminary positioning result of the fire source inside the coal bunker. S3. Optimize the preliminary positioning result of the fire source based on dynamic clustering to obtain the final positioning result of the fire source.

[0053] It should be noted that, for example, the coal bunker is cylindrical, and the first temperature measuring optical cable arranged along the vertical center line of the coal bunker is marked as l1, and the first temperature measuring optical cables l2 to l n The second temperature measuring optical cables p1 to p mThey are all arranged along the circumference of the inner wall of the coal bunker and are evenly spaced in the vertical direction. n The length of the second temperature measuring optical cable p1~p m The length of the cable matches the circumference of the coal bunker. All primary and secondary temperature measurement optical cables are connected to a distributed fiber optic temperature measurement host. A temperature measurement optical cable is a cable consisting of one or more optical fibers encased in a protective layer. The temperature detection principle of the temperature measurement cable is based on the thermal sensitivity of the optical fiber. When the optical fiber is heated, the temperature change causes a change in the refractive index, thereby altering the light transmission characteristics within the fiber. The distributed fiber optic temperature measurement host can demodulate the transmission signal of the temperature measurement cable to obtain the temperature value and the corresponding location of the temperature point. When a fire source exists inside the coal bunker, the temperature of the temperature measurement cables close to the fire source will change.

[0054] Specifically, the preliminary positioning results of the fire source inside the coal bunker are calculated, including:

[0055] S2.1. Obtain the position l of the highest temperature point on n first temperature measurement optical cables 1max ~l nmax , and calculate the vertical average value of the highest temperature point

[0056] That is to say, when there is a fire source inside the coal bunker, the temperature data of each first temperature measuring optical cable is obtained, and the highest temperature T on each first temperature measuring optical cable is recorded. max Since air leakage in the coal bunker will cause heat convection inside the coal bunker, it is necessary to perform heat convection compensation on the actual temperature data of the first temperature measuring optical cable. measured , and record the actual maximum temperature T max , for the actual temperature T measured Perform thermal convection compensation to obtain the corrected temperature T after compensation compensated :T compensated =T measured -α·(T max -T ambient ), α represents the thermal convection compensation coefficient (determined through coal spontaneous combustion experiments, stored in the intelligent mine comprehensive management and control platform in advance, and can be directly called), T ambient Indicates the ambient temperature. According to the correction temperature T compensated Record the position of the highest temperature point on the first temperature measuring optical cable. Thus, the position l of the highest temperature point on n first temperature measuring optical cables is obtained. 1max ~l nmax That is, the first temperature measuring optical cable l1 corresponds to the highest temperature point position l 1max The first temperature measuring optical cable l2 corresponds to the highest temperature point position l 2max , the first temperature measurement cable ln Corresponding to the highest temperature point position l nmax The first temperature measuring optical cable is arranged in a vertical direction. Therefore, the position difference of the highest temperature point of n first temperature measuring optical cables will not be too large. Therefore, the position of the highest temperature point can be calculated by 1max ~l nmax The initial vertical position of the fire source is obtained by taking the average value of

[0057] S2.2. Find the vertical position average value l max_avg The second temperature measuring optical cable closest to p x , and record the second temperature measuring optical cable p x The highest temperature point position p xmax ; Calculate the position of the highest temperature point p xmax and the vertical position average l max_avg The distance d1 in the vertical direction.

[0058] It should be noted that the initial vertical position l max_avg Then, find the max_avg The second temperature measuring optical cable closest to p x (The vertical height of each second temperature measuring optical cable is known), and record the second temperature measuring optical cable p x The position of the highest temperature point p xmax Then calculate the position of the highest temperature point p xmax and the vertical position average l max_avg The distance in the vertical direction d1=|l max_avg -p xmax |.

[0059] S2.3. Preliminary estimation of the fire source and the location of the highest temperature point p xmax The straight-line distance d2 between them.

[0060] Specifically include: Constructing the heat conduction equation: T represents the temperature of any point inside the coal bunker, and β represents the thermal diffusivity of the coal. Under steady-state conditions, that is, When , assuming that the temperature distribution is radially symmetric, we can obtain: Set the boundary conditions as follows: when r = d2, T = T ambient ; When r = 0, T = T source ; r represents the radial coordinate value of the coal bunker, r0 represents the radius of the coal bunker (unit: m), T source represents the temperature at the fire source. Solving the heat conduction equation according to the boundary conditions yields: Assume the temperature of the fire source is T source =T pxmax , and we get:

[0061] S2.4. Calculate the preliminary location of the fire source.

[0062] After steps S2.1-S2.3, the initial vertical position l of the fire source is obtained. max_avg , and the position p of the fire source and the highest temperature point of the second temperature measuring optical cable xmax The straight-line distance d2 between them can be used to calculate the initial horizontal position of the fire source using the Pythagorean theorem. It should be noted that the vertical position mentioned here refers to the height of the fire source relative to the bottom of the coal bunker, and the horizontal position refers to the vertical distance between the fire source and the side wall of the coal bunker.

[0063] When the coal inside the coal bunker spontaneously combusts, there may be one or more fire source points, and the preliminary positioning results of multiple fire source points can be obtained according to step S2. Moreover, since the coal is adjacent to each other, even if only one coal is burning at the beginning, as the burning time increases, the adjacent coal will inevitably be ignited, causing the position of the fire source point to drift (the fire source point can be considered the highest temperature point). Based on this, in order to improve the positioning accuracy of the fire source point, the present invention optimizes the preliminary positioning results of the fire source point based on dynamic clustering to obtain the final positioning result of the fire source point. Specifically including:

[0064] Initialize the number of fire source point samples N = 0, set the initial cluster center Z to the initial location result of the fire source point obtained in step S2 for the first input, and set the initial search radius to R. For example, the initial search radius can be set to 0.5 times the radius of the coal bin, and the search radius of the next iteration is 0.5 times the previous search radius, thereby gradually narrowing the search range. Enter the newly detected fire source point location x j , and update the number of samples N=N+1; update the cluster center Determine the positioning area, calculate the average position of the fire source points within the positioning area, and output the comprehensive positioning results.

[0065] Considering that the coal bunker is cylindrical in shape, the positioning area should be a sub-area within the cylinder. Determining the positioning area includes: setting the distance threshold to W1, the positioning area is a cylindrical area with Z as the center and a radius of W1, and the height of the cylindrical area is within the height range of the coal bunker. The radius constraint of the cylindrical area is: ||x horizontal -Z horizontal ||≤W1; the height constraint of the cylindrical area is: h min,coalbin ≤x vertiacal ≤h max,coalbin ; where x horizontal Indicates the horizontal position of the fire source, x vertical Indicates the vertical position of the fire source, Z horizontal Indicates the horizontal position of the cluster center, h min,coalbin 、h max,coalbinrespectively represent the minimum height and the maximum height of the coal bunker. The mean value of the position of the fire source point within the positioning area includes: the average horizontal position: and the mean vertical position: where k = 1, 2, …, M; M represents the number of fire source points within the positioning area; x k,horizontal 、x k,vertical respectively represent the horizontal position and the vertical position of the k-th fire source point within the positioning area, and w k represents the weight of the vertical position of the k-th fire source point. The comprehensive positioning result is: The iteration termination condition for optimizing the preliminary position of the fire source point based on dynamic clustering is: if |I E -I E，prev | < W2, then terminate the iteration; where I E represents the sum of squared errors of the current iteration, I E,prev represents the sum of squared errors of the previous iteration, and W2 represents the set threshold (used to determine whether the change in the sum of squared errors is small enough to decide whether to stop the iteration). The final positioning result is the comprehensive positioning result output last.

[0066] It should be noted that the diameter of the coal bunker is generally 6m - 12m, and the height is generally about 40m. The overall size of the coal bunker is very large. And when coal spontaneous combustion occurs, it does not necessarily produce flames, which makes it very difficult to locate the fire source point. And in the process of finding the position of the fire source point, accurately finding the vertical position of the fire source point is very crucial. Therefore, in the present invention, during dynamic clustering, the vertical position of the fire source point is weighted to more accurately reflect the distribution of the fire source point in the vertical direction. Thus, the accuracy and reliability of the fire source point positioning are improved. Using the method of dynamic clustering to optimize the positioning result can flexibly adjust the clustering center and the clustering radius to adapt to the dynamic changes of the data set.

[0067] To verify the feasibility of the dynamic clustering of the present invention for fire source point positioning, tests are carried out by building a simulation environment. The simulation environment includes: building a coal bunker model and setting specific fire source point coordinate positions inside the coal bunker. Taking the center line of the coal bunker as the ordinate (y) and the horizontal center line of the coal bunker as the abscissa (x), with the intersection of the two as the origin to establish a coordinate system. The set fire source point coordinate positions can be reflected in the coordinate system. Using the simulation software to model the coal spontaneous combustion scenario, generating simulation data, and obtaining the positioning results of the fire source point changing with time. The positioning area changes dynamically with the input of the fire source point position.

[0068] For example, when the input sample is 100 positioning results, the comprehensive positioning result of the fire source point obtained is as Figure 3As shown in the figure, the coordinates of the cluster centers are (-5.28, 0.47), (4.12, 4.05), and (5.25, 0.14), while the measured coordinates are (-5.15, 0.86), (4.08, 4.32), and (5.32, 0.28). Observation shows that the positioning results dynamically input over time all appear near the actual fire source, and the positioning area effectively excludes scattered sample points and accurately selects the area with the highest sample density.

[0069] Evaluating the positioning effect is a crucial step, and positioning accuracy is usually used to measure the positioning effect. In this embodiment, mean square error (MSE) and root mean square error (RMSE) are used as the basis for measuring data measurement errors. Specifically, if the measured position coordinates of the tag are set to (x, y), and the position coordinates estimated by the positioning algorithm are set to but:

[0070]

[0071] E represents the average operation. By comparing the positioning method with the 10 measured temperature anomaly points, the positioning performance evaluation results are obtained as follows: Figure 4 、 5 As shown in Table 1, the simulation results show that the maximum error among all positioning points is 0.30m, which may be affected by certain abnormal factors. The minimum error is 0.023m, indicating that positioning accuracy is very high at certain points. The average error is 0.14m, reflecting the average level of overall positioning performance. The mean square error is 0.0076, indicating that the error dispersion is small, with most errors concentrated near the mean. The root mean square error is 0.085000193m, which provides another measure of error size and indicates the overall stability of positioning performance. Overall, these simulation results show that positioning performance is good in most cases.

[0072] Table 1

[0073]

[0074] The positioning results of the present invention can also work in conjunction with other subsystems such as the fire extinguishing system, ventilation system, and monitoring system. After discovering a hidden fire source in the coal bunker, the linkage between multiple systems can quickly respond and coordinate work to minimize the losses caused by the fire.

[0075] In summary, the present invention's method for locating hidden fire sources within coal bunkers first finds the initial location of the fire source within the coal bunker, then optimizes this initial location through dynamic clustering to obtain the final location of the fire source. This method significantly improves the accuracy and reliability of fire source location. This method not only provides new insights into fire monitoring and fire source location, but also provides guidance for fire prevention and control.

[0076] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical spirit of this invention. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A method for locating hidden fire sources inside a coal bunker, characterized in that: include: Step S1: Arrange n first temperature measuring optical cables l1 to l2 in the vertical direction inside the coal bunker. n And m second temperature measuring optical cables p1 to p2 are arranged along the horizontal circumferential direction. m The first temperature measuring optical cable arranged along the vertical center line of the coal bunker is marked as l1, the first temperature measuring optical cable l2~l n The second temperature measuring optical cables p1 to p m They are all arranged along the circumference of the inner wall of the coal bunker and are evenly spaced in the vertical direction; Step S2: obtaining a preliminary positioning result of the fire source inside the coal bunker; S2.

1. Obtain the position l of the highest temperature point on n first temperature measurement optical cables 1max ~l nmax , and calculate the vertical average value of the highest temperature point S2.2, find the vertical position average value l max_avg The second temperature measuring optical cable closest to p x , and record the second temperature measuring optical cable p x The highest temperature point position p xmax ; Calculate the highest temperature point position p xmax and the vertical position average l max_avg The distance d1 in the vertical direction; S2.

3. Preliminary estimation of the fire source and the position of the highest temperature point p xmax The straight-line distance d2 between them; S2.

4. Calculate the preliminary location of the fire source; Among them, the position l of the highest temperature point on the n first temperature measurement optical cables is obtained 1max ~l nmax ,include: Get the actual temperature T in the coal bunker measured by the first temperature measuring optical cable in real time measured , and record the actual maximum temperature T max ; For actual temperature T measured Perform thermal convection compensation to obtain the corrected temperature T after compensation compensated : T compensated =T measured -α·(T max -T ambient ), α represents the thermal convection compensation coefficient, T ambient Indicates the ambient temperature; According to the corrected temperature T compensated Record the position of the highest temperature point on the first temperature measuring optical cable; The preliminary estimation process of the straight-line distance d2 includes: Construct the heat conduction equation: T represents the temperature of any point inside the coal bunker, and β represents the thermal diffusivity of coal; Under steady-state conditions, When , assuming that the temperature distribution is radially symmetric, we can obtain: Set the boundary conditions as follows: when r = d2, T = T ambient ; When r = 0, T = T source ; r represents the radial coordinate value of the coal bunker, r0 represents the radius of the coal bunker, T source represents the temperature of the fire source; solving the heat conduction equation according to the boundary conditions yields: Set the temperature of the fire source The solution is: The initial location of the fire source includes: vertical position l max_avg , the horizontal position is Step S3: Optimize the preliminary positioning result of the fire source point based on dynamic clustering to obtain the final positioning result of the fire source point.

2. The method for locating hidden fire sources inside a coal bunker according to claim 1, characterized in that: Optimize the preliminary location results of the fire source based on dynamic clustering, including: Initialize the number of samples of fire source points N=0, set the initial cluster center Z to the preliminary positioning result of the fire source point obtained in step S2 input for the first time, and set the initial search radius to R; Enter the newly detected fire source location x j , and update the number of samples N=N+1; update the cluster center Determine the positioning area, calculate the average position of the fire source points within the positioning area, and output the comprehensive positioning results.

3. The method for locating hidden fire sources inside a coal bunker according to claim 2, characterized in that: Determining the positioning area includes: setting the distance threshold to W1, the positioning area to a cylindrical area with Z as the center and a radius of W1, and the height of the cylindrical area is within the height range of the coal bin; that is, The radius constraint of the cylindrical region is: ||x horizontal -Z horizontal ||≤W1; The height constraint of the cylindrical area is: h min,coalbin ≤x vertiacal ≤h max,coalbin ; x horizontal Indicates the horizontal position of the fire source, x vertical Indicates the vertical position of the fire source, Z horizontal Indicates the horizontal position of the cluster center, h min,coalbin 、h max,coalbin They represent the minimum height and maximum height of the coal bunker respectively.

4. The method for locating a hidden fire source inside a coal bunker according to claim 3, characterized in that: The mean values ​​of the fire source positions within the positioning area include: Horizontal position average: Vertical position mean: Where k = 1, 2, ..., M; M represents the number of fire sources in the positioning area; x k,horizontal 、x k,vertical Respectively represent the horizontal position and vertical position of the kth fire source point in the positioning area, w k represents the weight of the vertical position of the kth fire source; The comprehensive positioning results are:

5. The method for locating hidden fire sources inside a coal bunker according to claim 2, characterized in that: The iterative termination condition for optimizing the preliminary location of the fire source based on dynamic clustering is: If |I E -I E，prev | < W2, then terminate the iteration; in, I E Represents the sum of squared errors of the current iteration, I E,prev It represents the sum of squared errors in the previous iteration, and W2 represents the set threshold.

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