Lithium battery fire early-stage disposal method and device

Abstract

The invention relates to a lithium battery fire early-stage disposal method and device, and relates to the technical field of fire safety, and the method comprises the steps: obtaining the trigger information of a preset disposal device; fire coordinates and output coordinates of the cement mortar spraying pipe are obtained according to the triggering information; according to the firing coordinates and the output coordinates, determining an injection vector and prompting, and obtaining ultrasonic detection information of cement mortar in the cement mortar storage tank; determining a cement mortar density value according to the ultrasonic detection information; the product of the output end volume of the preset cement mortar spraying pipe and the cement mortar density value is calculated and serves as the output end cement stock; determining the blowing power according to the injection vector and the cement stock at the output end; and according to the air blowing power, controlling an air blowing device preset on the treatment device to blow air to the ground so as to assist in lifting the cement mortar spraying pipe and controlling the treatment device to spray cement mortar. The lithium battery fire emergency treatment device has the effect of conveniently performing emergency treatment on the lithium battery fire.

Description

Technical Field

[0001] The present invention relates to the technical field of fire safety, and in particular to a method and a device for early disposal of lithium battery fire. Background Art

[0002] Lithium batteries have the advantages of high energy density, long life, light weight, and no memory effect. They are widely used in many fields such as lithium battery energy storage systems or electric vehicles.

[0003] When a high battery thermal runaway fire occurs in a lithium battery energy storage system or electric vehicle, quickly move away from the lithium battery energy storage system or electric vehicle, immediately cut off the power to the lithium battery energy storage system or electric vehicle, and notify the firefighters of the corresponding lithium battery energy storage system or electric vehicle. When the firefighters arrive, they will perform professional operations to extinguish the fire in the lithium battery energy storage system or electric vehicle.

[0004] When a battery thermal runaway fire occurs in a lithium battery energy storage system or an electric vehicle, ordinary fire extinguishers are not very effective in extinguishing the battery thermal runaway fire. Moreover, after the battery thermal runaway occurs, there is a risk of explosion that is difficult to deal with at any time, making it difficult to carry out emergency treatment of the battery thermal runaway fire in the lithium battery energy storage system or electric vehicle. There is still room for improvement. Summary of the invention

[0005] In order to facilitate emergency treatment of lithium battery fires, the present invention provides a lithium battery fire early treatment method and device.

[0006] In the first aspect, the present invention provides a method for early disposal of lithium battery fire, which adopts the following technical solution: A method for early disposal of lithium battery fire, comprising: Obtaining trigger information of a preset treatment device; Acquire the fire coordinates and the output coordinates of the cement mortar nozzle according to the trigger information; Determine the injection vector and give a prompt according to the ignition coordinates and the output coordinates, and obtain the ultrasonic detection information of the cement mortar in the cement mortar storage tank; Determine the density value of cement mortar based on ultrasonic testing information; Calculate the product of the output end volume of the preset cement mortar nozzle and the cement mortar density value and use it as the output end cement inventory; The blowing power is determined according to the injection vector and the cement stock at the output end; According to the blowing power, the blowing device preset on the disposal device is controlled to blow air to the ground to assist in lifting the cement mortar nozzle and control the disposal device to spray cement mortar.

[0007] By adopting the above technical solution, the blowing device is controlled by blowing power to assist in lifting the cement mortar nozzle to extinguish the fire coordinates, so that the operator can conveniently control the disposal device to extinguish the fire, and then quickly carry out emergency treatment of lithium battery fires.

[0008] Optionally, when obtaining ultrasonic detection information of cement mortar in a cement mortar storage tank, a method for controlling the cement mortar includes: When the ultrasonic detection information is consistent with the preset reference detection information, the ultrasonic detection information of the cement mortar in the cement mortar storage tank continues to be obtained, and the preset stirring device is not controlled to start; When the ultrasonic test information is inconsistent with the reference test information, the cement stratification degree and the cement mortar height value are determined according to the ultrasonic test information; Obtain the weight test value of cement mortar in the cement mortar storage tank; Determine the mixing power based on the weight test value and the cement mortar height value; Control the stirring device to stir up and down reciprocatingly according to the stirring power and obtain the stirring position of the stirring device; Determine the adjustment factor based on the stirring position; The stirring power at different stirring positions is corrected according to the adjustment coefficient and the stirring device is controlled to stir to ensure that the ultrasonic detection information is consistent with the reference detection information. When the ultrasonic detection information is consistent with the reference detection information, the stirring is stopped.

[0009] By adopting the above technical scheme, the cement mortar in the cement mortar storage tank is analyzed through ultrasonic detection information, and the stirring device is controlled to stir the layered cement mortar, so that the density of the cement mortar can be kept unchanged, thereby reducing the density change of the cement mortar and the effect of the cement mortar on extinguishing lithium battery fires.

[0010] Optional methods for verifying the blowing power include: Get the lifting vector and manual pressing value of the control wrench; Determine the spray angle according to the manual pressing value, the spray vector and the lifting vector; When the spray angle is consistent with the preset protection angle, the blowing power continues to be output to the blowing device; When the spray angle is inconsistent with the preset protection angle, the difference between the spray angle and the protection angle is calculated and used as the vector angle deviation value; The protection shield is controlled to adjust according to the vector angle deviation value, and the injection distance value is determined according to the ignition coordinates and the output coordinates; Determine the estimated splash volume based on the spray distance value and cement mortar density value; The blowing power is corrected according to the estimated splashing amount, and the corrected blowing power is output to the blowing device.

[0011] By adopting the above technical solution, the angle of the protective shield is controlled so that the protective shield remains vertical to the ground, and the blowing power of the blowing device is corrected by estimating the amount of splashing, so that the protective shield can continue to provide protection without changing its angle and the wind path formed by the blowing device can also protect the operator.

[0012] Optionally, the method for verifying the blowing power also includes: Obtain image detection information of fire coordinates; Determine smoke density based on image detection information and preset smoke features; When the smoke concentration exceeds the preset baseline smoke concentration, the preset control device is switched to control the disposal device to extinguish the fire; Obtain heat detection information of the fire coordinates; Determine the automatic pressing value of the control wrench according to the heat detection information; Determine an angle adjustment value according to the automatic pressing value, and determine the blowing adjustment power according to the angle adjustment value; When the blowing adjustment power does not exceed the corrected blowing power, the corrected blowing power continues to be output; When the blowing adjustment power exceeds the corrected blowing power, the blowing adjustment power is output to the blowing device.

[0013] By adopting the above technical solution, when the smoke concentration exceeds the baseline smoke concentration, the control device is switched to control the disposal device to extinguish the fire, and the blowing device is adjusted by adjusting the pressure of different control wrenches, so that the blowing power of the blowing device can be controlled more accurately.

[0014] Optionally, a method for early disposal of lithium battery fire also includes: Obtain the weight detection value of cement mortar in the cement mortar storage tank, the storage tank coordinates of the cement mortar storage tank, the replenishment vehicle coordinates of the feeding device, and the wind direction parameters corresponding to the storage tank coordinates; When the weight detection value is less than the preset reference weight value, a preset prompt message is output and the combustion range is determined based on the image detection information; Determine the estimated weight value based on the combustion range; When the weight detection value is less than the estimated weight value, the delivery angle is determined according to the wind direction parameters, the storage tank coordinates and the replenishment vehicle coordinates; When the storage tank coordinates do not fall within the delivery range of the preset replenishment vehicle coordinates, the moving path is determined according to the storage tank coordinates, the replenishment vehicle coordinates and the delivery range and output to the replenishment device for movement; When the storage tank coordinates fall within the delivery range of the preset replenishment vehicle coordinates, the delivery angle and the preset reference power are used as replenishment control parameters and output to the replenishment device.

[0015] By adopting the above technical scheme, when the weight of cement mortar in the cement mortar storage tank is less than the estimated weight value, the feeding device is controlled to feed the cement mortar storage tank, and the parameters of the feeding device for spraying and feeding are adjusted according to the wind direction parameters, thereby reducing the probability of the feeding device splashing or failing to spray into the cement mortar storage tank during feeding.

[0016] Optionally, the calibration method of the feed control parameters includes: Determine whether the delivery range of the replenishment vehicle coordinates includes all storage tank coordinates; When the delivery range of the replenishment vehicle coordinates includes all the storage tank coordinates, the delivery angle and the reference power are continued to be used as the replenishment control parameters and output to the replenishment device; When the delivery range of the replenishment vehicle coordinates does not include all the storage tank coordinates, the replenishment quantity and the estimated coordinates corresponding to the replenishment quantity are determined based on the coordinates of all the storage tanks and the delivery range; When the replenishment quantity is one, the replenishment vehicle coordinates are updated according to the estimated coordinates and the delivery range, and the replenishment device is controlled to move to the updated replenishment vehicle coordinates; Update the delivery angle according to the updated coordinates of the replenishment vehicle and the storage tank; Determine the delivery power of the corresponding storage tank coordinates according to the heat detection information; The feeding control parameters are updated according to the updated delivery angle and delivery power, and the updated feeding control parameters are output to the feeding device for feeding.

[0017] By adopting the above technical solution, when there are multiple disposal devices in use, the updated replenishment vehicle coordinates of the replenishment device are calculated, and the replenishment control parameters are re-determined based on the updated replenishment vehicle coordinates to replenish the disposal device, so that all the disposal devices can be replenished, and then the disposal devices can continue to be controlled to extinguish the fire.

[0018] Optionally, when the replenishment quantity is greater than one, the method for moving the replenishment device includes: Determine the intersection range based on the estimated coordinates and delivery range; According to the intersection range and the supplementary vehicle coordinates, the nearest intersection range is selected as the selected range; Determine the coordinates of the stop point according to the selected range and the coordinates of the supplementary vehicle, and update the estimated coordinates corresponding to the stop point coordinates as the processing coordinates; The intersection range is updated according to the updated estimated coordinates and the delivery range, and the new stop point coordinates are determined according to the updated intersection range until all the estimated coordinates are used as processing coordinates, and the order of the coordinates of each stop point is used as a supplementary path; The coordinates of each stop point are updated to the coordinates of the replenishing vehicle according to the replenishing path, and the replenishing device is controlled to move to the updated coordinates of the replenishing vehicle along the replenishing path.

[0019] By adopting the above-mentioned technical solution, when there are multiple intersection ranges, the coordinates of multiple stop points are detected as the coordinates of the replenishing vehicle of the replenishing device, and a replenishing path is formed to control the replenishing device to move and replenish. This enables the replenishing device to move the shortest distance when replenishing multiple handling devices, thereby improving the replenishment efficiency of the replenishing device for the handling device.

[0020] Optionally, when the feeding device moves, the method for verifying the feeding control parameters includes: Update the injection distance value according to the combustion range; Update the output coordinates according to the updated injection distance value and the ignition coordinates; Determine the distance deviation value and the moving direction based on the two output coordinates before and after the update; Get the movement time corresponding to the two output coordinates before and after the update; Determine the moving speed according to the distance deviation value and the moving time, and use the moving speed and moving direction as moving parameters; When the updated spraying distance value exceeds the preset reference extension distance of the cement mortar spraying pipe, the storage tank coordinates are updated according to the updated output coordinates; When the updated storage tank coordinates do not fall within the delivery range, the feeding device is controlled to move according to the movement parameters; The feeding control parameters are updated according to the movement parameters and the wind direction parameters, and the updated feeding control parameters are output to the feeding device for feeding.

[0021] By adopting the above technical scheme, when the combustion range of the ignition coordinates changes and the storage tank coordinates need to move accordingly, the charging device and the disposal device are controlled to move synchronously, and the charging control parameters are corrected and output according to the movement parameters and wind direction parameters, thereby reducing the probability of injection deviation when the charging device is moving to feed the disposal device.

[0022] Optionally, obtaining an image of the surrounding environment of the feeding device; Identify obstacles from the surrounding environment image and mark them according to the preset obstacle type; Determine the obstacle coordinates based on the marked obstacle and a preset calibration coordinate set in the surrounding environment image; Determine the delivery direction according to the updated delivery angle, and determine whether the obstacle coordinates fall within the delivery direction; If it falls into the obstacle, the shape of the obstacle is determined based on the surrounding environment image; Determine the release height value based on the shape of the obstacle; Calculate the distance between the obstacle coordinates and the storage tank coordinates as the falling distance; Determine the delivery parameters based on the falling distance and delivery height values; When the delivery parameter does not exceed the preset reference parameter, the delivery parameter is used as a new feeding control parameter and output to the feeding device; When the delivery parameters exceed the preset reference parameters, the delivery lines are determined according to the estimated coordinates and the intersection range and arranged in reverse order, and the estimated coordinates of the delivery direction corresponding to the obstacle coordinates are defined as the blocking coordinates; Determine the occlusion range based on the shape of the obstacle; According to the blocking range, the unblocked and shortest delivery straight line is selected from each delivery straight line arranged in reverse order, and the coordinates of the stop point corresponding to the blocking coordinates are re-determined according to the selected delivery straight line; The replenishment path is updated according to the re-determined coordinates of the stop point and output to the replenishment device; If it does not fall into the area, the unaffected area is determined based on the release direction and wind direction parameters; When the coordinates of the obstacle fall into the unaffected area, the unobstructed area is determined according to the obstacle shape and the updated material replenishment control parameters; The wind direction parameter is updated according to the unblocked area, and the feeding adjustment parameter is determined according to the updated wind direction parameter and the updated feeding control parameter; The feeding adjustment parameters are used as new feeding control parameters and output to the feeding device for feeding.

[0023] By adopting the above technical solution, when the feeding device feeds the handling device of the estimated coordinates, if the feeding device is blocked by an obstacle, the feeding control parameters or the replenishment path are updated through the delivery parameters and the occlusion range; if the obstacle does not block the feeding device, the feeding control parameters are updated and output through the obstacle coordinates and the unaffected area, thereby reducing the situation where the obstacle causes the feeding position to be offset or the feeding cannot be replenished.

[0024] In a second aspect, the present application provides a lithium battery fire early disposal device, which is applied to a lithium battery fire early disposal method as in the first aspect, and is characterized in that: it comprises a cement mortar storage tank for storing cement mortar, a cement mortar nozzle for spraying cement mortar, a high-pressure gear pump and a mobile cart for conveying cement mortar in the cement mortar storage tank to the cement mortar nozzle, and the mobile cart is used to place the cement mortar storage tank and the high-pressure gear pump and drive the cement mortar storage tank and the high-pressure gear pump to move; A control wrench for controlling the output of cement mortar is connected between the cement mortar nozzle and the high-pressure gear pump, a nozzle hose for conveniently adjusting the spraying direction of the cement mortar nozzle is arranged between the high-pressure gear pump and the control wrench, and a protective shield for protecting the cement mortar storage tank is provided at one end of the cement mortar nozzle close to the control wrench.

[0025] By adopting the above technical solution, the disposal device is moved to a position where fire can be extinguished by a cart, and the cement mortar in the cement mortar storage tank is sprayed out by a high-pressure gear pump and a control wrench. The spraying direction of the cement mortar is then controlled by a cement mortar nozzle and a nozzle hose, and a protective shield is used to protect the disposal device and the operator, thereby making it convenient for the staff to use the disposal device for emergency treatment of lithium battery fires.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. The blowing power controls the blowing device to assist in lifting the cement mortar nozzle to extinguish the fire coordinates, so that the operator can conveniently control the disposal device to extinguish the fire, and then facilitate emergency treatment of lithium battery fires; 2. The angle of the protective shield is controlled so that the protective shield remains vertical to the ground, and the blowing power of the blowing device is corrected by estimating the splashing amount, so that the protective shield can continue to provide protection without changing its angle and the wind path formed by the blowing device can also protect the operator; 3. When there are multiple disposal devices in use, the updated replenishment vehicle coordinates of the replenishment device are calculated, and the replenishment control parameters are re-determined based on the updated replenishment vehicle coordinates to replenish the disposal device, so that all the disposal devices can be replenished, and then the disposal devices can continue to be controlled to extinguish the fire. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a lithium battery fire early disposal device according to an embodiment of the present invention; Figure 2 The present invention is a flowchart of a method for early disposal of a lithium battery fire according to an embodiment of the present invention.

[0028] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Cement mortar storage tank; 2. Trolley; 3. High-pressure gear pump; 4. Nozzle hose; 5. Control wrench; 6. Cement mortar nozzle; 7. Protective shield; 8. Blowing device; 9. Anti-slip texture; 10. Telescopic rod; 11. Mixing blades; 12. Angle control device. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1 to Figure 2 The present invention is further described in detail with examples.

[0030] Reference Figure 1 The present application embodiment discloses an early disposal device for lithium battery fire, including a disposal device, which includes a cement mortar storage tank 1, a cart 2, a high-pressure gear pump 3 and a cement mortar nozzle 6. The cart 2 includes a placement platform for placing the cement mortar storage tank 1 and the high-pressure gear pump 3 and a handle for manual pushing. The handle is integrally arranged at one end of the placement platform along the length direction to facilitate pushing the placement platform to move, and the handle and the placement platform are perpendicular to each other. The cart 2 can be manually or automatically driven. In this embodiment, a control device is installed on the cart 2, and when the control device is started, the cart 2 can move automatically. The cement mortar storage tank 1 is used to store cement mortar and is installed on the cart 2. An anti-skid pattern 9 for anti-skid is pre-arranged between the placement platform and the cement mortar storage tank 1, thereby improving the stability of the cement mortar storage tank 1. The high-pressure gear pump 3 is installed on the cart 2 and is located on the side of the cement mortar storage tank 1 away from the handle. The high-pressure gear pump 3 is connected to the cement mortar storage tank 1 to output the cement mortar in the cement mortar storage tank 1. In this embodiment, the high-pressure gear pump 3 is a DC battery-powered liquid pump, whose flow rate is greater than 100 L / min and whose outlet pressure is greater than 45 MPa.

[0031] The inner bottom of the cement mortar storage tank 1 is provided with a stirring device for stirring the cement mortar in the cement mortar storage tank 1. The stirring device includes a stirring blade 11 for stirring the cement mortar in the cement mortar storage tank 1 and a telescopic rod 10 for controlling the stirring blade 11 to move up and down. The telescopic rod 10 is installed at the inner bottom of the cement mortar storage tank 1, and the stirring blade 11 is installed at one end of the telescopic rod 10 away from the inner bottom of the cement mortar storage tank 1. In this embodiment, the cement mortar storage tank 1 is made of a seamless steel pipe, and water and liquid cement mortar are poured inside, wherein the mass ratio of cement particles, sand, and water is 1:1.2:3, wherein the sand particle size is 10-300 mesh.

[0032] A guide port is pre-opened on one side of the high-pressure gear pump 3 near the cement mortar storage tank 1 for guiding the flow of cement mortar in the cement mortar storage tank 1, and a cement mortar output port is pre-opened on the bottom of the side wall of the cement mortar storage tank 1 near the guide port for outputting the cement mortar in the cement mortar storage tank 1. The guide port and the cement mortar output port are conveniently connected to the pipeline, thereby facilitating the high-pressure gear pump 3 to transport the cement mortar in the cement mortar storage tank 1.

[0033] The cement mortar nozzle 6 is used to control the direction of cement mortar spraying. The cement mortar nozzle 6 includes a connection end and an output end for spraying cement mortar. A delivery pipeline connected to the cement mortar nozzle 6 is pre-set on the side of the high-pressure gear pump 3 away from the ground. A nozzle hose 4 is connected to the delivery pipeline. The nozzle hose 4 is connected to the connection end at one end away from the delivery pipeline. The nozzle hose 4 facilitates the adjustment of the spraying direction of the cement mortar nozzle 6, thereby improving the flexibility of the cement mortar nozzle 6 in spraying cement mortar. A blowing device 8 is provided on the side of the output end close to the ground. The blowing device 8 includes a driving motor and a fan. The driving motor drives the fan to rotate to blow air to the ground.

[0034] The control wrench 5 is located between the connecting end and the nozzle hose 4. The control wrench 5 includes a control pipe, a grip for the operator to grip, and a button for adjusting the output amount corresponding to the output cement mortar. The water inlet of the control pipe is connected to the connecting end, and the water outlet of the control pipe is connected to the end of the nozzle hose 4 away from the delivery pipe. The grip is located on the side of the control pipe close to the ground, and the button is located on the control pipe and close to the grip.

[0035] A protective shield 7 for protecting the cement mortar storage tank 1 is sleeved on one side of the cement mortar nozzle 6 near the connection end, and an angle control device 12 for controlling the rotation of the protective shield 7 is provided on the cement mortar nozzle 6, so that the angle of the protective shield 7 can be adjusted to make the protective shield 7 always perpendicular to the ground when the cement mortar nozzle 6 is in different directions. In this embodiment, the angle control device 12 is an angle microcontroller.

[0036] Reference Figure 2 Based on the same inventive concept, an embodiment of the present invention provides a method for early disposal of lithium battery fire, comprising: Step S100: Acquire trigger information of a preset treatment device.

[0037] The trigger information refers to the information for starting the control treatment device, and the trigger information includes manual triggering or mechanical triggering. When the trigger information is manual triggering, the information sent by the micro switch preset on the control wrench 5 when manually pressed is used as the trigger information corresponding to the manual triggering. When the trigger information is mechanical triggering, it is output to the control wrench 5 through the preset control device for automatic adjustment. The control device refers to a mechanical arm provided on the cart 2 and used to lift the cement mortar nozzle 6.

[0038] Step S101: Acquire the fire coordinates and the output coordinates of the cement mortar nozzle 6 according to the trigger information.

[0039] The fire coordinates refer to the coordinates of a storage system or electric vehicle equipped with a lithium battery when a fire occurs. The distance to the straight line corresponding to the fire is detected by an infrared sensor preset on the disposal device, and the coordinates detected by the GPS preset on the cement mortar nozzle 6 are used as the output coordinates. The distance to the straight line corresponding to the output coordinates is then calculated to obtain the fire coordinates.

[0040] Step S102: Determine the injection vector according to the ignition coordinates and the output coordinates and give a prompt, and obtain ultrasonic detection information of the cement mortar in the cement mortar storage tank 1.

[0041] The injection vector refers to the vertical distance between the cement mortar nozzle 6 and the ground. The injection vector is matched from the preset injection database by calculating the distance of the straight line between the ignition coordinate and the output coordinate, and the distance of the straight line. Ultrasonic detection information refers to ultrasonic information for detecting the density and height of cement mortar. The parameters obtained by detecting the ultrasonic sensor preset in the cement mortar storage tank 1 are used as ultrasonic detection information. The injection database stores the height vector of the injection corresponding to the distance between the cement mortar nozzle 6 and different horizontal straight lines of the ignition coordinate, and stores the corresponding relationship between the force value of the different control wrenches 5 pressed, the heat of the ignition coordinate, the injection amount of cement mortar, and the coefficient for correcting the angle of the cement mortar nozzle 6. The injection database is set manually and will not be elaborated here.

[0042] Step S103: Determine the density value of cement mortar according to the ultrasonic detection information.

[0043] The cement mortar density value refers to the density value of the cement mortar in the cement mortar storage tank 1, and the cement mortar density value is matched from the preset cement database through ultrasonic detection information. The cement database stores the degree of cement stratification and cement mortar density value corresponding to different ultrasonic detection information, and stores the estimated splash volume of cement mortar and the coefficient of corrected blowing power corresponding to different injection distance values. The cement database is set manually and will not be described in detail here.

[0044] Step S104: Calculate the product of the output end volume of the preset cement mortar nozzle 6 and the cement mortar density value and use it as the output end cement inventory.

[0045] The output end volume refers to the volume of the cement mortar nozzle 6, and the operator pre-queries the volume parameters corresponding to the specifications of the cement mortar nozzle 6 to form the output end volume. The output end cement stock refers to the weight stored in the cement mortar nozzle 6, and the product of the output end volume and the cement mortar density value is calculated and used as the output end cement stock.

[0046] Step S105: Determine the blowing power according to the injection vector and the cement inventory at the output end.

[0047] Blowing power refers to the power of the blowing corresponding to the blowing device 8, and the blowing power is matched from the preset blowing database through the injection vector and the output end cement stock. The blowing database stores the blowing powers corresponding to different injection vectors and the output end cement stock. The blowing database is set manually and will not be described in detail here.

[0048] Step S106: According to the blowing power, the blowing device 8 preset on the disposal device is controlled to blow air to the ground to assist in lifting the cement mortar nozzle 6 and control the disposal device to spray cement mortar.

[0049] By controlling the blowing power, the blowing device 8 blows air to the ground to assist in lifting the cement mortar nozzle 6 and control the disposal device to spray cement mortar, thereby making it easier for operators to control the cement mortar nozzle 6 for spraying, and further facilitating emergency fire extinguishing of lithium battery fires.

[0050] When obtaining ultrasonic detection information of cement mortar in the cement mortar storage tank 1, the control method for the cement mortar includes: Step S200: When the ultrasonic detection information is consistent with the preset reference detection information, the ultrasonic detection information of the cement mortar in the cement mortar storage tank 1 is continued to be obtained, and the preset stirring device is not controlled to start.

[0051] The reference detection information refers to the ultrasonic detection information when the density of cement mortar is normal, which is formed by recording and storing the ultrasonic detection information after the operator detects the density of normal cement mortar in advance. When the ultrasonic detection information does not exceed the reference detection information, it means that the cement mortar in the cement mortar storage tank 1 is stratified, and the ultrasonic detection information of the cement mortar in the cement mortar storage tank 1 continues to be obtained, and the preset stirring device is not controlled to start. The stirring device refers to a device for stirring the cement mortar in the cement mortar storage tank 1.

[0052] Step S201: When the ultrasonic detection information is inconsistent with the reference detection information, the cement stratification degree and the cement mortar height value are determined according to the ultrasonic detection information.

[0053] The cement mortar height value refers to the height of the cement mortar in the cement mortar storage tank 1 detected by ultrasonic detection information, and the height parameter of the cement mortar is retrieved from the ultrasonic detection information as the cement mortar height value. The cement stratification degree refers to the change in the density of the cement mortar, and the cement stratification degree is matched from the cement database through ultrasonic detection information.

[0054] Step S202: Obtain the weight detection value of the cement mortar in the cement mortar storage tank 1.

[0055] The weight detection value refers to the weight of the cement mortar in the cement mortar storage tank 1, and the parameter obtained by detecting the pressure sensor preset on the cement mortar storage tank 1 is used as the weight detection value.

[0056] Step S203: Determine the stirring power according to the weight detection value and the cement mortar height value.

[0057] The stirring power refers to the power of the stirring device stirring the cement mortar in the cement mortar storage tank 1. The stirring power is matched from a preset stirring database through the weight detection value and the cement mortar height value. The stirring database stores the power of the stirring device corresponding to different weights and heights of the cement mortar.

[0058] Step S204: controlling the stirring device to stir up and down reciprocatingly according to the stirring power and obtaining the stirring position of the stirring device.

[0059] The stirring position refers to the real-time position of the stirring blade 11 of the stirring device. The stirring position of the stirring blade 11 corresponding to the parameters detected by the linear potentiometer preset in the telescopic rod 10 is controlled. When the stirring power is output, the stirring device is controlled to stir reciprocatingly up and down, so that the cement mortar in the cement mortar storage tank 1 can be evenly stirred.

[0060] Step S205: determining an adjustment coefficient according to the stirring position.

[0061] The adjustment coefficient refers to the coefficient corresponding to the power of the mixing device, and the adjustment coefficient is matched from the preset mixing database according to the mixing position. The mixing database stores the adjustment coefficients of cement mortar corresponding to different mixing positions.

[0062] Step S206: correcting the stirring power at different stirring positions according to the adjustment coefficient and controlling the stirring device to stir, so as to ensure that the ultrasonic detection information is consistent with the reference detection information. When the ultrasonic detection information is consistent with the reference detection information, the stirring is stopped.

[0063] By calculating the product of different adjustment coefficients and the stirring power and correcting the stirring power, and the stirring device outputs the corresponding corrected stirring power at different stirring positions, the ultrasonic detection information can be made consistent with the benchmark detection information. When the ultrasonic detection information is consistent with the benchmark detection information, it indicates that the density of the cement mortar in the cement mortar storage tank 1 is normal, and the stirring device is stopped for stirring.

[0064] Furthermore, the cleaning method of the cement mortar storage tank 1 includes: Step S210: After the cement mortar in the cement mortar storage tank 1 is completely transported, the tank weight value of the cement mortar storage tank 1 is obtained.

[0065] The tank weight value refers to the weight value of the tank after the cement mortar in the cement mortar storage tank 1 is completely transported. The parameters corresponding to the weight of the cement mortar storage tank 1 are weighed by a pressure sensor preset on the cart as the tank weight value.

[0066] Step S211: when the tank weight value is inconsistent with the preset reference tank weight value, the solidification parameters and the scraping position are determined according to the ultrasonic detection information and the preset reference solidification density, and the preset scraping device is controlled to perform vertical reciprocating scraping at the scraping position.

[0067] The scraping device refers to a scraper used to scrape the cement mortar on the inner wall of the cement mortar storage tank 1. The reference solidification density refers to the minimum density corresponding to the cement mortar that is not easy to be scraped by the scraping device, which is formed by being pre-set and stored by the operator. The scraping position refers to the position where the scraping device can scrape the cement mortar on the inner wall of the cement mortar storage tank 1, and the position of the inner wall corresponding to the density less than the reference solidification density is retrieved from the ultrasonic detection information as the scraping position. The solidification parameters refer to the parameters such as the position and shape corresponding to the solidified and difficult-to-scrape cement mortar on the side wall of the cement mortar storage tank 1, and the position and shape parameters corresponding to the density of the solidified cement mortar retrieved from the ultrasonic detection information are combined to form the solidification parameters.

[0068] Step S212: determining the corresponding coagulation distance according to the coagulation position.

[0069] The solidification distance refers to the distance between the solidification position and the inner bottom of the cement mortar storage tank 1. The feedback distance corresponding to the solidification position is retrieved from the ultrasonic detection information, and then the difference between the preset internal height of the cement mortar storage tank 1 and the feedback distance is calculated and used as the vertical distance of the side wall. When the ultrasonic detection information is detected from the opening of the cement mortar storage tank 1, the feedback distance is used as the solidification distance. When the ultrasonic detection information is detected from the inner bottom of the cement mortar storage tank 1, the vertical distance is used as the solidification distance.

[0070] Step S213: Acquire the side wall image corresponding to the coagulation position.

[0071] The side wall image refers to an image of the vertical side wall corresponding to the solidification position taken from the opening of the cement mortar storage tank 1, and is obtained by taking pictures through a micro camera preset on the scraping device.

[0072] Step S214: determining the solidification length according to the side wall image and the preset cement mortar characteristics, arranging the solidification lengths in positive order and selecting the solidification position corresponding to the largest solidification length as the immersion position.

[0073] The cement mortar feature refers to the color feature of the cement mortar when it is solidified or not solidified, which is set and stored by the operator in advance. The solidification length refers to the maximum distance corresponding to the verticality of the cement mortar and the side wall of the cement mortar storage tank 1 when the cement mortar solidifies. The shape corresponding to the cement mortar feature is selected from the side wall image, and the maximum distance of the corresponding shape away from the side wall of the cement mortar storage tank 1 is used as the solidification length. The immersion position refers to the solidification position corresponding to the maximum solidification length arranged from large to small.

[0074] Step S215: Determine the amount of cleaning water and the soaking time according to the coagulation length.

[0075] The amount of cleaning water refers to the amount of water required to soak the solidified cement mortar when cleaning it, and the soaking time refers to the soaking time required for cleaning the cement mortar corresponding to the solidification length. The cleaning water amount and soaking time are matched from the preset cleaning database according to the solidification length. The cleaning database stores the cleaning water amount and soaking time corresponding to different solidification lengths, and stores the inclination angles corresponding to different solidification distances and cleaning water amounts. The cleaning database is set manually and will not be described in detail here.

[0076] Step S216: Control the preset water spraying device to fill the cement mortar storage tank 1 with water according to the amount of cleaning water, determine the tilt vector angle according to the amount of cleaning water and the solidification distance corresponding to the immersion position, and output it to the preset clamping device.

[0077] The tilt vector angle refers to the vector angle of the cement mortar storage tank 1 after tilting, and the water spray device refers to a water gun used to fill the cement mortar storage tank 1 with water. The clamping device refers to a mechanical arm used to clamp and control the tilt of the cement mortar storage tank 1. After the water spray device controls the cleaning water volume to fill the cement mortar storage tank 1 with water, the tilt vector angle is matched from the cleaning database through the cleaning water volume and the solidification distance.

[0078] Step S217: Determine the inclined water surface according to the side wall image.

[0079] The inclined water surface refers to the water surface corresponding to the amount of cleaning water in the cement mortar storage tank 1 after being tilted, and the plane corresponding to the amount of cleaning water is identified from the side wall image as the inclined water surface.

[0080] Step S218: When the cement mortar feature is identified in the side wall image on the inclined water surface, the length deviation value is determined according to the side wall image.

[0081] The length deviation value refers to the distance that the cement mortar feature exceeds the inclined water surface. When the side wall image recognizes the cement mortar feature on the inclined water surface, it means that the cleaning water volume of the inclined water surface cannot completely cover the cement mortar at the immersion position. The shape corresponding to the cement mortar feature is selected from the inclined water surface through the side wall image and the maximum length vertical to the inclined water surface is used as the length deviation value.

[0082] Step S219: Determine the amount of water to be added based on the length deviation value and the tilt vector angle.

[0083] The increased water volume refers to the amount of water that needs to be added in the cement mortar storage tank 1 , and the increased water volume is matched from the cleaning database through the length deviation value and the tilt vector angle.

[0084] Step S220: Control the water spraying device to fill the cement mortar storage tank 1 with water and update the cleaning water volume according to the increased water volume, and control the scraping device to scrape the soaking position according to the remaining solidification position after the soaking time.

[0085] The cleaning water volume is updated by calculating the sum of the increased water volume and the cleaning water volume, and after the immersion time, the solidification position corresponding to the maximum solidification length is continuously selected as the new immersion position, and the scraping device is controlled to scrape the immersion position before the update.

[0086] Step S221: Update the tilt vector angle according to the updated immersion position and the updated cleaning water volume until all solidification positions are used as immersion positions, and form cleaning parameters with each tilt vector angle and the corresponding immersion time and output them to the clamping device.

[0087] The cleaning parameters refer to the control parameters corresponding to the time when the clamping device is controlled to clamp the cement mortar storage tank 1 for cleaning with the tilt vector angle and the corresponding immersion time. The parameters matched from the cleaning database by the solidification distance corresponding to the updated immersion position and the updated cleaning water volume are used as new tilt vector angles and immersion time until all solidification positions are used as immersion positions, and each tilt vector angle and the corresponding immersion time are used to form a cleaning parameter and output to the clamping device to control the clamping device to tilt the cement mortar storage tank 1, and control the scraping device to scrape the immersion position after the immersion time, so that the cement mortar storage tank 1 can be cleaned while reducing water consumption, and the accuracy of detecting the weight of cement mortar in the cement mortar storage tank 1 is improved, thereby reducing the error of weight detection information.

[0088] The calibration methods for blowing power include: Step S300: Obtain the lifting vector and manual pressing value of the control wrench 5.

[0089] The lifting vector refers to the vertical distance between the control wrench 5 and the ground when the operator lifts the control wrench 5. The vertical distance between the control wrench 5 and the ground is detected by the infrared sensor preset on the control wrench 5 as the lifting vector. The manual pressing value refers to the force value corresponding to the operator manually pressing the control wrench 5. The parameter detected by the pressure sensor preset on the control wrench 5 is used as the manual pressing value.

[0090] Step S301: determining the spray angle according to the manual pressure value, the spray vector and the lifting vector.

[0091] The injection angle refers to the angle at which the cement mortar nozzle 6 sprays cement mortar. The angle of the direction of the cement mortar nozzle 6 is calculated by calculating the straight-line distance corresponding to the injection vector and the lifting vector, and then calculating the vertical height difference corresponding to the injection vector and the lifting vector. The vertical height difference and the straight-line distance are calculated using the Pythagorean theorem, and the corresponding coefficient is matched from the injection database through the manual pressing value, and then the product of the matched coefficient and the angle of the direction is calculated and used as the injection angle.

[0092] Step S302 : When the spraying angle is consistent with the preset protection angle, the blowing power continues to be output to the blowing device 8 .

[0093] The protection angle refers to the angle between the protection shield 7 and the cement mortar nozzle 6. When the injection angle is consistent with the protection angle, it means that there is no change in the angle between the protection shield 7 and the cement mortar nozzle 6, and the blowing power continues to be output to the blowing device 8.

[0094] Step S303: When the spraying angle is inconsistent with the preset protection angle, the difference between the spraying angle and the protection angle is calculated and used as the vector angle deviation value.

[0095] The vector angle deviation value refers to the deviation value between the injection angle and the protection angle. When the injection angle is inconsistent with the protection angle, it means that the angle between the protective shield 7 and the cement mortar nozzle 6 has changed. The difference between the injection angle and the protection angle is calculated and used as the vector angle deviation value.

[0096] Step S304: controlling the protective shield 7 to adjust according to the vector angle deviation value, and determining the injection distance value according to the ignition coordinates and the output coordinates.

[0097] The injection distance value refers to the distance value from the cement mortar nozzle 6 to the fire coordinates. The angle microcontroller preset between the protective shield 7 and the cement mortar nozzle 6 is controlled by the vector angle deviation value to adjust the angle. When the vector angle deviation value is positive, the protective shield 7 is controlled to rotate clockwise. When the vector angle deviation value is not positive, the protective shield 7 is controlled to rotate counterclockwise.

[0098] Step S305: Determine the estimated splashing amount according to the injection distance value and the cement mortar density value.

[0099] The estimated splash volume refers to the estimated splash weight when the disposal device sprays cement mortar. The volume of cement mortar is matched from the spraying database through the spraying distance value, and the product of the volume of cement mortar and the density value of cement mortar is calculated as the estimated splash volume.

[0100] Step S306 : Correcting the blowing power according to the estimated splashing amount, and outputting the corrected blowing power to the blowing device 8 .

[0101] The corresponding coefficient is matched from the cement database by estimating the splashing amount, and the product of the corresponding coefficient and the blowing power is calculated to correct the blowing power, and the corrected blowing power is output to the blowing device 8, so that a wind wall can be formed through the blowing device 8 to resist the splashing cement mortar.

[0102] The verification method of blowing power also includes: Step S400: Acquire image detection information of the fire coordinates.

[0103] The image detection information refers to the image corresponding to the fire coordinates, and the image of the fire coordinates is taken by a micro camera preset on the disposal device as the image detection information.

[0104] Step S401: Determine smoke density according to image detection information and preset smoke features.

[0105] Smoke features refer to the color features corresponding to smoke, which are set and stored by the operator in advance. Smoke density refers to the density of smoke generated by the fire coordinates. The parameters obtained by identifying the colors corresponding to the smoke features from the image detection information and comparing them are used as the smoke density.

[0106] Step S402: When the smoke concentration does not exceed the preset reference smoke concentration, the corrected blowing power continues to be output.

[0107] The reference smoke concentration refers to the reference concentration at which smoke can block a person's vision, which is set and stored in advance by the operator. When the smoke concentration does not exceed the reference smoke concentration, it means that the disposal device is still operated by humans, and the corrected blowing power will continue to be output.

[0108] Step S403: When the smoke concentration exceeds a preset reference smoke concentration, switch the preset control device to control the disposal device to extinguish the fire.

[0109] When the smoke concentration exceeds the reference smoke concentration, the switching control device clamps and lifts the control wrench 5 to control the disposal device to extinguish the fire, thereby improving the accuracy of the disposal device in extinguishing the fire.

[0110] Step S404: Acquire heat detection information of the fire coordinates.

[0111] The heat detection information refers to the heat generated by the fire coordinates within a unit area, and the heat parameters corresponding to the fire coordinates are detected by an infrared sensor preset on the disposal device as the heat detection information.

[0112] Step S405: determining the automatic pressing value of the control wrench 5 according to the heat detection information.

[0113] The automatic pressing value refers to the force value of the control device outputting a signal to automatically press the control wrench 5, and the automatic pressing value is matched from a preset fire extinguishing database through the heat detection information. The fire extinguishing database stores the corresponding relationship between the combustion range corresponding to the heat detection information, the force value of pressing the control wrench 5, and the amount of cement mortar used.

[0114] Step S406: determining an angle adjustment value according to the automatic pressing value, and determining a blowing adjustment power according to the angle adjustment value.

[0115] The angle adjustment value refers to the coefficient value of the angle corresponding to the cement mortar nozzle 6, and the angle adjustment value is matched from the injection database through the automatic pressing value. The blowing adjustment power refers to the power of the blowing device 8 after adjustment, and the product of the corrected blowing power and the angle adjustment value is calculated and used as the blowing adjustment power.

[0116] Step S407: When the adjusted blowing power does not exceed the corrected blowing power, continue to output the corrected blowing power.

[0117] When the adjusted blowing power does not exceed the corrected blowing power, it means that there is no need to adjust the power of the blowing device 8 and the corrected blowing power continues to be output.

[0118] Step S408 : when the blowing adjustment power exceeds the corrected blowing power, outputting the blowing adjustment power to the blowing device 8 .

[0119] When the adjusted blowing power does not exceed the corrected blowing power, it indicates that the power of the blowing device 8 needs to be adjusted, and the adjusted blowing power is output to the blowing device 8 .

[0120] A method for early disposal of lithium battery fire, further comprising: Step S500: Obtain the weight detection value of cement mortar in the cement mortar storage tank 1, the storage tank coordinates of the cement mortar storage tank 1, the replenishment vehicle coordinates of the feeding device, and the wind direction parameters corresponding to the storage tank coordinates.

[0121] The storage tank coordinates refer to the coordinates of the cement mortar storage tank 1 on the disposal device. The coordinates corresponding to the positioning of the center of the cement mortar storage tank 1 by the GPS preset on the cement mortar storage tank 1 are used as the storage tank coordinates. The replenishing vehicle coordinates refer to the position coordinates corresponding to the replenishing device. The position coordinates corresponding to the positioning by the GPS preset on the replenishing device are used as the replenishing vehicle coordinates. The wind direction parameter refers to the vector parameter combining the wind speed and wind direction corresponding to the storage tank coordinates. The wind direction and wind speed parameters detected by the wind speed sensor preset on the disposal device are combined to form the wind direction parameter. The replenishing device refers to a device for replenishing the cement mortar in the cement mortar storage tank 1. The replenishing device includes an unmanned vehicle and a replenishing tank. There are multiple injection ports for spraying cement mortar on the replenishing tank. The cement mortar is automatically sprayed into the cement mortar storage tank 1 according to the principle of parabola.

[0122] Step S501: When the weight detection value is not less than the preset reference weight value, the preset prompt information is not output.

[0123] The prompt information refers to information prompting that the cement mortar in the cement mortar storage tank 1 needs to be replenished, which is set and stored in advance by the operator. The reference weight value refers to the minimum weight value when the cement mortar storage tank 1 needs to be replenished, which is set and stored in advance by the operator. When the weight detection value is not less than the reference weight value, the preset prompt information is not output.

[0124] Step S502: When the weight detection value is less than a preset reference weight value, a preset prompt message is output and the combustion range is determined based on the image detection information.

[0125] The combustion range refers to the actual combustion range of the location of the fire coordinates. When the weight detection value is less than the reference weight value, a preset prompt message is output, and the range corresponding to the smoke features identified by the image detection information is combined with the range of the coordinate set corresponding to the fire coordinates to form the combustion range.

[0126] Step S503: Determine the estimated weight value according to the combustion range.

[0127] The estimated weight value refers to the weight value of cement mortar needed to extinguish the fire at the fire coordinates. The area of ​​the fire is estimated through the combustion range, and the quotient of the area of ​​the fire and the unit area is calculated as the usage multiple. The amount of cement mortar per unit area is matched from the injection database through heat detection information, and then the product of the amount of cement mortar used and the usage multiple is calculated as the estimated weight value.

[0128] Step S504: When the detected weight value is not less than the estimated weight value, the preset prompt information is not output.

[0129] When the weight detection value is not less than the estimated weight value, it means that the cement mortar in the cement mortar storage tank 1 is able to extinguish the fire at the fire coordinates, and no prompt information is output.

[0130] Step S505: When the weight detection value is less than the estimated weight value, the delivery angle is determined according to the wind direction parameter, the storage tank coordinates and the replenishment vehicle coordinates.

[0131] The delivery angle refers to the angle at which the feeding device feeds the disposal device. When the weight detection value is less than the estimated weight value, it means that the cement mortar in the cement mortar storage tank 1 cannot extinguish the fire at the fire coordinates. Then, the distance between the storage tank coordinates and the replenishment vehicle coordinates is calculated, and the height distance is matched from the injection database through the distance of the straight line. The feeding angle is calculated by the Pythagorean theorem for the height distance and the distance of the straight line. The corresponding coefficient is matched from the preset feeding database through the wind direction parameter, and the product of the feeding angle and the matched corresponding coefficient is calculated and used as the delivery angle. The feeding database stores the relative relationship between the vector parameter and the coefficient of the correction angle, and stores the power of the delivery device corresponding to different heat detection information.

[0132] Step S506: When the storage tank coordinates do not fall within the delivery range of the preset replenishment vehicle coordinates, a moving path is determined according to the storage tank coordinates, the replenishment vehicle coordinates and the delivery range and output to the replenishment device for movement.

[0133] The delivery range refers to the range within which the feeding device delivers cement mortar to the cement mortar storage tank 1, which is pre-set and stored by the operator. The moving path refers to the path required for the feeding device to replenish the cement mortar storage tank 1. When the storage tank coordinates do not fall within the delivery range, it means that the feeding device cannot replenish the cement mortar storage tank 1. The straight line between the storage tank coordinates and the replenishment vehicle coordinates is calculated, and then the replenishment vehicle coordinates are used as the center of the delivery range and the intersection point between the straight line and the delivery range is determined. The distance between the storage tank coordinates and the intersection point is calculated as the moving path, and the moving path is output to the feeding device for movement, so that the feeding device can replenish the cement mortar storage tank 1.

[0134] Step S507: When the storage tank coordinates fall within the delivery range of the preset replenishment vehicle coordinates, the delivery angle and the preset reference power are used as replenishment control parameters and output to the replenishment device.

[0135] The reference power refers to the power used to control the feeding device to feed the cement mortar storage tank 1, which is set in advance and stored by the operator. The feeding control parameter refers to the control parameter used to control the feeding device to feed the cement mortar storage tank 1. When the storage tank coordinates fall within the delivery range, it means that the feeding device can feed the cement mortar storage tank 1. Then the delivery angle and the reference power are used as the feeding control parameters and output to the feeding device.

[0136] The calibration methods for feeding control parameters include: Step S600: Determine whether the delivery range of the replenishment vehicle coordinates includes all storage tank coordinates.

[0137] By judging whether the delivery range of the replenishing vehicle coordinates includes all the storage tank coordinates, it is judged whether the replenishing vehicle coordinates of the replenishing device can replenish the cement mortar storage tank 1.

[0138] Step S601: When the delivery range of the replenishment vehicle coordinates includes all storage tank coordinates, continue to use the delivery angle and reference power as replenishment control parameters and output to the replenishment device.

[0139] When the delivery range of the replenishment vehicle coordinates includes all the storage tank coordinates, it means that the replenishment vehicle coordinates of the replenishment device can replenish the cement mortar storage tank 1, then the delivery angle and the reference power will continue to be used as replenishment control parameters and output to the replenishment device to replenish the corresponding disposal device.

[0140] Step S602: When the delivery range of the replenishment vehicle coordinates does not include all the storage tank coordinates, the replenishment quantity and the estimated coordinates corresponding to the replenishment quantity are determined according to all the storage tank coordinates and the delivery range.

[0141] The replenishment quantity refers to the quantity corresponding to the coordinates of the storage tanks that need to be replenished, and the estimated coordinates refer to the storage tank coordinates corresponding to the replenishment quantity. When the replenishment vehicle coordinates do not include all the storage tank coordinates, it means that the replenishment vehicle coordinates of the replenishment device cannot replenish the cement mortar storage tank 1. The difference between the maximum number of storage tank coordinates corresponding to the intersection area and the number corresponding to all storage tank coordinates is used as the replenishment quantity, and the storage tank coordinates corresponding to the replenishment quantity are used as the estimated coordinates.

[0142] Step S603: When the replenishment quantity is one, the replenishment vehicle coordinates are updated according to the estimated coordinates and the delivery range, and the replenishment device is controlled to move to the updated replenishment vehicle coordinates.

[0143] When the replenishment quantity is one, it means that there is a cement mortar storage tank 1 that has not been replenished. The straight line between the estimated coordinates and the replenishment vehicle coordinates is calculated, and the intersection of the straight line and the delivery range with the replenishment vehicle coordinates as the center is used as the new replenishment vehicle coordinates, and the replenishment device is controlled to move to the updated replenishment vehicle coordinates, so that the cement mortar storage tank 1 can be replenished while moving the minimum distance.

[0144] Step S604: updating the delivery angle according to the updated coordinates of the replenishment vehicle and the storage tank.

[0145] The height vector is matched from the injection database through the updated replenishment vehicle coordinates, and the height vector corresponding to the storage tank coordinates is calculated to calculate the height difference, and the straight-line distance between the updated replenishment vehicle coordinates and the storage tank coordinates is calculated. The height difference and the straight-line distance are calculated using the Pythagorean theorem to update the delivery angle.

[0146] Step S605: Determine the delivery power of the corresponding storage tank coordinates according to the heat detection information.

[0147] The release power refers to the power corresponding to the cement mortar released by the feeding device. The release power of the corresponding storage tank coordinates is matched from the supplementary database through heat detection information.

[0148] Step S606: updating the feeding control parameters according to the updated feeding angle and feeding power, and outputting the updated feeding control parameters to the feeding device for feeding.

[0149] The updated delivery angle and delivery power are combined and used as new feeding control parameters, and the updated feeding control parameters are output to the feeding device to feed the cement mortar storage tank 1 .

[0150] When the replenishment quantity is greater than one, the moving method of the replenishment device includes: Step S700: Determine the intersection range according to the estimated coordinates and the delivery range.

[0151] The intersection range refers to the range where multiple delivery ranges with the estimated coordinates as the center of the circle intersect with each other. The range corresponding to the intersection of the delivery ranges with the estimated coordinates as the center of the circle is used as the intersection range.

[0152] Step S701: Filter the nearest intersection range as the selected range according to the intersection range and the supplementary vehicle coordinates.

[0153] The selected range refers to the intersection range closest to the supplementary vehicle coordinates. The straight-line distance between each intersection range and the supplementary vehicle coordinates is calculated, and the intersection range corresponding to the shortest straight-line distance is used as the selected range.

[0154] Step S702: Determine the coordinates of the stop point according to the selected range and the supplementary vehicle coordinates, and update the estimated coordinates corresponding to the stop point coordinates as the processed coordinates.

[0155] The docking point coordinates refer to the coordinates where the replenishing device needs to dock and replenish the cement mortar storage tank 1 of the estimated coordinates, by calculating the straight-line distance between the point on the boundary of the selected range and the replenishing vehicle coordinates, and selecting the boundary point corresponding to the shortest straight-line distance as the docking point coordinates. The processing coordinates refer to the estimated coordinates corresponding to the intersection range of the docking point coordinates.

[0156] Step S703: Update the intersection range according to the updated estimated coordinates and the delivery range, and determine new stop point coordinates according to the updated intersection range until all estimated coordinates are used as processing coordinates, and the order of each stop point coordinate is used as a supplementary path.

[0157] The supplementary path refers to the shortest path for the replenishment device to replenish all cement mortar storage tanks 1. When the processing coordinates are determined, the intersection range is re-determined with the remaining estimated coordinates as the center of the delivery range, and the distance between the stop point coordinates and the re-determined intersection range is calculated. The boundary point corresponding to the intersection range with the shortest distance is selected as the stop point coordinate. The above method is continued to calculate until all estimated coordinates are used as processing coordinates, and the order of the determined stop point coordinates is used as the supplementary path.

[0158] Step S704: updating the coordinates of each stop point to the coordinates of the replenishing vehicle according to the replenishing path, and controlling the replenishing device to move to the updated coordinates of the replenishing vehicle along the replenishing path.

[0159] By controlling the replenishing device to move along the replenishing path, when it moves to a stop point coordinate, the replenishing device is controlled to replenish the cement mortar storage tank 1 of the processing coordinate, and gradually moves the stop point coordinate closest to the replenishing vehicle coordinate as the new replenishing vehicle coordinate.

[0160] When the feeding device moves, the verification method of the feeding control parameters includes: Step S800: updating the injection distance value according to the combustion range.

[0161] When the combustion range changes, it means that the collection range of the ignition coordinates becomes smaller. Then, the distance of the straight line corresponding to the ignition is detected by the infrared sensor preset on the disposal device as the new injection distance value.

[0162] Step S801: Update the output coordinates according to the updated injection distance value and the ignition coordinates.

[0163] The new output coordinates are calculated using the updated injection distance value and the ignition coordinates.

[0164] Step S802: Determine the distance deviation value and the moving direction according to the two output coordinates before and after the update.

[0165] The distance deviation value refers to the straight-line distance between the two output coordinates before and after the update, and the moving direction refers to the direction in which the disposal device moves. The straight-line distance between the two output coordinates before and after the update is calculated as the distance deviation value, and the direction of the straight-line distance corresponding to the distance deviation value is used as the moving direction.

[0166] Step S803: Obtain the movement time corresponding to the two output coordinates before and after the update.

[0167] The moving time refers to the time when the treatment device moves. The moving treatment device is timed in real time and the corresponding time is marked, and the marked time is used as the moving time.

[0168] Step S804: Determine the moving speed according to the distance deviation value and the moving time, and use the moving speed and the moving direction as moving parameters.

[0169] The moving speed refers to the speed at which the treatment device moves, and is calculated by dividing the distance deviation by the moving time. The moving parameter refers to the vector parameter at which the treatment device moves, and is formed by combining the moving speed with the moving direction.

[0170] Step S805: When the updated spraying distance value exceeds the preset reference extension distance of the cement mortar spraying pipe 6, the storage tank coordinates are updated according to the updated output coordinates.

[0171] The reference extension distance refers to the maximum length between the output coordinates and the storage tank coordinates, which is set and stored by the operator in advance. When the updated injection distance value does not exceed the reference extension distance, it means that the cement mortar storage tank 1 does not need to be moved, and no adjustment is made. When the updated injection distance value exceeds the reference extension distance, it means that the cement mortar storage tank 1 needs to be moved, and the new coordinates are calculated by the updated output coordinates and the reference extension distance as the new storage tank coordinates.

[0172] Step S806: When the updated storage tank coordinates do not fall within the delivery range, the replenishing device is controlled to move according to the movement parameters.

[0173] When the updated storage tank coordinates fall into the delivery range, it means that the feeding device can directly feed the cement mortar storage tank 1, and no adjustment is made. When the updated storage tank coordinates do not fall into the delivery range, it means that the feeding device cannot directly feed the cement mortar storage tank 1, and the feeding device is controlled to move according to the movement parameters so that the feeding device and the disposal device move synchronously.

[0174] Step S807: updating the material replenishment control parameter according to the movement parameter and the wind direction parameter, and outputting the updated material replenishment control parameter to the material replenishment device for material replenishment.

[0175] By calculating the vector value of the movement parameter and the wind direction parameter, the corresponding coefficient is matched from the replenishment database through the vector value, and the product of the corresponding coefficient and the replenishment control parameter is calculated as a new replenishment control parameter and output to the replenishment device to replenish the cement mortar storage tank 1.

[0176] When the feeding device moves, the verification method of the feeding control parameters includes: Step S900: Acquire the surrounding environment image of the feeding device.

[0177] The surrounding environment image refers to an image of the surrounding environment of the feeding device, and the image of the surrounding environment of the feeding device is taken by multiple micro cameras preset on the feeding device as the surrounding environment image.

[0178] Step S901: Identify obstacles from the surrounding environment image according to preset obstacle types and mark them.

[0179] Obstacle types refer to the types of obstacles such as buildings, trees or vehicles in the surroundings, which are set and stored by the operator in advance. Obstacles corresponding to the obstacle type are identified from the surrounding environment image and marked.

[0180] Step S902: Determine the coordinates of the obstacle according to the marked obstacle and a preset calibration coordinate set in the surrounding environment image.

[0181] The calibration coordinate set refers to the reference coordinates corresponding to the position of the obstacle in the surrounding environment image, which is set and stored by the operator in advance. The coordinates obtained by comparing the marked obstacle with the calibration coordinate set are used as the obstacle coordinates.

[0182] Step S903: Determine the delivery direction according to the updated delivery angle, and determine whether the obstacle coordinates fall within the delivery direction.

[0183] The delivery direction refers to the straight line direction corresponding to the delivery angle. The straight line direction corresponding to the updated delivery angle is used as the delivery direction, and it is determined whether the obstacle coordinates fall within the delivery direction, thereby determining whether the obstacle is located between the storage tank coordinates and the replenishment vehicle coordinates.

[0184] Step S904: If it falls into the obstacle, determine the shape of the obstacle based on the surrounding environment image.

[0185] The obstacle shape refers to the shape of the obstacle in the surrounding environment image. When the obstacle coordinates fall within the delivery direction, it means that the obstacle is located between the storage tank coordinates and the replenishment vehicle coordinates. The shape corresponding to the obstacle type is selected through the surrounding environment image frame as the obstacle shape.

[0186] Step S905: Determine the placement height value according to the shape of the obstacle.

[0187] The placement height value refers to the height value at which the feeding device needs to place cement mortar, and the height dimension corresponding to the obstacle shape in the surrounding environment image is used as the placement height value.

[0188] Step S906: Calculate the distance between the obstacle coordinates and the storage tank coordinates as the falling distance.

[0189] The falling distance refers to the straight-line distance between the vertex of the parabola and the estimated coordinates when the feeding device releases cement mortar based on the principle of a parabola. The straight-line distance between the obstacle coordinates and the storage tank coordinates is calculated as the falling distance.

[0190] Step S907: Determine the delivery parameters according to the falling distance and the delivery height value.

[0191] The delivery parameters refer to the angle and power corresponding to the delivery of cement mortar by the feeding device. The corresponding vector parameters are matched from the preset delivery database through the falling distance and the delivery height value as the delivery parameters.

[0192] Step S908: When the delivery parameter does not exceed the preset reference parameter, the delivery parameter is used as a new feeding control parameter and output to the feeding device.

[0193] The reference parameter refers to the maximum angle and maximum power corresponding to the cement mortar released by the feeding device, which is set and stored in advance by the operator. When the release parameter does not exceed the reference parameter, it means that the feeding device can output the release parameter, and the release parameter is used as the new feeding control parameter and output to the feeding device. Step S909: When the delivery parameters exceed the preset reference parameters, each delivery line is determined according to the estimated coordinates and the intersection range and arranged in reverse order, and the estimated coordinates of the delivery direction corresponding to the obstacle coordinates are defined as the occlusion coordinates.

[0194] The delivery straight line refers to the straight-line distance between each point within the intersection range and the estimated coordinates. The blocked coordinates refer to the estimated coordinates when there are obstacles blocking the feeding. When the delivery parameters exceed the benchmark parameters, it means that the feeding device cannot output the delivery parameters. The straight line between each point within the intersection range and the estimated coordinates is calculated as the delivery straight line, and the estimated coordinates of the delivery direction corresponding to the obstacle coordinates are used as the blocked coordinates.

[0195] Step S910: Determine the occlusion range according to the shape of the obstacle.

[0196] The blocking range refers to the range where obstacles block the feeding device from feeding, and the length range corresponding to the shape of the obstacle is used as the blocking range.

[0197] Step S911: Select the unobstructed and shortest delivery straight line from the delivery straight lines arranged in reverse order according to the obstruction range, and re-determine the stop point coordinates corresponding to the obstruction coordinates based on the selected delivery straight line.

[0198] The shortest delivery line that does not overlap with the occlusion range is selected from the delivery lines arranged from small to large, and the point within the intersection range is calculated using the selected delivery line and the occlusion coordinates as the new stop point coordinates.

[0199] Step S912: updating the replenishment path according to the re-determined stop point coordinates and outputting them to the replenishment device.

[0200] A new supplementary path is formed by re-determining the coordinates of the stop point and other stop points and outputting it to the replenishing device to replenish the cement mortar storage tanks 1 of all estimated coordinates.

[0201] Step S913: If it does not fall into the area, determine the unaffected area based on the delivery direction and wind direction parameters.

[0202] The unaffected area refers to the area where the cement mortar released by the feeding device is not blown by the wind. When the coordinates of the obstacle do not fall within the delivery direction, it means that the obstacle is not located between the coordinates of the storage tank and the coordinates of the replenishing vehicle. The area close to the delivery direction corresponding to the wind direction parameters is regarded as the unaffected area.

[0203] Step S914: When the obstacle coordinates fall into the unaffected area, the unobstructed area is determined according to the obstacle shape and the updated material replenishment control parameters.

[0204] The unobstructed area refers to the area where the cement mortar placed by the feeding device can be blown by the wind. When the obstacle coordinates do not fall into the unaffected area, it means that the cement mortar placed by the feeding device is not blocked, and the feeding control parameters continue to be output. When the obstacle coordinates fall into the unaffected area, it means that the cement mortar placed by the feeding device is blocked, and the area where the parabola corresponding to the updated feeding control parameters does not overlap with the obstacle shape is regarded as the unobstructed area.

[0205] Step S915: updating the wind direction parameter according to the unblocked area, and determining the feeding adjustment parameter according to the updated wind direction parameter and the updated feeding control parameter.

[0206] The feeding adjustment parameter refers to the angle and power corresponding to the feeding device after adjustment when feeding. The feeding control parameter is used to determine the quotient of the area corresponding to the parabola and the unobstructed area as the correction coefficient, and then the product of the wind direction parameter and the correction coefficient is calculated to update the wind direction parameter. The corresponding coefficient is matched from the feeding database through the updated wind direction parameter, and the product of the corresponding coefficient and the updated feeding control parameter is calculated as the feeding adjustment parameter.

[0207] Step S916: The feeding adjustment parameter is used as a new feeding control parameter and output to the feeding device for feeding.

[0208] By outputting the feeding adjustment parameter as a new feeding control parameter to the feeding device for feeding, the probability of the feeding position being offset due to an obstacle when the feeding device is feeding can be reduced.

[0209] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for early disposal of lithium battery fire, characterized in that: include: Obtaining trigger information of a preset treatment device; Acquire the fire coordinates and the output coordinates of the cement mortar nozzle (6) according to the trigger information; Determine the injection vector and give a prompt according to the ignition coordinates and the output coordinates, and obtain ultrasonic detection information of cement mortar in the cement mortar storage tank (1); Determine the density value of cement mortar based on ultrasonic testing information; Calculating the product of the output end volume of the preset cement mortar spray pipe (6) and the cement mortar density value and taking the output end cement inventory as the output end cement inventory; The blowing power is determined according to the injection vector and the cement stock at the output end; According to the blowing power, a blowing device (8) preset on the handling device is controlled to blow air to the ground to assist in lifting the cement mortar spraying pipe (6) and control the handling device to spray cement mortar.

2. A method for early disposal of lithium battery fire according to claim 1, characterized in that: When obtaining ultrasonic detection information of cement mortar in the cement mortar storage tank (1), the control method for the cement mortar includes: When the ultrasonic detection information is consistent with the preset reference detection information, the ultrasonic detection information of the cement mortar in the cement mortar storage tank (1) is continued to be obtained, and the preset stirring device is not controlled to start; When the ultrasonic test information is inconsistent with the reference test information, the cement stratification degree and the cement mortar height value are determined according to the ultrasonic test information; Obtaining a weight test value of cement mortar in a cement mortar storage tank (1); Determine the mixing power based on the weight test value and the cement mortar height value; Control the stirring device to stir up and down reciprocatingly according to the stirring power and obtain the stirring position of the stirring device; Determine the adjustment factor based on the stirring position; The stirring power at different stirring positions is corrected according to the adjustment coefficient and the stirring device is controlled to stir to ensure that the ultrasonic detection information is consistent with the reference detection information. When the ultrasonic detection information is consistent with the reference detection information, the stirring is stopped.

3. The method for early disposal of lithium battery fire according to claim 1, characterized in that: The calibration methods for blowing power include: Obtaining the lifting vector and manual pressing value of the control wrench (5); Determine the spray angle according to the manual pressing value, the spray vector and the lifting vector; When the spraying angle is consistent with the preset protection angle, the blowing power continues to be output to the blowing device (8); When the spray angle is inconsistent with the preset protection angle, the difference between the spray angle and the protection angle is calculated and used as the vector angle deviation value; Controlling the protection shield (7) to adjust according to the vector angle deviation value, and determining the injection distance value according to the ignition coordinates and the output coordinates; Determine the estimated splash volume based on the spray distance value and cement mortar density value; The blowing power is corrected according to the estimated splashing amount, and the corrected blowing power is output to the blowing device (8).

4. The method for early disposal of lithium battery fire according to claim 1, characterized in that: The verification method of blowing power also includes: Obtain image detection information of fire coordinates; Determine smoke density based on image detection information and preset smoke features; When the smoke concentration exceeds the preset baseline smoke concentration, the preset control device is switched to control the disposal device to extinguish the fire; Get the heat detection information of the fire coordinates; determining an automatic pressing value of a control wrench (5) according to the heat detection information; Determine an angle adjustment value according to the automatic pressing value, and determine the blowing adjustment power according to the angle adjustment value; When the blowing adjustment power does not exceed the corrected blowing power, the corrected blowing power continues to be output; When the blowing adjustment power exceeds the corrected blowing power, the blowing adjustment power is output to the blowing device (8).

5. A method for early disposal of lithium battery fire according to claim 4, characterized in that: Also includes: Obtaining a weight detection value of cement mortar in a cement mortar storage tank (1), a storage tank coordinate of the cement mortar storage tank (1), a replenishing vehicle coordinate of a replenishing device, and a wind direction parameter corresponding to the storage tank coordinate; When the weight detection value is less than the preset reference weight value, a preset prompt message is output and the combustion range is determined based on the image detection information; Determine the estimated weight value based on the combustion range; When the weight detection value is less than the estimated weight value, the delivery angle is determined according to the wind direction parameters, the storage tank coordinates and the replenishment vehicle coordinates; When the storage tank coordinates do not fall within the delivery range of the preset replenishment vehicle coordinates, the moving path is determined according to the storage tank coordinates, the replenishment vehicle coordinates and the delivery range and output to the replenishment device for movement; When the storage tank coordinates fall within the delivery range of the preset replenishment vehicle coordinates, the delivery angle and the preset reference power are used as replenishment control parameters and output to the replenishment device.

6. A method for early disposal of lithium battery fire according to claim 5, characterized in that: The calibration methods for feeding control parameters include: Determine whether the delivery range of the replenishment vehicle coordinates includes all storage tank coordinates; When the delivery range of the replenishment vehicle coordinates includes all the storage tank coordinates, the delivery angle and the reference power are continued to be used as the replenishment control parameters and output to the replenishment device; When the delivery range of the replenishment vehicle coordinates does not include all the storage tank coordinates, the replenishment quantity and the estimated coordinates corresponding to the replenishment quantity are determined based on the coordinates of all the storage tanks and the delivery range; When the replenishment quantity is one, the replenishment vehicle coordinates are updated according to the estimated coordinates and the delivery range, and the replenishment device is controlled to move to the updated replenishment vehicle coordinates; Update the delivery angle according to the updated coordinates of the replenishment vehicle and the storage tank; Determine the delivery power of the corresponding storage tank coordinates according to the heat detection information; The feeding control parameters are updated according to the updated delivery angle and delivery power, and the updated feeding control parameters are output to the feeding device for feeding.

7. A method for early disposal of lithium battery fire according to claim 6, characterized in that: When the replenishment quantity is greater than one, the moving method of the replenishment device includes: Determine the intersection range based on the estimated coordinates and delivery range; According to the intersection range and the supplementary vehicle coordinates, the nearest intersection range is selected as the selected range; Determine the coordinates of the stop point according to the selected range and the coordinates of the supplementary vehicle, and update the estimated coordinates corresponding to the stop point coordinates as the processing coordinates; The intersection range is updated according to the updated estimated coordinates and the delivery range, and the new stop point coordinates are determined according to the updated intersection range until all the estimated coordinates are used as processing coordinates, and the order of the coordinates of each stop point is used as a supplementary path; The coordinates of each stop point are updated to the coordinates of the replenishing vehicle according to the replenishing path, and the replenishing device is controlled to move to the updated coordinates of the replenishing vehicle along the replenishing path.

8. The method for early disposal of lithium battery fire according to claim 6, characterized in that: When the feeding device moves, the verification method of the feeding control parameters includes: Update the injection distance value according to the combustion range; Update the output coordinates according to the updated injection distance value and the ignition coordinates; Determine the distance deviation value and the moving direction based on the two output coordinates before and after the update; Get the movement time corresponding to the two output coordinates before and after the update; Determine the moving speed according to the distance deviation value and the moving time, and use the moving speed and moving direction as moving parameters; When the updated spray distance value exceeds the preset reference extension distance of the cement mortar spray pipe (6), updating the storage tank coordinates according to the updated output coordinates; When the updated storage tank coordinates do not fall within the delivery range, the feeding device is controlled to move according to the movement parameters; The feeding control parameters are updated according to the movement parameters and the wind direction parameters, and the updated feeding control parameters are output to the feeding device for feeding.

9. A method for early disposal of lithium battery fire according to claim 8, characterized in that: When the feeding device moves, the verification method of the feeding control parameters includes: Acquire an image of the surrounding environment of the feeding device; Identify obstacles from the surrounding environment image and mark them according to the preset obstacle type; Determine the obstacle coordinates based on the marked obstacle and a preset calibration coordinate set in the surrounding environment image; Determine the delivery direction according to the updated delivery angle, and determine whether the obstacle coordinates fall within the delivery direction; If it falls into the obstacle, the shape of the obstacle is determined based on the surrounding environment image; Determine the release height value based on the shape of the obstacle; Calculate the distance between the obstacle coordinates and the storage tank coordinates as the falling distance; Determine the delivery parameters based on the falling distance and delivery height values; When the delivery parameter does not exceed the preset reference parameter, the delivery parameter is used as a new feeding control parameter and output to the feeding device; When the delivery parameters exceed the preset reference parameters, the delivery lines are determined according to the estimated coordinates and the intersection range and arranged in reverse order, and the estimated coordinates of the delivery direction corresponding to the obstacle coordinates are defined as the blocking coordinates; Determine the occlusion range based on the shape of the obstacle; According to the blocking range, the unblocked and shortest delivery straight line is selected from each delivery straight line arranged in reverse order, and the coordinates of the stop point corresponding to the blocking coordinates are re-determined according to the selected delivery straight line; The replenishment path is updated according to the re-determined coordinates of the stop point and output to the replenishment device; If it does not fall into the area, the unaffected area is determined based on the release direction and wind direction parameters; When the coordinates of the obstacle fall into the unaffected area, the unobstructed area is determined according to the obstacle shape and the updated material replenishment control parameters; The wind direction parameter is updated according to the unblocked area, and the feeding adjustment parameter is determined according to the updated wind direction parameter and the updated feeding control parameter; The feeding adjustment parameters are used as new feeding control parameters and output to the feeding device for feeding.

10. A lithium battery fire early disposal device, applied to a lithium battery fire early disposal method as claimed in claim 1, characterized in that: It comprises a cement mortar storage tank (1) for storing cement mortar, a cement mortar nozzle (6) for spraying cement mortar, a high-pressure gear pump (3) for conveying cement mortar in the cement mortar storage tank (1) to the cement mortar nozzle (6), and a mobile cart (2), wherein the mobile cart (2) is used to place the cement mortar storage tank (1) and the high-pressure gear pump (3) and to drive the cement mortar storage tank (1) and the high-pressure gear pump (3) to move; A control wrench (5) for controlling the output of cement mortar is connected between the cement mortar nozzle (6) and the high-pressure gear pump (3); a nozzle hose (4) for conveniently adjusting the spraying direction of the cement mortar nozzle (6) is provided between the high-pressure gear pump (3) and the control wrench (5); and a protective shield (7) for protecting the cement mortar storage tank (1) is provided at one end of the cement mortar nozzle (6) close to the control wrench (5).

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