Throwing type self-driven fire extinguishing robot system and method based on finite element simulation closed-loop optimization

Abstract

The invention discloses a throwing type self-driven fire extinguishing robot system and method based on finite element simulation closed-loop optimization. The system comprises a robot platform, an image recognition and infrared detection module, a communication and control unit, a throwing mechanism and a fire extinguishing ball of a double-layer structure. The operation method of the system comprises the following steps: the robot automatically identifies a fire source area and a spatial position thereof, automatically calculates parameters such as an optimal throwing elevation angle, a direction angle and an initial speed, throws a fire extinguishing ball filled with a potassium carbonate solution to the fire source position, and releases the potassium carbonate solution after the fire extinguishing ball is in contact with flames or impacts; and fire extinguishing is realized based on double fire extinguishing mechanisms. And meanwhile, a finite element simulation technology is introduced, the fire extinguishing ball structure and the throwing process are optimized and analyzed, and the fire extinguishing precision and the structural safety are improved. The system is suitable for complex high-risk scenes such as tunnels, cable wells, warehouses and the like, and has the characteristics of high automation degree, high response speed and high adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire-fighting robots, in particular to a throwing type self-driven fire-fighting robot system and method based on finite element simulation closed loop optimization. BACKGROUND

[0002] At present, existing fire-fighting equipment mainly relies on fire trucks, water cannons and other methods to implement fire-fighting operations. However, in complex scenes such as high-rise buildings, underground pipe galleries and flammable chemical areas, traditional fire-fighting equipment often cannot effectively extinguish initial fires due to limited space or delayed response. Some new schemes attempt to achieve fire-fighting functions by launching loaded fire extinguishing agent shells or throwing type devices, for example, a South Korean company has proposed a manually thrown fire extinguishing device that can be thrown manually when a fire occurs. Its structure is a double-layer glass bottle containing potassium carbonate solution, which can release fire extinguishing agent to suppress flames after being broken. However, this type of scheme still relies on manual close-range operation and cannot achieve automated response and remote deployment, and has the problems of limited precision control and response time.

[0003] At the same time, although existing fire-fighting robots have integrated thermal imaging, visual recognition and laser ranging sensors to achieve fire source positioning and inspection functions, they still lack fast and efficient remote fire-fighting means for high-temperature closed environments or inaccessible fire sources. In addition, fire-fighting equipment has not fully introduced simulation optimization mechanisms in the design process, and lacks systematic simulation and verification of throwing trajectories, structural strength and breaking behavior. Therefore, it is urgent to propose a fire-fighting robot system that integrates intelligent fire source identification, remote automatic throwing and finite element simulation optimization to improve fire-fighting efficiency and expand the application range, especially for extreme fire scenes such as high-risk, inaccessible or power failure. SUMMARY The purpose of the present application is to provide a throwing type self-driven fire-fighting robot system and method based on finite element simulation closed loop optimization to solve the problems raised in the background art.

[0004] The specific technical solutions provided by the present application are as follows: a throwing type self-driven fire-fighting robot system and method based on finite element simulation closed loop optimization, the system comprising a robot platform, a fire source identification module, a communication and control module, a throwing mechanism, a fire extinguishing ball storage and conveying device, and a finite element simulation optimization module. Preferably, the robot platform is used to carry the entire set of equipment and autonomously move to the target fire source area. The fire source identification module is used for fire source identification of the target area and upload the identification result to the communication and control module. The communication and control module includes a wireless communication unit and a master control module including a master control chip, which is used to receive the image recognition result, generate the throwing parameters. The throwing mechanism is used to launch the fire extinguishing ball to the target fire source according to the generated throwing parameters. The fire extinguishing ball storage and conveying device is used to convey the fire extinguishing ball to the throwing mechanism through the transmission track or the feeding mechanism, and complete the automatic loading. The finite element simulation optimization module is used for simulation analysis based on the ball structure and flight state, and optimization of the throwing angle, initial speed and ball structure parameters.

[0005] Preferably, the robot in the robot platform is a quadruped robot, which is provided with a driving motor, a positioning module and an obstacle avoidance sensor. The fire extinguishing ball is a double-layer structure ball, which includes an outer shell, an inner container and a potassium carbonate solution filled in the inner container; a buffer cavity is arranged between the outer layer and the inner layer in the fire extinguishing ball structure, which is used to cause stress concentration and preferentially cause the outer shell or the inner container to break at a predetermined position when the fire extinguishing ball hits the target, so as to ensure the effective release of the internal potassium carbonate solution. The throwing mechanism further includes a launching guide rail, a servo motor, a spring release device or a pneumatic driver.

[0006] The operation method of the system is as follows: S1: The throwing type fire extinguishing robot scans the target area environment through the infrared thermal imager and the visible light camera, and performs image recognition and target positioning of the fire source characteristics.

[0007] S2: After confirming the fire source, the throwing type fire extinguishing robot immediately uploads the fire source image and coordinate information to the monitoring center through the wireless network, and synchronously triggers the local sound and light alarm device.

[0008] S3: The master control module synchronously combines the relative position of the fire source and the throwing parameter optimization library generated by the finite element simulation in advance, and automatically calculates the optimal throwing elevation angle, direction angle and initial speed parameters.

[0009] Preferably, the operation steps of the master control module are as follows: S301: Input the position coordinate data of the fire source relative to the throwing type fire extinguishing robot obtained by the infrared and visible light double-channel positioning, and convert the position coordinates of the fire source into polar coordinate system parameters; S302: Dynamically compensate the environmental parameters by incorporating a compensation factor, and correct the throwing model.

[0010] S303: According to the set matching logic, query the finite element simulation parameter library.

[0011] S304: Real-time optimization of the dynamic model including the objective function and variables.

[0012] S305: Perform the rupture reliability constraint check, calculate the key constraints including impact kinetic energy and impact velocity.

[0013] S306: Output the final parameters according to the decision logic.

[0014] S4: Start the robot throwing mechanism according to the set parameters, and the robot throwing mechanism launches the fire extinguishing ball to the target fire area after automatic loading.

[0015] Preferably, the specific operation method steps of the throwing mechanism are as follows: S401: Finite element analysis to pre-establish a "driving parameter-initial velocity mapping table" as a simulation basis, and perform parameter mapping and mechanism control.

[0016] S402: Real-time correction of the throwing trajectory.

[0017] S403: Synchronous mechanical protection guided by simulation.

[0018] S5: The launched fire extinguishing ball contacts the flame or breaks after impact, releases potassium carbonate solution, and extinguishes the fire based on the dual fire extinguishing mechanism.

[0019] The dual fire extinguishing mechanism is that the potassium carbonate solution absorbs heat and cools down below the ignition point of the combustible material, and at the same time, water mist and Form an oxygen barrier; S6: The system judges whether the fire extinguishing is successful through visual feedback or temperature change, and decides whether to perform parameter optimization or repeated response according to the judgment result.

[0020] S7: Finite element simulation module combined with throwing parameter optimization library for iterative optimization of parameters.

[0021] Preferably, the specific operation method steps of the finite element simulation module are as follows: S701: The system feeds back the throwing results containing the hitting deviation and rupture condition to the simulation model, starts a new round of finite element simulation analysis, and re-simulates the throwing trajectory, structure stress and rupture behavior; S702: Adjust the throwing angle and speed parameters according to the optimization suggestions output by the simulation, and update the throwing parameter optimization library; S703: Repeat steps S4-S7 until the fire is successfully extinguished, forming a closed-loop optimization control based on simulation.

[0022] Preferably, the finite element simulation module uses finite element simulation software to simulate and analyze the structure of the fire extinguishing ball and the throwing process, which also includes the simulation content of the throwing trajectory simulation, structure stress analysis, rupture determination simulation, and simulation-measured closed-loop verification process.

[0023] Compared with the existing technology, the beneficial effects achieved by the present invention are as follows: the robot of the present invention has the function of autonomous identification and real-time uploading of fire sources, which can improve the speed of response to initial fires; it can also cover remote closed areas by throwing, preventing people from approaching dangerous sources; at the same time, a double-layer fire extinguishing ball structure is designed to improve the packaging safety and release efficiency of the fire extinguishing agent, and has the ability of self-rupturing fire extinguishing; finite element simulation optimization is introduced to realize simulation prediction and parameter adjustment of throwing accuracy, structural strength and rupture reliability; the system can be deployed in high-risk places such as tunnels, warehouses, underground substations, and gas stations; and the system structure is compact and the manufacturing cost is low: it does not rely on complex communication or power supply lines, and is easy to deploy and expand applications. The throwing-type self-driven fire extinguishing robot system of the present invention has a reasonable structure, fast response, and reliable fire extinguishing, providing a new technical path for the intelligent handling of initial fires in unmanned environments, and has good practical value and industrial promotion prospects. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 This is a schematic diagram of the three-dimensional structure of a quadruped robot including a throwing mechanism and a fire extinguishing ball bin provided by an embodiment of the present invention; Figure 2 This is a flowchart of the steps of the operating method of the throwing type self-propelled fire extinguishing robot system provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of the simulation-measurement closed-loop verification process provided by an embodiment of the present invention; Figure 4 This is a cross-sectional view of a fire extinguishing ball with outer layer / inner layer / buffer cavity marked, provided by an embodiment of the present invention; Figure 5 This is a diagram of the fire extinguishing principle from impact rupture to heat absorption and oxygen isolation provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of the throwing process and ball force analysis using finite element simulation software provided by an embodiment of the present invention. DETAILED DESCRIPTION The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0024] Example 1: like Figure 1 As shown, this embodiment describes a throwing-type self-propelled fire-fighting robot system based on finite element simulation closed-loop optimization, including a throwing-type fire-fighting robot, which is composed of the following structures: a robot platform, a fire source identification module, a communication and control module, a throwing mechanism, and a fire-extinguishing ball storage and transportation device; In this embodiment, the robot platform includes a tracked or wheeled chassis for carrying the entire set of equipment and autonomously moving to the target fire area in complex sites, and a power unit supporting forward movement, steering and stability braking functions.

[0025] The fire source recognition module integrates an infrared thermal imager and a visible light camera, and realizes image recognition and target positioning of fire features through an edge computing module (such as an AI chip), with the ability to automatically extract and recognize high-temperature areas.

[0026] The communication and control module includes a wireless communication unit (such as a Wi-Fi or 4G module) and a main control chip, for uploading fire coordinates and image information to a remote monitoring platform in real time, and receiving operation instructions or parameter adjustment commands.

[0027] The throwing mechanism is installed on the top of the robot, including an adjustable-angle launching rail, a servo motor, and a spring / air pressure / mechanical arm driving device, which can realize automatic loading, positioning and launching of the fire extinguishing ball.

[0028] The fire extinguishing ball storage and conveying device is arranged at the rear or side of the robot, has a quantitative storage function of the fire extinguishing ball, and conveys the fire extinguishing ball to the throwing mechanism through a conveying track or feeding mechanism to complete automatic loading.

[0029] Embodiment 2: As shown in Figure 2 , the running process steps of the system described in this embodiment based on finite element simulation closed-loop optimization are as follows: S1: The throwing type fire extinguishing robot scans the front environment through the infrared and visible light dual-channel image acquisition module, identifies the fire source area and its spatial position; S2: After confirming the fire source, the throwing type fire extinguishing robot immediately uploads the fire image and coordinate information to the monitoring center through the wireless network, and synchronously triggers the local sound and light alarm device; S3: The main control module combines the relative position of the fire source and the pre-generated throwing parameter optimization library of the finite element simulation to automatically calculate the optimal throwing elevation angle, direction angle and initial speed and other parameters, and the simulation data provides key basis for the calculation to ensure that the parameters meet the throwing requirements under different distances and environments; In this embodiment, the specific running process steps of the main control module are as follows: S301: Fire coordinate input and preprocessing; For example, input the position coordinates of the fire source relative to the throwing type fire extinguishing robot obtained through infrared + visible light dual-channel positioning , and convert the position coordinates of the fire source into polar coordinate system parameters to calculate the horizontal distance , ; the height difference , ; current height, azimuth angle of the robot , azimuth angle reference value.

[0030] S302: dynamically compensate the environmental parameters; In this embodiment, the compensation factor is integrated, the environmental parameters are collected in real time, and the throwing model is corrected; the air density is obtained through the temperature and humidity sensor, which affects the air resistance coefficient ; the crosswind speed is obtained through the airflow sensor, the lateral offset of the trajectory is corrected, and the correction formula is as follows:

[0031] wherein, is the horizontal distance, is the air density compensation coefficient, is the crosswind speed, is the estimated flight time.

[0032] S303: query the finite element simulation parameter library.

[0033] In this embodiment, the matching logic is as follows: taking as the index, the closest working condition parameters are retrieved as the initial solution , represents the initial angle, represents the initial speed. The finite element simulation parameter library is shown in the following table:

[0034] S304: real-time optimization of the dynamics model.

[0035] In this embodiment, the trajectory equation considering gravity and air resistance is as follows:

[0036] wherein, is the time, is the gravitational acceleration, is the ball density, is the reference area, is the ball mass, and the iterative solution is as follows: taking the initial solution as the starting point, the gradient descent method is used to minimize the landing point deviation, and the objective function and optimization variables are represented as follows:

[0037]

[0038] wherein, represents the target horizontal coordinate, denotes the target longitudinal coordinate.

[0039] S305: Perform the rupture reliability constraint check.

[0040] In this embodiment, the key constraints to ensure the effective rupture of the fire extinguishing ball include the impact kinetic energy and the impact velocity , and the calculation formulas are as follows:

[0041]

[0042] wherein, denotes the kinetic energy threshold of the fire extinguishing ball rupture, i.e., the minimum kinetic energy required when the fire extinguishing ball hits the target, and is calibrated through simulation, , denotes, denotes the impact velocity, which needs to meet the safety window of 8-15 m / s.

[0043] S306: Output the final parameters.

[0044] In this embodiment, the output of the final parameters is performed according to the following decision logic, i.e., when the optimization solution meets the rupture constraint, output , denotes the optimal angle, denotes the optimal initial velocity; otherwise, the following conservative strategy is adopted: increase the elevation angle by to improve the landing point accuracy, and at the same time, increase the initial velocity by 10% to ensure the kinetic energy meets the standard, and finally execute the command to send to the servo control system of the throwing mechanism.

[0045] S4: Perform fire extinguishing ball loading and throwing; In this embodiment, the robot throwing mechanism is started according to the set parameters to accurately launch the fire extinguishing ball to the target fire source area. The parameter setting of this process is directly related to the simulation results of the throwing trajectory and force response in the simulation analysis, which guarantees the launching accuracy. The specific implementation process steps are as follows: S401: Perform parameter mapping and mechanism control.

[0046] In this embodiment, the finite element analysis pre-establishes a "driving parameter-initial velocity mapping table" as the basis for simulation, for example, a spring compression of 10 cm corresponds to v=12.5 m / s, to avoid the deviation between the theoretical model and the actual mechanism. The specific parameter mapping is shown in the following table:

[0047] S402: Real-time correction of the throwing trajectory.

[0048] In this embodiment, a dynamic compensation mechanism is constructed, the actual launch state is monitored by an inertial measurement unit (IMU) at the moment of launch, and if a deviation is detected, it is immediately triggered, for example, a deviation caused by the elevation angle deviation due to vibration; and a trajectory recalculation is performed, that is, based on the actual initial speed and the predicted landing point is corrected twice, and when the landing point deviates from the target by >0.5m, the robot rapid displacement compensation is started, at this time the response time of the four-legged platform <1s.

[0049] S403: structural stress protection design.

[0050] In this embodiment, the mechanical protection guided by simulation is performed, as shown in Figure 6 According to the results of finite element stress analysis, reinforcing ribs are added to the key parts of the guide rail hinge points in the throwing mechanism to ensure that the deformation is <0.1mm under the maximum launch load (simulation value: 1200N).

[0051] S5: Use the fire extinguishing ball to hit the fire source.

[0052] In this embodiment, the fire extinguishing ball breaks after contacting the flame or being hit, and releases potassium carbonate solution. Based on the dual fire extinguishing mechanism, the potassium carbonate solution absorbs heat and cools to below the ignition point of the combustible material, and at the same time, water mist and oxygen barrier is formed to achieve fire extinguishing, and the fire extinguishing efficiency of the process is related to the structure characteristics of the fire extinguishing ball, and the structure design has been verified by finite element simulation.

[0053] S6: The system judges whether the fire extinguishing is successful through visual feedback or temperature change, and decides whether to perform parameter optimization and repeated response according to the judgment result.

[0054] S7: Parameter optimization is performed in combination with the finite element simulation module and the throwing parameter optimization library.

[0055] In this embodiment, the specific operation process of the finite element simulation module is as follows.

[0056] S701: The system feeds back the results of this throwing, such as hit deviation, breaking condition, etc. to the simulation model, starts a new round of finite element simulation analysis, and simulates the throwing trajectory, structural stress and breaking behavior again; S702: According to the optimization suggestions output by the simulation, the parameters such as throwing angle and speed are adjusted, and the throwing parameter optimization library is updated; S703: Repeat the steps of "fire extinguishing ball loading and throwing" and the subsequent steps until the fire extinguishing is successful, forming a closed-loop optimization control based on simulation.

[0057] Embodiment 3 The throwing type fire extinguishing system of the application further introduces a finite element simulation analysis method, in combination with the figures, Figure 5 , Figure 6, mainly including fire extinguishing ball structure and simulation analysis process. To assist in optimizing the structure design and throwing parameter setting of fire extinguishing ball.

[0058] In the embodiment, the fire extinguishing ball structure is designed as follows: the fire extinguishing ball is in a spherical shape, adopts a double-shell structure, and includes an outer shell layer, an inner container layer, a liquid fire extinguishing agent, and an intermediate cavity. The liquid fire extinguishing agent is potassium carbonate solution; the outer shell layer is made of polyvinyl chloride (PVC) and has a thickness of 1.5-3 mm, which has basic flight stability and pressure resistance. The inner container layer is a breakable plastic or thin-walled glass shell, which is filled with high-concentration potassium carbonate solution and is designed to have a breaking pressure of 1.5-2.5 MPa. The cavity layer is arranged between the outer shell and the inner shell, which is used to buffer the throwing impact force and reduce the risk of accidental explosion, and forms a stress concentration area under the action of high temperature or impact to guide the inner shell to break.

[0059] For example, the specific fire extinguishing principle is that the fire extinguishing ball breaks after hitting the fire source or being heated to a critical temperature, and releases the potassium carbonate solution. The solution lowers the local temperature by rapidly absorbing heat, and releases CO2 and water mist in the reaction process, forming a gas phase barrier that isolates oxygen and quickly extinguishes the flame.

[0060] In the embodiment, the fire extinguishing ball structure is designed as follows: Figure 3 As shown in the figure, the finite element simulation software is used to simulate the structure and throwing process of the fire extinguishing ball, and the simulation content mainly includes the following four aspects: First, the trajectory simulation; In the embodiment, the flight dynamics model of the fire extinguishing ball is established, the initial speed, throwing angle and air resistance coefficient are set, and the flight path and hitting accuracy are simulated; a. The initialization parameter design is as follows: Input initial conditions: initial speed (12-18 m / s), elevation angle (30°-45°), and azimuth angle (0°-360°).

[0061] Load environmental parameters: air density (1.2 kg / m³), gravity acceleration (9.8 m / s²), and crosswind speed (0-5 m / s).

[0062] b. Construct the dynamics model and establish the six-degree-of-freedom motion equation of the fire extinguishing ball:

[0063] wherein, represents the initial velocity component of the fire extinguishing ball in the direction (horizontal direction), represents the initial velocity component of the fire extinguishing ball in the direction (vertical direction), represents the initial velocity component of the fire extinguishing ball in the acceleration in the direction (horizontal direction), acceleration in the direction (vertical direction), acceleration in the direction (vertical direction), acceleration in the direction (vertical direction),

[0064] c. Numerical solution of trajectory The fourth-order Runge-Kutta method is used for solving, and the time step is set to Through loop calculation, until the landing condition y(t) ≤ 0 is triggered.

[0065] d. Hit accuracy evaluation Calculate the Euclidean distance between the landing point and the target fire source: ; Output results: flight time, landing coordinates, velocity vector, and hit error.

[0066] e. Sensitivity analysis (batch mode) Disturb the initial speed and elevation angle within ±10%, perform 100 simulations, and generate a hit probability distribution cloud map.

[0067] Second aspect: structural stress analysis; In this embodiment, a two-dimensional / three-dimensional shell model of the fire extinguishing ball is established, external impact load is applied, and stress distribution and strain cloud map under different thickness and material are analyzed; a. Three-dimensional modeling and meshing In this embodiment, the fire extinguishing ball CAD model composed of outer PVC shell + inner glass container + buffer cavity is imported, and mixed mesh is divided: S4R unit (size 0.5 mm) is used for shell, AC3D8 acoustic unit is used for cavity, and local encryption (minimum unit 0.1 mm) is added in stress concentration area.

[0068] b. Material property definition

[0069] c. Load and boundary conditions Case 1: Launch impact: Apply Z-direction acceleration 100g (last for 5 ms).

[0070] Case 2: Impact load: Apply 15 MPa dynamic pressure (pulse width 2 ms) in the equatorial region of the ball.

[0071] Case 3: Thermal load: Apply 300℃ convection heat transfer (coefficient 50 W / m²·K) on the outer surface.

[0072] d. Solution and post-processing The following results are extracted using a running explicit dynamic solver (time step 1e-6 s): maximum principal stress contour (identifying stress concentration zones), equivalent plastic strain distribution, structure safety factor matrix.

[0073] Third aspect: rupture determination simulation; In this embodiment, based on the material failure criterion, the yield strength and fracture strain conditions are set to determine the rupture time point and area of the sphere under the action of thermal / force coupling.

[0074] a. Failure criterion setting: Mechanical failure: PVC layer is set to von Mises stress > 35 MPa or plastic strain > 0.6; Glass layer is set to: maximum principal stress > 70 MPa.

[0075] b. Thermal-mechanical coupling failure: Set the interface temperature > 80℃ and the thermal stress > critical value.

[0076] c. Crack propagation simulation: Enable the XFEM (extended finite element method) module and define the initial position of the crack: the maximum stress element.

[0077] Set the crack propagation criterion: energy release rate criterion (Gc = 0.5 kJ / m²).

[0078] d. Rupture behavior output Output the rupture initiation time (ms level accuracy), crack propagation path animation, and extinguishing agent release rate curve.

[0079] Fourth aspect: simulation-measurement closed-loop verification process a. Perform live ammunition test data collection: In this embodiment, the drop point position is recorded by high-speed photography (error within ± 0.01 m), the rupture time is captured by acoustic emission sensors (accuracy within ± 0.1 ms), and the shell stress peak is measured by strain gauges.

[0080] b. Error analysis and model calibration

[0081] c. Parameter library update rules If the hit error > 1 m: recalibrate the trajectory model; If the rupture position deviation > 30°: optimize the material failure criterion; If the extinguishing agent diffusion time difference > 10 ms: adjust the fluid coupling parameters.

[0082] Execution points include: The trajectory simulation needs to be completed in 5 minutes for a single calculation (GPU acceleration); The structural stress analysis adopts a submodel technique, and the single grid in the key area is separately encrypted; The fracture determination simulation must include the residual stress effect (considering the influence of the manufacturing process); This process is certified by the ISO 9001 quality system, and supports the virtual verification of the fire extinguishing robot before batch production.

[0083] In summary, the embodiment of the application integrates fire source detection, alarm and throwing double-layer potassium carbonate fire extinguishing ball functions into one robot system, realizes automatic early-stage fire fighting. The system hardware and process are simple and reliable, the use of semantic and computer vision technologies improves the fire source identification efficiency, and the heat absorption and oxygen isolation characteristics of potassium carbonate at high temperature are used to achieve fire extinguishing, achieving the purpose of quickly extinguishing early-stage fires and reducing personnel casualties.

[0084] Example 4 In this embodiment, the application is further illustrated in combination with the disposal of pipeline leakage fire in a chemical plant: 1. Set the following scene parameters

[0085] The system executes the following specific process 1. Fire source identification and positioning In this embodiment, the specific identification process is as follows: the robot is 20m away from the fire source and starts scanning, the infrared thermal imager detects a 120℃ high temperature area (threshold > 80℃); the visible light camera captures the flame shape (RGB feature code: R>220, G<50, B<30); the edge AI chip fuses the dual-channel data and outputs the fire source center coordinates (15.2m, 3.5m, 0.5m), with a positioning error of ±0.08m.

[0086] Alarm uploading: transmit the fire field temperature distribution map to the monitoring center through the 5G module. This embodiment proves the feasibility and high efficiency of the system of the application in remote automatic response, fire extinguishing precision control and simulation prediction accuracy.

[0087] 2. Optimal calculation of throwing parameters

[0088] 3. Throwing execution and dynamic correction Mechanism control: adjust the launch rail pitch angle to 33.7° (encoder feedback error ±0.03°); rotate the chassis by 21.5° (SLAM calibration error <0.3°); pressurize the pneumatic drive to 0.65MPa .

[0089] Dynamic Correction: At the moment of ejection, the IMU detects an elevation deviation of +0.8° due to uneven ground. The system immediately recalculates the trajectory and predicts a 1.2m offset in the landing point. The four-legged platform moves 0.7m laterally (takes 0.8s) to compensate for the error.

[0090] 4. Fire Extinguishing Effect Evaluation Fire Extinguishing Ball Action: The landing point is 0.7m from the center of the fire source (verified by high-speed photography); the equatorial region breaks 12ms after impact (simulation predicted value 10ms); the potassium carbonate solution covers an area (Design value ≥ 3.0 ).

[0091] Fire Extinguishing Effect: The fire temperature drops from 120°C to 65°C within 5 seconds; infrared monitoring shows that the fire has decreased by 80%, but the residual fire points have not been completely extinguished.

[0092] 5. Closed-loop Parameter Optimization

[0093] Second Throwing Results: The landing point deviation is 0.15m, and the fire extinguishing agent fully covers the fire area; the fire is completely extinguished within 10 seconds, and the temperature drops to 40°C.

[0094] For example, the finite element simulation closed-loop verification is as follows: 1. Pre-simulation parameter library generation Projectile trajectory simulation: # Core code snippet def ballistic_model(v0, theta, wind_speed): t, dt = 0, 0.001 x, y = 0, 1.2# Initial height 1.2m while y>0: vx = v0 * np.cos(theta) - wind_speed vy = v0 * np.sin(theta) - 9.8*t - 0.5*Cd*rho*A*(vy)**2 / m x += vx * dt y += vy * dt t += dt return x, y Output parameter library entries:

[0095] 2. Real-time feedback calibration model Fracture position calibration: simulation predicted fracture position: equatorial zone ± 15° (stress cloud); high-speed photography measured: equatorial zone + 22°; optimization measures: glass layer grid division encryption to 0.05mm, adjust the material brittleness parameters. Figure 6 Fracture position calibration: simulation predicted fracture position: equatorial zone ± 15° (stress cloud); high-speed photography measured: equatorial zone + 22°; optimization measures: glass layer grid division encryption to 0.05mm, adjust the material brittleness parameters.

[0096] It should be noted that the relative terms such as first and second, etc. are used herein only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0097] Finally, it should be noted that the above description is only for the preferred embodiments of the present application, and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will still be able to modify the technical solutions described in the foregoing embodiments, or make equivalent replacements to some of the technical features, as long as they are within the spirit and principles of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization, characterized by: The system includes a robot platform, a fire source identification module, a communication and control module, a throwing mechanism, a fire extinguishing ball storage and delivery device, and a finite element simulation and optimization module; The robotic platform is used to carry the entire set of equipment and autonomously move to the target fire source area; The fire source identification module is used to identify the fire source in the target area and upload the identification result to the communication and control module; The communication and control module includes a wireless communication unit and a main control module including a main control chip, which is used to receive image recognition results and generate throwing parameters; The throwing mechanism is used to launch the fire extinguishing ball to the target fire source according to the generated throwing parameters; The fire extinguishing ball storage and delivery device is used to deliver the fire extinguishing balls to the throwing mechanism through a transmission track or a feeding mechanism to complete automatic loading; The finite element simulation optimization module is used to perform simulation analysis based on the sphere structure and flight state, and optimize the throwing angle, initial velocity and sphere structure parameters.

2. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 1 is characterized in that: The robot in the robot platform is a quadruped robot equipped with a drive motor, a positioning module and an obstacle avoidance sensor; The fire extinguishing ball is a double-layer sphere, comprising an outer shell, an inner container, and a potassium carbonate solution filled in the inner container. A buffer cavity is provided between the outer and inner layers of the fire extinguishing ball structure, which is used to promote stress concentration and preferentially cause the outer shell or inner container to rupture at a predetermined location when the fire extinguishing ball hits the target, ensuring the effective release of the potassium carbonate solution inside. The throwing mechanism further comprises a launching guide rail, a servo motor, a spring release device or a pneumatic drive.

3. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 1 is characterized in that: The system operation steps are as follows: S1: Throwing fire-fighting robots use infrared thermal imagers and visible light cameras to perform dual-channel scanning of the target area environment, perform image recognition of fire source characteristics and target positioning; S2: After confirming the fire source, the throwing fire extinguishing robot immediately uploads the fire source image and coordinate information to the monitoring center via the wireless network, and simultaneously triggers the local sound and light alarm device; S3: The main control module automatically calculates the optimal throwing elevation angle, direction angle, and initial velocity parameters by combining the relative position of the fire source with the throwing parameter optimization library pre-generated by finite element simulation. S4: The robot throwing mechanism is activated according to the set parameters. The robot throwing mechanism automatically loads the fire extinguishing ball and launches it to the target fire source area; S5: The launched fire extinguishing ball breaks upon contact with the flame or impact, releasing potassium carbonate solution, extinguishing the fire based on the dual fire extinguishing mechanism; The dual fire extinguishing mechanism is: the potassium carbonate solution absorbs heat and cools down to below the ignition point of the combustible, and decomposes to produce water mist and Forming an oxygen barrier; S6: The system determines whether the fire extinguishing is successful through visual feedback or temperature changes, and decides whether to optimize parameters or repeat the response based on the judgment result; S7: The finite element simulation module is combined with the throwing parameter optimization library to perform iterative optimization of parameters.

4. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 3, characterized in that: The operation steps of the main control module are as follows: S301: Inputting the position coordinate data of the fire source relative to the throwing type fire extinguishing robot obtained by infrared and visible light dual-channel positioning, and converting the position coordinates of the fire source into polar coordinate system parameters; S302: Incorporating compensation factors to dynamically compensate for environmental parameters and modify the throwing model; S303: searching the finite element simulation parameter library according to the set matching logic; S304: performing real-time optimization of the dynamic model including the objective function and variables; S305: Perform fracture reliability constraint verification and calculate key constraints including impact kinetic energy and impact velocity; S306: Output the final parameters according to the decision logic.

5. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 4, characterized in that: The specific operation method steps of the throwing mechanism are as follows: S401: Finite element analysis pre-establishes a "drive parameter-initial velocity mapping table" as a simulation basis, and performs parameter mapping and mechanism control; S402: Correct the throwing trajectory in real time; S403: Simultaneously perform mechanical protection guided by simulation.

6. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 5, characterized in that: The real-time correction of the throwing trajectory includes: building a dynamic compensation mechanism, monitoring the actual launch status through the inertial measurement unit at the moment of launch, and immediately triggering if a deviation is detected, and recalculating the trajectory, that is, predicting the landing point based on the actual initial velocity and actual elevation angle, and performing a secondary correction. When the landing point deviates from the target set threshold, the robot is activated for rapid displacement compensation.

7. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 6, characterized in that: The specific operation method steps of the finite element simulation module are as follows: S701: The system feeds back the throwing results, including the hit deviation and fracture situation, to the simulation model, and initiates a new round of finite element simulation analysis to re-simulate the throwing trajectory, structural stress, and fracture behavior. S702: Adjust the throwing angle and speed parameters according to the optimization suggestions output by the simulation, and update the throwing parameter optimization library; S703: Repeat steps S4-S7 until the fire is extinguished successfully, forming a closed-loop optimization control based on simulation.

8. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 7, characterized in that: The finite element simulation module uses finite element simulation software to simulate and analyze the fire extinguishing ball structure and throwing process, and also includes simulation content of throwing trajectory simulation, structural stress analysis, rupture judgment simulation, and simulation-actual measurement closed-loop verification process.

9. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 8, characterized in that: The implementation steps of the throwing trajectory simulation include: a. Input initial conditions and load environmental parameters; b. Construct a dynamic model and establish the six-degree-of-freedom motion equation of the fire extinguishing ball; c. Use the fourth-order Runge-Kutta method for numerical solution, set the time step and perform loop calculations until the landing condition is triggered; d. Calculate the Euclidean distance between the landing point and the target fire source, evaluate the hit accuracy, and output the evaluation results of flight time, landing point coordinates, velocity vector, and hit error; e. Perturb the initial velocity and elevation angle within the set range, perform multiple simulations, generate a hit probability distribution cloud map, and perform sensitivity analysis in batch mode; The steps for implementing the structural stress analysis include: a. Perform 3D modeling and meshing; b. Definition of material properties; c. Set loads and boundary conditions; d. Run the explicit dynamics solver to extract the following results: maximum principal stress contour, equivalent plastic strain distribution, and structural safety factor matrix.

10. The throwing-type self-propelled fire-fighting robot system and method based on finite element simulation closed-loop optimization according to claim 8, characterized in that: The implementation steps of the rupture determination simulation include: a. Set failure criteria; b. Define the failure conditions of thermal-mechanical coupling; c. Simulate crack growth; d. Output rupture behavior The steps of the simulation-measurement closed-loop verification process include: a. Conduct live-fire test data collection; b. Perform error analysis and model calibration; c. Define parameter library update rules.

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