A fire source positioning device and method for intelligent robots

Abstract

The application discloses a fire source positioning device and method for an intelligent robot, and relates to the technical field of fire-fighting robots. The application has high-precision positioning, adopts multiple memory metal sheets to form 360-degree monitoring of thermal radiation, and combines with air flow monitoring by a wind pressure strain gauge, so that the position of the fire source can be quickly corrected when the position of the fire source changes, and accurate fire source direction information is provided. The application has a metal shielding layer and a shock-absorbing and heat-insulating layer, effectively shields external interference, ensures stable operation of the monitoring device, effectively reduces the risk of electromagnetic interference and damage of electronic components, accurately determines the direction of the fire source, and provides strong support for efficient operation of the fire-fighting robot and fire extinguishing.

Description

Technical Field

[0001] This invention relates to the field of fire-fighting robot technology, specifically to a fire source positioning device and method for an intelligent robot. Background Technology

[0002] With the rapid development of modern society, various fire accidents occur frequently, placing higher demands on fire rescue work. As an important piece of firefighting equipment, firefighting robots can replace firefighters in dangerous environments such as high temperatures, dense smoke, and toxic substances, effectively protecting the lives of firefighters.

[0003] In existing firefighting robot technologies, temperature measurement is a key element in locating fire sources and monitoring fire intensity.

[0004] Currently, traditional firefighting robots mostly use infrared thermal imaging technology to locate fire sources. However, infrared thermal imaging technology has many limitations:

[0005] On the one hand, infrared thermal imaging equipment is highly dependent on power supply. Under the complex power supply conditions at the fire scene, the stability of the power supply is difficult to guarantee. Once the power supply fails, the infrared thermal imaging equipment will not be able to work properly, thus affecting the fire robot's monitoring and location of the fire source.

[0006] On the other hand, fire scenes often involve strong electromagnetic interference, which makes infrared thermal imaging equipment highly susceptible to. This can lead to decreased image quality, misjudgments, and an inability to accurately determine the location and temperature of the fire source. Furthermore, the electronic components of infrared thermal imaging are highly precise and require stringent operating environments. Under high temperatures, these components are easily damaged, significantly reducing the reliability of the infrared thermal imaging equipment.

[0007] Therefore, a new solution is needed to address the above problems. Summary of the Invention

[0008] The purpose of this invention is to provide a fire source location device and method for intelligent robots, which aims to solve the problem of accurate and reliable temperature measurement and fire source location for fire-fighting robots in complex fire environments, and provide strong support for the efficient operation of fire-fighting robots and fire fighting work.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a fire source positioning device for an intelligent robot, comprising a device body, a thermal radiation and airflow monitoring device, and a signal processing and intelligent control device, wherein the thermal radiation and airflow monitoring device and the signal processing and intelligent control device are provided in the device body;

[0010] The main body of the device is used to house and protect the thermal radiation and airflow monitoring devices.

[0011] The main body of the device includes a fixing device, a detection layer support structure, a metal shielding layer, and a shock-absorbing and heat-insulating layer. The fixing device is used to adjust the height and angle of the fire source positioning device. The top of the fixing device is fixedly connected to the detection layer support structure. A metal shielding layer is provided on the inner side of the detection layer support structure. The metal shielding layer is used to shield the influence of external electromagnetic interference signals on the internal electronic components. A shock-absorbing and heat-insulating layer is provided on the inner side of the metal shielding layer. The shock-absorbing and heat-insulating layer is used to protect the internal electronic components and reduce the influence of vibration and high temperature on the internal components.

[0012] Furthermore, the detection layer support structure is spherical and is used for thermal radiation and airflow monitoring devices. The material of the detection layer support structure is metal, thereby meeting the heat resistance requirements.

[0013] Furthermore, the thermal radiation and airflow monitoring device includes a shape memory metal sheet, a wind pressure strain gauge, a limiter, an iron core, an induction coil, and a programmable resistor. The shape memory metal sheet is uniformly and densely fixed within the detection layer support structure, and is used to convert the received thermal radiation into deformation. A wind pressure strain gauge is fixedly connected to the center of the shape memory metal sheet, and is used to monitor the airflow magnitude. An iron core is installed at the lower end of the shape memory metal sheet, and is used to convert deformation into displacement. The material of the iron core includes at least high permeability permalloy. An induction coil is arranged on the outside of the iron core, and is used to convert the displacement of the iron core into coil inductance. A programmable resistor is arranged on the induction coil, and is used to locate the position of the thermal radiation and airflow monitoring device.

[0014] Furthermore, the wind pressure strain gauges are arranged in an intersecting pattern using multiple gauges.

[0015] The memory metal sheet is a bimetallic sheet. The bottom surface of the memory metal sheet is made of radiation-absorbing material to facilitate the absorption of heat radiation. The top surface of the memory metal sheet is covered with a high-temperature resistant coating to slow down oxidation and corrosion.

[0016] Furthermore, the signal processing and intelligent control device includes a power supply, a signal processing module, an intelligent control module, an operational amplifier, a protection resistor, and a current transformer. The current transformer is connected to the induction coil and is used to amplify the generated current signal. The operational amplifier is located at the output terminal of the current transformer and is used to amplify the signal a second time. The protection resistor is located on the secondary signal amplification circuit of the operational amplifier and is used to protect the electronic components in the secondary circuit. The signal processing module is connected to the secondary signal amplification circuit and is used to process the amplified electrical signal.

[0017] The intelligent control module, power supply, and signal processing module are interconnected and are all located in the center of the main body of the device.

[0018] A method for intelligent robots to locate themselves using a fire source includes at least the following:

[0019] S1: Deploy the fire source positioning device for the intelligent robot as needed for detection;

[0020] S2: Utilize multiple thermal radiation and airflow monitoring devices arranged 360° at the main body of the device to monitor the magnitude of thermal radiation transmitted from different locations in the space;

[0021] S3: When the temperature of the memory metal sheet rises, it will deform, which in turn will cause the iron core fixed behind the memory metal sheet to shift, converting the temperature signal into an electrical signal.

[0022] S4: Amplify the induced electromotive force using a current transformer and an operational amplifier;

[0023] S5: The amplified induced electromotive force monitored by the processing module can be used to deduce the location of the fire source;

[0024] S6: When the position of the intelligent robot changes, repeat steps 2-5 to continuously correct the reversed fire source position.

[0025] Furthermore, the monitoring of the magnitude of thermal radiation transmitted from different locations within the space in step S2 includes at least the following steps:

[0026] Firstly, when the shape memory metal sheet receives external radiation, its temperature rises, and the rate of temperature rise is directly proportional to the radiation intensity and the area, that is:

[0027]

[0028] Where α is the absorption coefficient, representing the proportion of radiant energy absorbed per unit area of ​​the shape memory sheet; m is the mass of a single shape memory sheet; C is the specific heat capacity of the shape memory sheet; I is the external radiation intensity; and S is the area of ​​the shape memory sheet.

[0029] For each memory metal sheet, the received radiation intensity Ii can be expressed as:

[0030]

[0031] Where Q is the total radiant power of the fire source; max(D cosγ) i -R,0) is a boundary condition that ensures the metal plate facing the fire source receives thermal radiation; D is the distance from the fire source to the center of the sphere; R is the radius of the sphere; γ i It is the angle between the direction of the fire source and the direction of the detector i.

[0032] Furthermore, the conversion of the temperature signal into an electrical signal in step S3 includes at least the following steps:

[0033] Δx=kΔT (4)

[0034] Where Δx is the displacement of the iron core below the shape memory metal; k is the correction factor; and ΔT is the temperature rise of the shape memory metal sheet.

[0035] As the iron core moves within the induction coil, an induced electromotive force ε0 is generated:

[0036]

[0037] Where N is the number of turns of the induction coil, and Φ is the magnetic flux;

[0038] The displacement of the iron core within the induction coil causes a change in magnetic flux. When the magnetic induction intensity is uniform, the change in magnetic flux is expressed as:

[0039] ΔΦ=B·A·Δx (6)

[0040] Where B is the magnetic flux density and A is the area of ​​the induction coil;

[0041] Therefore, the induced electromotive force is expressed as ε0=-N·B·A·Δx(7).

[0042] Furthermore, the amplified induced electromotive force in S4 is expressed as follows:

[0043] ε out =n1·n2·ε0 (8)

[0044] Where n1 is the amplification factor of the mutual inductor and n2 is the amplification factor of the operational amplifier.

[0045] Furthermore, the location of the reverse-propagation ignition source includes at least the following steps:

[0046] According to formulas (1)-(8), the thermal radiation received on the shape memory metal sheet (20)i is:

[0047]

[0048] Convert the fire source location parameters into spherical coordinates. Where θ is the polar angle. It is the azimuth angle;

[0049]

[0050] in These are the spherical coordinates of the memory metal piece i;

[0051] First, calculate the composite vector:

[0052]

[0053] Where n i Let D be the unit vector of the normal direction of the memory metal sheet i. Assuming the far-field approximation (D >> R), the initial D0 can be estimated by the intensity of the maximum radiation.

[0054] Define the error function:

[0055]

[0056] Using the input metal sheet position value and measurement value Ii, an initial E value is set, and the parameters are updated using an optimization algorithm. This process is repeated until convergence, while regularization is introduced to prevent overfitting, thus determining the location of the fire source.

[0057] Compared with the prior art, the beneficial effects of the present invention are:

[0058] 1. This invention features high-precision positioning, employing multiple shape memory metal sheets to form a 360° monitoring thermal radiation, and combining it with wind pressure strain gauges to monitor airflow, ensuring that the position of the fire source can be quickly corrected when the fire source location changes, providing accurate fire source direction information;

[0059] 2. This invention has a metal shielding layer and a shock-absorbing and heat-insulating layer, which effectively shields external interference, ensures the stable operation of the monitoring device, and effectively reduces the risk of electromagnetic interference and damage to electronic components. It can accurately determine the direction of the fire source and provide strong support for the efficient operation of fire-fighting robots and fire fighting. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0062] Figure 2 This is a schematic diagram of the temperature and airflow monitoring device of the present invention before deformation.

[0063] Figure 3 This is a schematic diagram of the deformed structure of the temperature and airflow monitoring device of the present invention.

[0064] in:

[0065] 1. Main body of the device; 10. Fixing device; 11. Detection layer support structure; 12. Metal shielding layer; 13. Vibration damping and heat insulation layer; 2. Temperature and airflow monitoring device; 20. Memory metal sheet; 21. Wind pressure strain gauge; 22. Limiter; 23. Iron core; 24. Induction coil; 25. Programmable resistor; 3. Signal processing and intelligent control device; 30. Power supply; 31. Signal processing module; 32. Intelligent control module; 33. Operational amplifier; 34. Protective resistor; 35. Current transformer. Detailed Implementation

[0066] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0067] Example 1

[0068] A fire source positioning device for an intelligent robot includes a main body 1, a thermal radiation and airflow monitoring device 2, and a signal processing and intelligent control device 3. The main body 1 is equipped with the thermal radiation and airflow monitoring device 2 and the signal processing and intelligent control device 3.

[0069] The main body 1 of the device is used to house the thermal radiation and airflow monitoring device 2 and to provide protection for it;

[0070] The main body 1 of the device includes a fixing device 10, a detection layer support structure 11, a metal shielding layer 12, and a shock-absorbing and heat-insulating layer 13. The fixing device 10 is used to adjust the height and angle to adjust the position of the fire source positioning device. The top of the fixing device 10 is fixedly connected to the detection layer support structure 11. The metal shielding layer 12 is provided on the inner side of the detection layer support structure 11. The metal shielding layer 12 is used to shield the influence of external electromagnetic interference signals on internal electronic components. The shock-absorbing and heat-insulating layer 13 is provided on the inner side of the metal shielding layer 12. The shock-absorbing and heat-insulating layer 13 is used to protect internal electronic components and reduce the influence of vibration and high temperature on internal components.

[0071] The detection layer support structure 11 is spherical and is used for thermal radiation and airflow monitoring devices. The material of the detection layer support structure 11 is metal, thereby meeting the heat resistance requirements. A heat insulation layer can be added between the detection layer support structure 11 and the metal shielding layer 12.

[0072] like Figure 2As shown, the thermal radiation and airflow monitoring device 2 includes a shape memory metal sheet 20, a wind pressure strain gauge 21, a limiter 22, an iron core 23, an induction coil 24, and a programmable resistor 25. The shape memory metal sheet 20 is uniformly and densely fixed within the detection layer support structure 11. The shape memory metal sheet 20 is used to convert the received thermal radiation into shape variables. A wind pressure strain gauge 21 is fixedly connected to the center of the shape memory metal sheet 20. The wind pressure strain gauge 21 is used to monitor the airflow magnitude. An iron core 23 is installed at the lower end of the shape memory metal sheet 20. The iron core 23 is used to convert the deformation into displacement. The material of the iron core 23 includes at least high permeability permalloy. An induction coil 24 is arranged on the outside of the iron core 23. The induction coil 24 is used to convert the displacement of the iron core 23 into coil inductance. A programmable resistor 25 is arranged on the induction coil 24. The programmable resistor 25 is used to locate the position of the thermal radiation and airflow monitoring device 2.

[0073] like Figure 3 As shown, the wind pressure strain gauge 21 is constructed using multiple intersecting plates. When the shape memory metal plate 20 deforms, the airflow encounters the concave metal plate, forming a vortex inside, causing the vertical wind pressure strain gauge 21 to be subjected to vertical wind pressure. This design effectively filters out the wind pressure generated by the robot's movement, monitors the source and magnitude of hot airflow, and helps determine the direction of the fire source.

[0074] The memory metal sheet 20 is a bimetallic sheet. The bottom surface of the memory metal sheet 20 is made of radiation-absorbing material to facilitate the absorption of heat radiation. The top surface of the memory metal sheet 20 is covered with a high-temperature resistant coating to slow down oxidation and corrosion.

[0075] The shape memory metal sheet 20 heats up under the radiation, causing it to deform and move within the coil 24, generating an induced current. Different levels of thermal radiation result in different temperature rises, varying degrees of deformation in the shape memory metal sheet 20, and consequently, different magnitudes of induced currents. By analyzing the magnitudes of the induced currents generated by the multiple shape memory metal sheets 20 arranged 360° on the device surface, the source and direction of the thermal radiation can be comprehensively determined. When the intelligent robot moves, the magnitude of the thermal radiation changes, and the monitored thermal radiation on the device surface also changes. By comparing the difference in thermal radiation before and after the movement, the source and direction of the thermal radiation can be further corrected.

[0076] The signal processing and intelligent control device 3 includes a power supply 30, a signal processing module 31, an intelligent control module 32, an operational amplifier 33, a protection resistor 34, and a current transformer 35. The current transformer 35 is connected to the induction coil 24 and is used to amplify the generated current signal. The operational amplifier 33 is located at the output end of the current transformer 35 and is used to amplify the signal a second time. The protection resistor 34 is located on the secondary signal amplification circuit of the operational amplifier 33 and is used to protect the electronic components in the secondary circuit. The signal processing module 31 is connected to the secondary signal amplification circuit and is used to process the amplified electrical signal. The intelligent control module 32, the power supply 30, and the signal processing module 31 are interconnected and are all located at the center of the device body 1. The intelligent control module 32 is used to control the lifting, rotation, etc. of the fire source positioning device, and the power supply 30 is used to supply power to the circuit.

[0077] A two-stage amplification circuit converts minute deformation signals into electrical signals. Simultaneously, by utilizing a signal processing module and an intelligent control module, comprehensive processing of all signals can be achieved, thereby comprehensively determining the direction of the fire source.

[0078] During operation, the shape memory metal sheet 20 receives heat radiation from the fire source, deforms, and causes the iron core 23 to move within the induction coil 24, generating an induced current. Simultaneously, the wind pressure strain gauge 21 monitors the airflow magnitude. The induced current is amplified by the current transformer 35 and operational amplifier 33, processed by the signal processing module 34, and then used by the intelligent control module 32 to comprehensively determine the direction of the fire source. When the intelligent robot moves, the source and direction of the fire source are further corrected by comparing the difference in heat radiation before and after the movement.

[0079] Example 2:

[0080] This embodiment proposes a method for intelligent robots to locate fire sources based on the above embodiments, which includes at least the following:

[0081] S1: Deploy the fire source positioning device for the intelligent robot as needed for detection;

[0082] The fixing device 10 is usually folded and placed. When it is necessary to locate the fire source, the intelligent control module 32 is used to control the unfolding and conditions of the fixing device, so as to realize the position change and fixation of the fire source locating device.

[0083] S2: Using multiple thermal radiation and airflow monitoring devices 2 arranged 360° on the main body 1 of the device, the magnitude of thermal radiation transmitted from different locations in the space is monitored.

[0084] S3: When the temperature of the memory metal sheet 20 rises, it will deform, which will in turn drive the iron core 23 fixed behind the memory metal sheet 20 to move, converting the temperature signal into an electrical signal.

[0085] S4: The induced electromotive force is amplified by using the current transformer 35 and the operational amplifier 33;

[0086] S5: The amplified induced electromotive force monitored by the processing module can be used to deduce the location of the fire source;

[0087] S6: When the position of the intelligent robot changes, repeat steps 2-5 to continuously correct the reversed fire source position.

[0088] Monitoring the magnitude of thermal radiation transmitted from different locations within space in S2 includes at least the following steps:

[0089] Firstly, after receiving external radiation, the shape memory metal sheet 20 experiences a temperature rise, and the rate of temperature rise is directly proportional to the radiation intensity and the area, that is:

[0090]

[0091] Where α is the absorption coefficient, representing the proportion of radiant energy absorbed per unit area of ​​the shape memory metal sheet 20; m is the mass of a single shape memory metal sheet 20; C is the specific heat capacity of the shape memory metal sheet 20; I is the external radiation intensity; and S is the area of ​​the shape memory metal sheet 20.

[0092] For each memory metal sheet 20, the received radiation intensity Ii can be expressed as:

[0093]

[0094]

[0095] Where Q is the total radiant power of the fire source; max(D cosγ) i -R,0) is a boundary condition that ensures the metal plate facing the fire source receives thermal radiation; D is the distance from the fire source to the center of the sphere; R is the radius of the sphere; γ i It is the angle between the direction of the fire source and the direction of the detector i.

[0096] The conversion of a temperature signal into an electrical signal in S3 includes at least the following steps:

[0097] Δx=kΔT (4)

[0098] Where Δx is the displacement of the iron core 23 below the shape memory metal; k is the correction coefficient; and ΔT is the temperature rise of the shape memory metal sheet 20.

[0099] As the iron core 23 moves within the induction coil 24, an induced electromotive force ε0 is generated:

[0100]

[0101] Where N is the number of turns of induction coil 24, and Φ is the magnetic flux;

[0102] The displacement of the iron core 23 within the induction coil 24 causes a change in magnetic flux. When the magnetic induction intensity is uniform, the change in magnetic flux is expressed as:

[0103] ΔΦ=B·A·Δx (6)

[0104] Where B is the magnetic flux density and A is the area of ​​the induction coil 24;

[0105] Therefore, the induced electromotive force is expressed as ε0=-N·B·A·Δx(7).

[0106] The amplified induced electromotive force in S4 is expressed as:

[0107] ε out =n1·n2·ε0 (8)

[0108] Where n1 is the amplification factor of the mutual inductor 35 and n2 is the amplification factor of the operational amplifier 33.

[0109] Tracing the location of the fire source involves at least the following steps:

[0110] According to formulas (1)-(8), the thermal radiation received by the shape memory metal sheet 20i is:

[0111]

[0112] Convert the fire source location parameters into spherical coordinates. Where θ is the polar angle. It is the azimuth angle;

[0113]

[0114] in The coordinates of the shape memory metal sheet (20)i are spherical coordinates;

[0115] First, calculate the composite vector:

[0116]

[0117] Where n i Let D be the unit vector of the normal direction of the memory metal sheet 20i. Assuming the far-field approximation (D >> R), the initial D0 can be estimated by the intensity of the maximum radiation.

[0118] Define the error function:

[0119]

[0120] Using the input metal sheet position value and measurement value Ii, an initial E value is set, and the parameters are updated using an optimization algorithm. This process is repeated until convergence, while regularization is introduced to prevent overfitting, thus determining the location of the fire source.

[0121] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A fire source positioning device for an intelligent robot, characterized in that: It includes a main body (1), a thermal radiation and airflow monitoring device (2), and a signal processing and intelligent control device (3). The main body (1) is equipped with the thermal radiation and airflow monitoring device (2) and the signal processing and intelligent control device (3). The main body of the device (1) is used to house the thermal radiation and airflow monitoring device (2) and to provide protection; The main body (1) of the device includes a fixing device (10), a detection layer support structure (11), a metal shielding layer (12), and a shock-absorbing and heat-insulating layer (13). The fixing device (10) is used to adjust the height and angle to adjust the position of the fire source positioning device. The top of the fixing device (10) is fixedly connected to the detection layer support structure (11). The inner side of the detection layer support structure (11) is provided with a metal shielding layer (12). The metal shielding layer (12) is used to shield the influence of external electromagnetic interference signals on the internal electronic components. The inner side of the metal shielding layer (12) is provided with a shock-absorbing and heat-insulating layer (13). The shock-absorbing and heat-insulating layer (13) is used to protect the internal electronic components and reduce the influence of vibration and high temperature on the internal components. The thermal radiation and airflow monitoring device (2) includes a shape memory metal sheet (20), a wind pressure strain gauge (21), a limiter (22), an iron core (23), an induction coil (24), and a programmable resistor (25). The shape memory metal sheet (20) is uniformly and densely fixed within the detection layer support structure (11). The shape memory metal sheet (20) is used to convert the received thermal radiation into shape variables. A wind pressure strain gauge (21) is fixedly connected to the center of the shape memory metal sheet (20). The wind pressure strain gauge (21) is used to monitor the magnitude of the airflow. The lower end of the memory metal sheet (20) is equipped with an iron core (23), which is used to convert deformation into displacement. The material of the iron core (23) includes at least high permeability permalloy. An induction coil (24) is provided on the outside of the iron core (23). The induction coil (24) is used to convert the displacement of the iron core (23) into coil inductance. A programmable resistor (25) is arranged on the induction coil (24). The programmable resistor (25) is used to locate the position of the thermal radiation and airflow monitoring device (2).

2. The fire source positioning device for an intelligent robot according to claim 1, characterized in that: The detection layer support structure (11) is spherical and is used to mount the thermal radiation and airflow monitoring device (2). The material of the detection layer support structure (11) is metal, thereby meeting the heat resistance requirements.

3. The fire source positioning device for an intelligent robot according to claim 1, characterized in that: The wind pressure strain gauge (21) is arranged in a multi-intersecting pattern; The memory metal sheet (20) is a bimetallic sheet. The bottom surface of the memory metal sheet (20) is made of radiation-absorbing material to facilitate the absorption of heat radiation. The top surface of the memory metal sheet (20) is covered with a high-temperature resistant coating to slow down oxidation and corrosion.

4. The fire source positioning device for an intelligent robot according to claim 1, characterized in that: The signal processing and intelligent control device (3) includes a power supply (30), a signal processing module (31), an intelligent control module (32), an operational amplifier (33), a protection resistor (34), and a current transformer (35). The current transformer (35) is connected to the induction coil (24) and is used to amplify the generated current signal. The operational amplifier (33) is located at the output end of the current transformer (35) and is used to amplify the signal a second time. The protection resistor (34) is located on the secondary signal amplification circuit of the operational amplifier (33) and is used to protect the electronic devices in the secondary circuit. The signal processing module (31) is connected to the secondary signal amplification circuit and is used to process the amplified electrical signal. The intelligent control module (32), power supply (30) and signal processing module (31) are interconnected and are all located in the center of the main body (1) of the device.

5. A method for locating a fire source for an intelligent robot, used in the fire source locating device for an intelligent robot as described in any one of claims 1-4, characterized in that: At least the following: S1: Deploy the fire source positioning device for the intelligent robot as needed for detection; S2: Using multiple thermal radiation and airflow monitoring devices (2) arranged in 360° on the main body (1) of the device, the magnitude of thermal radiation transmitted from different locations in the space is monitored; S3: When the temperature of the memory metal sheet (20) rises, it will deform, which will in turn drive the displacement of the iron core (23) fixed behind the memory metal sheet (20), and convert the temperature signal into an electrical signal. S4: Amplify the induced electromotive force using a current transformer (35) and an operational amplifier (33); S5: The amplified induced electromotive force monitored by the signal processing module (31) can be used to deduce the location of the fire source; S6: When the position of the intelligent robot changes, repeat S2-S5 to continuously correct the reversed fire source position.

6. A method for locating a fire source for an intelligent robot according to claim 5, characterized in that: The monitoring of the magnitude of thermal radiation transmitted from different locations within the space in S2 includes at least the following steps: First, after receiving external radiation, the memory metal sheet (20) experiences a temperature rise, and the rate of temperature rise is proportional to the radiation intensity and the area, i.e.: （1） in, is the absorption coefficient, representing the proportion of radiant energy absorbed per unit area of ​​the shape memory metal sheet (20); m is the mass of a single shape memory metal sheet (20); C is the specific heat capacity of the shape memory metal sheet (20); I is the external radiation intensity; S is the area of ​​the shape memory metal sheet (20); For each memory metal sheet (20), the received radiation intensity Ii is expressed as: （2） （3） Where Q is the total radiant power of the fire source; These are boundary conditions that ensure the metal sheet facing the fire source receives thermal radiation; D is the distance from the fire source to the center of the sphere; R is the radius of the sphere. It is the angle between the direction of the fire source and the direction of the detector i.

7. A method for locating a fire source for an intelligent robot according to claim 6, characterized in that: The process of converting the temperature signal into an electrical signal in step S3 includes at least the following steps: （4） in, It is the displacement of the iron core (23) below the shape memory metal; k is the correction factor; It is the magnitude of the temperature rise of the shape memory metal sheet (20); As the iron core (23) moves within the induction coil (24), an induced electromotive force is generated. : （5） Where N is the number of turns of the induction coil (24) and Φ is the magnetic flux; The displacement of the iron core (23) within the induction coil (24) causes a change in magnetic flux. When the magnetic induction intensity is uniform, the change in magnetic flux is expressed as: （6） Where B is the magnetic induction intensity and A is the area of ​​the induction coil (24); Therefore, the induced electromotive force is expressed as (7).

8. A method for locating a fire source for an intelligent robot according to claim 7, characterized in that: The amplified induced electromotive force in S4 is expressed as follows: （8） Where n1 is the amplification factor of the mutual inductor (35) and n2 is the amplification factor of the operational amplifier (33).

9. A method for locating a fire source for an intelligent robot according to claim 8, characterized in that: The location of the retro-firing source includes at least the following steps: According to formulas (1)-(8), the thermal radiation received on the shape memory metal sheet (20)i is: （9） Convert the fire source location parameters into spherical coordinates (D, θ, ...). ), where θ is the polar angle, It is the azimuth angle; （10） in The coordinates of the shape memory metal sheet (20)i are spherical coordinates; First, calculate the composite vector: in Let be the unit vector of the normal direction of the memory metal sheet (20)i. Assuming the far-field approximation, the initial D0 can be estimated by the intensity of the maximum radiation. Define the error function: （11） Using the input metal sheet position value and measurement value Ii, an initial E value is set, and the parameters are updated using an optimization algorithm. This process is repeated until convergence, while regularization is introduced to prevent overfitting, thus determining the location of the fire source.

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