Dynamic adjustment method and system for broad-spectrum fire extinguishing parameters based on scene adaptability

Abstract

The application provides a scene adaptability-based broad-spectrum fire extinguishing parameter dynamic adjustment method and system, relates to the technical field of parameter measurement, and comprises the following steps: acquiring scene characteristic information of a scene where a fire extinguishing target is located, selecting an applicable fire extinguishing medium type and an initial supply parameter; performing fire extinguishing control on the fire extinguishing target, and collecting fire scene dynamic feedback parameters in real time; judging a fire development stage according to a flame height and a thermal radiation intensity, and matching a pressure supply intensity; adjusting the initial supply parameter, and continuously performing fire extinguishing control; after the fire extinguishing is completed, collecting target fire extinguishing records, and storing the target fire extinguishing records in association with corresponding scene characteristic information in a historical database. The application solves the technical problem that, in the prior art, because the real-time measurement dimension of key fire scene parameters is single, a fire extinguishing strategy is fixedly set depending on scene labels, and the fire extinguishing success rate is affected, introduces fire scene characteristic information collection based on collaborative measurement of multiple types of sensing devices, and improves the fire extinguishing success rate.

Description

Technical Field

[0001] This application relates to the field of parameter measurement technology, specifically to a method and system for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scenario adaptability. Background Technology

[0002] Currently, when dealing with actual fires, the control logic of various fixed or mobile fire extinguishing devices generally relies on fire alarm signals to trigger preset fixed extinguishing schemes. Once activated, they continuously output at a constant supply intensity until manual intervention or depletion of extinguishing agent. Due to the lack of effective means to measure key physicochemical parameters of the fire scene in real time with high precision, core variables that directly characterize the development stage of the fire cannot be continuously and quantitatively acquired during the extinguishing process. Therefore, control decisions remain at the event-triggered level, lacking both the ability to perceive the fire's progression from its initial stage to intense combustion and then to a decaying stage, and a closed-loop control architecture to dynamically adjust the spray kinetic energy and supply intensity based on measured parameters. Because the fixed settings can only rely on scene tags acquired before extinguishing activation, the supply strategy is rigidly executed throughout the entire extinguishing cycle and cannot respond to the dynamic evolution of the fire. In the early stages, excessive supply intensity may cause unburned materials to splash and spread, while in the peak stage, insufficient pressure makes it difficult to penetrate the fire plume and reach the root of the fire. The persistent supply mismatch severely restricts the success rate of extinguishing and also results in a large amount of ineffective consumption of extinguishing agent.

[0003] In summary, existing technologies suffer from several technical problems. Due to the limited real-time measurement of key physical and chemical parameters at the fire scene, and the extinguishing strategies relying solely on fixed settings based on scene labels, they cannot match differentiated supply intensities to different stages of fire development. This results in a severe mismatch between the extinguishing supply strategy and the actual fire situation, further impacting the success rate of fire suppression. Summary of the Invention

[0004] The purpose of this application is to provide a method and system for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability, in order to solve the technical problems in the prior art, which are that the real-time measurement of key physical and chemical parameters of the fire scene is limited to a single dimension, the fire extinguishing strategy relies solely on scene labels for fixed settings, and it is impossible to match differentiated supply intensities for different stages of fire development. This results in a serious mismatch between the fire extinguishing supply strategy and the actual fire situation, which further affects the success rate of fire extinguishing.

[0005] To achieve the above objectives, this application provides a method and system for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scenario adaptability.

[0006] Firstly, this application provides a scene-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method. This method is implemented through a scene-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system. The method includes: acquiring scene feature information of the scene where the fire extinguishing target is located; using the scene feature information as a selection constraint, selecting an applicable fire extinguishing medium type and initial supply parameters from a preset fire extinguishing medium library; performing fire extinguishing control on the fire extinguishing target according to the fire extinguishing medium type and initial supply parameters; and... During the process, dynamic feedback parameters of the fire scene are collected in real time; the fire development stage is determined based on the flame height and heat radiation intensity in the dynamic feedback parameters, and the pressure supply intensity corresponding to the fire development stage is matched according to the step-by-step pressure supply strategy; the initial supply parameters are adjusted based on the pressure supply intensity, and continuous fire extinguishing control is carried out on the fire extinguishing target; after the fire is extinguished, the target fire extinguishing record of this fire extinguishing process is collected, and the target fire extinguishing record is associated with the corresponding scene feature information and stored in the historical database. The historical database is used for the initial recommendation of fire extinguishing parameters in subsequent similar or identical scenarios.

[0007] Optionally, the scene feature information includes at least the spatial enclosure type, the type of fire-borne material, and the vertical height parameter of the extinguishing medium delivery path.

[0008] Optionally, when the space enclosure type is an enclosed space and the fire load material type is a flammable liquid or electrical equipment, compressed air foam extinguishing medium is selected; when the space enclosure type is an open space and the fire load material type is a solid combustible, water extinguishing medium or dry powder extinguishing medium is selected; when the vertical height parameter exceeds a set threshold, compressed air foam extinguishing medium is selected instead of water extinguishing medium.

[0009] Optionally, when the fire load material type is an oil-immersed transformer and the space enclosure type is an underground enclosed space, the selected compressed air foam extinguishing medium foam concentrate type is 3% aqueous film-forming foam, and the foam mixture supply intensity in the initial supply parameters is set to 17.8 liters to 22.2 liters per square meter per minute.

[0010] Optionally, when the vertical height parameter exceeds 220 meters, the gas-liquid mixing ratio is set to 98:10 in the early stage of fire extinguishing to obtain foam with an expansion ratio of 11 times and a range of 17 meters; in the middle and late stages of fire extinguishing, the gas-liquid mixing ratio is adjusted to 6:1 to obtain foam with an expansion ratio of 11 times and a range of 13 meters.

[0011] Optionally, the dynamic feedback parameters of the fire scene include flame height, thermal radiation intensity, fire temperature distribution, and oxygen volume fraction in the enclosed space.

[0012] Optionally, when the continuous supply time of the current extinguishing medium exceeds a preset threshold and the fire has not been reduced to a safe level, a medium switching is triggered; during the switching process, the supply intensity of the first extinguishing medium is reduced in a decreasing manner, while the supply intensity of the second extinguishing medium is increased in a increasing manner, and an overlapping supply period is set between the first extinguishing medium and the second extinguishing medium.

[0013] Optionally, in scenarios employing firefighting robots, before the first fire extinguishing medium carried by the robot body is exhausted, the robot is controlled to move to dock with an external fire extinguishing medium supply device; after successful docking, a second fire extinguishing medium is obtained from the supply device and fire extinguishing continues; if automatic docking fails, it switches to manual docking mode; wherein, if automatic docking fails, it switches to manual docking mode, including: after the number of automatic docking failures reaches two, it switches to manual docking mode, wherein, during the automatic docking process, position deviation information is obtained by collecting images of markers set on the docking device, and the robot is controlled to adjust its posture and retry docking based on the position deviation information, reducing the deviation range after each adjustment.

[0014] Optionally, the product of the flame height and the thermal radiation intensity is obtained and recorded as the fire intensity index; when the fire intensity index is in a first predetermined range, the fire is determined to be in the initial development stage; when the fire intensity index is in a second predetermined range, the fire is determined to be in the intense development stage; when the fire intensity index is in a third predetermined range, the fire is determined to be in the decay stage.

[0015] Secondly, this application also provides a scene-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system for executing the scene-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method as described in the first aspect. The scene-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system includes: a parameter selection module for acquiring scene feature information of the scene where the fire extinguishing target is located, and selecting an applicable fire extinguishing medium type and initial supply parameters from a preset fire extinguishing medium library using the scene feature information as a selection constraint; and a fire extinguishing control module for controlling the fire extinguishing target according to the fire extinguishing medium type and initial supply parameters, and collecting real-time dynamic feedback from the fire scene during the fire extinguishing process. The system includes: a fire development judgment module, used to judge the fire development stage based on the flame height and thermal radiation intensity in the fire dynamic feedback parameters, and to match the pressure supply intensity corresponding to the fire development stage according to a stepped pressure supply strategy; a parameter adjustment module, used to adjust the initial supply parameters based on the pressure supply intensity, and to perform continuous fire extinguishing control on the fire extinguishing target; and an association storage module, used to collect the target fire extinguishing records of this fire extinguishing process after the fire is extinguished, and to associate and store the target fire extinguishing records with the corresponding scene feature information in a historical database, which is used for initial recommendations of fire extinguishing parameters in subsequent similar or identical scenarios.

[0016] One or more technical solutions provided in this application have at least the following technical effects or advantages: By acquiring scene feature information of the scene where the fire extinguishing target is located, and using the scene feature information as a selection constraint, an applicable fire extinguishing medium type and initial supply parameters are selected from a preset fire extinguishing medium library; fire extinguishing control is performed on the fire extinguishing target according to the fire extinguishing medium type and initial supply parameters, and dynamic feedback parameters of the fire scene are collected in real time during the fire extinguishing process; the fire development stage is determined based on the flame height and heat radiation intensity in the dynamic feedback parameters of the fire scene, and the pressure supply intensity corresponding to the fire development stage is matched according to a stepped pressure supply strategy; the initial supply parameters are adjusted based on the pressure supply intensity, and continuous fire extinguishing control is performed on the fire extinguishing target; after the fire extinguishing is completed, the target fire extinguishing record of this fire extinguishing process is collected, and the target fire extinguishing record is associated with the corresponding scene feature information and stored in a historical database. The historical database is used for initial recommendation of fire extinguishing parameters in subsequent similar or identical scenarios. In other words, by introducing a method for collecting fire scene characteristic information based on collaborative measurement of multiple types of sensors, the initial medium selection is constrained. At the same time, multi-dimensional dynamic feedback parameters are collected in real time during the fire extinguishing process, enabling quantitative measurement and judgment of the fire development stage. Based on the measurement results, a stepped pressure matching and closed-loop negative feedback correction are performed. After the fire is extinguished, the measurement data is associated with the scene characteristics and stored to form a searchable historical database. This ensures that every adjustment of the supply parameters is based on quantifiable fire scene measurement data, thereby achieving precise matching between the fire extinguishing supply intensity and the fire development stage throughout the entire life cycle, significantly improving the fire extinguishing success rate in a wide range of fire scenarios.

[0017] The above description is merely an overview of the technical solution of this application. To better understand the technical means of this application and to facilitate its implementation according to the description, and to make the above and other objects, features, and advantages of this application more apparent, specific embodiments of this application are described below. It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent through the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the scenario-adaptive dynamic adjustment method for broad-spectrum fire extinguishing parameters proposed in this application.

[0020] Figure 2This is a step-by-step pressure dynamic adjustment curve of the broad-spectrum fire extinguishing parameter dynamic adjustment method based on scenario adaptability in this application.

[0021] Figure 3 This is a schematic diagram of the dynamic adjustment system for broad-spectrum fire extinguishing parameters based on scene adaptability, as described in this application.

[0022] Explanation of reference numerals in the attached diagram: Parameter selection module 11, fire extinguishing control module 12, fire development judgment module 13, parameter adjustment module 14, associated storage module 15. Detailed Implementation

[0023] This application provides a scenario-adaptive, broad-spectrum fire extinguishing parameter dynamic adjustment method and system. This addresses the technical problems in existing technologies where the real-time measurement of key physical and chemical parameters of the fire scene is limited to a single dimension, and fire extinguishing strategies rely solely on fixed scenario labels. This results in an inability to match differentiated supply intensities to different fire development stages, leading to a severe mismatch between fire extinguishing supply strategies and actual fire conditions, further impacting fire extinguishing success rates. By introducing a fire scene characteristic information acquisition method based on collaborative measurement using multiple types of sensors, the initial medium selection is constrained. Simultaneously, multi-dimensional dynamic feedback parameters are collected in real-time during the fire extinguishing process, enabling quantitative measurement and judgment of the fire development stage. Based on the measurement results, a stepped pressure matching and closed-loop negative feedback correction are implemented. After the fire is extinguished, the measurement data is associated with scenario characteristics and stored to form a searchable historical database. This ensures that every adjustment of the supply parameters is based on quantifiable real-world fire scene data, achieving precise adaptation of fire extinguishing supply intensity to fire development stages throughout the entire lifecycle, significantly improving the fire extinguishing success rate in broad-spectrum fire scenarios.

[0024] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. It should also be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all of them.

[0025] Example 1, please refer to the appendix. Figure 1 This application provides a method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability. The method is applied to a system for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability. The method specifically includes the following steps: Obtain scene feature information of the scene where the fire extinguishing target is located, and use the scene feature information as a selection constraint to select the applicable fire extinguishing medium type and initial supply parameters from the preset fire extinguishing medium library.

[0026] Furthermore, this application also includes the following steps: the scene feature information includes at least the spatial enclosure type, the fire load material type, and the vertical height parameter of the fire extinguishing medium delivery path.

[0027] Specifically, scene feature acquisition is performed by deploying a multi-type sensor array within the protected area. For the spatial enclosure type, a lidar scanning device is used to perform a three-dimensional spatial contour scan of the protected area to obtain the spatial volume and the total area of ​​door and window openings, and the opening ratio is calculated as follows: Opening ratio = Total area of ​​door and window openings / Spatial volume. (2 / 3) When the opening ratio is less than 0.05, it is classified as a closed space; when it is between 0.05 and 0.20, it is classified as a semi-closed space; and when it is greater than 0.20, it is classified as an open space. The type of space enclosure is a classification index that characterizes the ventilation conditions in a fire extinguishing scenario, and it is usually divided into three types: closed space, semi-closed space, and open space.

[0028] Simultaneously, the fire load material type is determined by collecting characteristic spectral data of the combustion flame using a multispectral infrared imaging sensor deployed at the top of the scene. This data is then compared and matched with a built-in fuel characteristic spectral database. For example, if the characteristic emission lines of K / Na elements are detected (766.5 nm and 589.0 nm), it is identified as a lignin-containing solid combustible material; if the C2 molecule radiation band is detected (516.5 nm), it is identified as a hydrocarbon liquid fuel; and if continuous spectral characteristics generated by electric arc discharge are detected, it is identified as an electrical equipment fire. This process outputs the classification result of the fire load material type. The fire load material type refers to the category of the main combustible materials in the fire-fighting target scene, including but not limited to combustible liquids, electrical equipment, solid combustible materials, and combustible gases. Different load types correspond to different fire extinguishing mechanism requirements.

[0029] The static pressure at the outlet of the extinguishing medium storage device and the static pressure at the inlet of the terminal spray device were measured using a high-precision pressure transmitter. The vertical height H was calculated using the hydrostatic formula ΔP=ρ·g·H, where ρ is the density of clean water at normal temperature and pressure, which is 1000 kg / m³. 3 g is the acceleration due to gravity, 9.8 m / s². 2 ΔP is the difference between the static pressure at the outlet of the extinguishing medium storage device and the static pressure at the inlet of the terminal spray device. The vertical height parameter of the extinguishing medium delivery path is the vertical elevation difference between the outlet of the extinguishing medium storage device and the terminal spray device.

[0030] Furthermore, this application also includes the following steps: when the space enclosure type is an enclosed space and the fire load material type is a flammable liquid or electrical equipment, a compressed air foam extinguishing medium is selected; when the space enclosure type is an open space and the fire load material type is a solid combustible, a water extinguishing medium or a dry powder extinguishing medium is selected; when the vertical height parameter exceeds a set threshold, a single water extinguishing medium is excluded and a compressed air foam extinguishing medium is selected.

[0031] Specifically, the system extracts spatial enclosure type, fire load material type, and vertical height parameters of the extinguishing medium delivery path from the scene feature information of the fire-fighting target location. A priority judgment based on the vertical height threshold is applied; regardless of the space type or load type, if the vertical height parameter of the extinguishing medium delivery path exceeds the set threshold, a high vertical height condition flag is triggered, possessing the highest global priority. Its output directly overrides or rejects any judgment conclusions in other rules that might point to water media. The set threshold is an adjustable critical value pre-stored in the system configuration file, used to determine whether the current scene belongs to a high-rise or large elevation difference delivery condition. The physical basis for the set threshold comes from the limitations on the water supply height of conventional centrifugal pumps in the fire water supply system design code. When the vertical height exceeds approximately 220m, the static pressure of the water will exceed 2.2MPa, pushing the pressure-bearing capacity of conventional fire pipes and interfaces to their limits. Simultaneously, the pump's head and power requirements increase sharply, leading to a sharp decline in economic efficiency. The default value for setting the threshold is 220.0m, and qualified technicians are allowed to adjust it up or down during the installation and commissioning phase based on the actual pipeline material and pump performance curve, typically within a range of 180m to 260m.

[0032] When the vertical height parameter exceeds a set threshold, a traversal scan is performed on the list of all candidate media types in the preset extinguishing medium library. All entries with a single water extinguishing medium name or a media code corresponding to the pure water category are marked as unavailable from the candidate set, and their status bit is set to False. After the marking operation is completed, a new round of screening is performed on the remaining available media. From the remaining candidates, compressed air foam is selected as the output media type. Even if the scenario is an open space and the load is solid combustible material, as long as the vertical height parameter exceeds the set threshold, regardless of how the extinguishing mechanism matches, the water medium simply cannot reach the fire source, and discussing its cooling effect loses its physical basis. Compressed air foam extinguishing medium is a two-phase fluid medium formed by injecting compressed air into a foam mixture. Its core physical advantage lies in its significantly lower equivalent density than pure water.

[0033] If the space is an enclosed space and the fire-borne material is a flammable liquid or electrical equipment, compressed air foam should be the preferred extinguishing medium. Flammable liquid fires in enclosed spaces easily create a layer of high-temperature smoke. Compressed air foam, when injected, forms a continuous, enclosed foam layer on the liquid surface, isolating oxygen supply and absorbing a large amount of heat through the vaporization of water within the foam. Simultaneously, the foam film adhering to the surface of electrical equipment has excellent insulation properties, enabling rapid suffocation extinguishing without causing secondary disasters.

[0034] If the space is an open space and the fire-borne material is a solid combustible, water or dry powder should be selected as the extinguishing medium. If there is sufficient water supply on site and the solid combustible is not incompatible with water (i.e., it is a non-water-reactive substance such as magnesium powder or aluminum powder), water should be the preferred extinguishing medium. Conversely, if the water supply is insufficient or the solid combustible is a combustible associated with electrical equipment, posing a risk of electric shock, dry powder should be the preferred extinguishing medium.

[0035] If there is a conflict between the judgments of the above three rules, for example, if a scenario simultaneously satisfies the conditions of open space and solid combustible material, and the vertical height parameter exceeds the set threshold, since the decision to exclude water takes precedence over the decision to select water, the final medium type shall be determined according to the priority order of vertical height threshold rule > special hazardous scenario rule for enclosed space > regular scenario rule for open space.

[0036] By systematically matching the objective characteristics of the fire extinguishing scenario with the physicochemical properties of the extinguishing medium, problems such as low fire extinguishing efficiency or secondary disasters caused by improper selection are avoided. A top-priority engineering safety constraint is established, which mandates the removal of water media when the vertical height exceeds a threshold. This fundamentally avoids fire extinguishing failures and waste of equipment resources due to insufficient water pressure. At the same time, the low equivalent density of compressed air foam is utilized to ensure effective range and terminal fire extinguishing kinetic energy in ultra-high-rise scenarios.

[0037] Furthermore, this application also includes the following steps: when the fire load material type is an oil-immersed transformer and the space enclosure type is an underground enclosed space, the selected compressed air foam extinguishing medium foam concentrate type is 3% aqueous film-forming foam, and the foam mixture supply intensity in the initial supply parameters is set to 17.8 liters to 22.2 liters per square meter per minute.

[0038] Specifically, if the load material type is successfully matched to an oil-immersed transformer, and the space enclosure type is determined to be an underground enclosed space, meaning the scene's geographical elevation is negative, then the scenario is considered an underground enclosed space. An underground enclosed space is a sealed or semi-enclosed location located below ground level, with a concrete enclosure structure and limited opening area. Typical examples include underground substation equipment rooms, underground power distribution rooms, and subway traction substations. The natural ventilation rate in underground enclosed spaces is typically less than three times per hour. During a fire, heat and smoke are difficult to expel, easily leading to the rapid accumulation of a high-temperature smoke layer and its progression towards flashover. Furthermore, the enclosed environment prevents firefighters from directly entering, necessitating the use of fixed or unmanned firefighting equipment for remote or automated fire suppression.

[0039] All foam concentrate entries were selected from a pre-set extinguishing medium library. Based on the high-risk attributes of the current scenario—namely, energized equipment and hydrocarbon liquid fires—the selection criteria were automatically narrowed down to synthetic alcohol-resistant aqueous film-forming foam (AFCF). Further filtering was performed according to the mixing ratio, ultimately locking in AFCF with a mixing ratio of 3%. The product code of the AFCF concentrate was written into the medium type parameter field, along with the acquisition of the concentrate's physical properties at the current storage temperature. Real-time temperature inside the foam concentrate storage tank was read using a temperature sensor, including a density of approximately 1020 kg / m³. 3 Up to 1040 kg / m 3 Surface tension of approximately 17 mN / m to 19 mN / m and spreading coefficient greater than 5.

[0040] Based on the combined conditions of the underground enclosed space and the oil-immersed transformer, the built-in supply intensity mapping table was consulted to obtain the corresponding lower limit of the supply intensity range, which is 17.8 L / (min·m). 2 ) and the upper limit of 22.2 L / (min·m 2 The measured area of ​​the current transformer pit is read and calculated using a laser ranging array installed in the pit. The lower limit of the required total flow rate is then calculated, which equals the lower limit of the supply intensity range. The measured area of ​​the current transformer pit, the upper limit of the required total flow rate = the upper limit of the supply intensity range. The measured area of ​​the current transformer pit. The total flow rate will serve as a constraint boundary. In actual settings, the optimal achievable value will be selected within the boundary range, referencing the actual performance curve of the current fire pump set.

[0041] Read the remaining volume of the current 3% hydrated film-forming foam in the foam concentrate storage tank. Calculate the total volume of foam concentrate that can be prepared according to a mixing ratio of 3:97. The total volume of foam concentrate that can be prepared = remaining volume of the current 3% hydrated film-forming foam / 0.03. When continuously spraying at the lower limit of the required total flow rate, the theoretical continuous spraying time 1 = total volume of foam concentrate that can be prepared / lower limit of the required total flow rate; when spraying at the upper limit of the required total flow rate, the theoretical continuous spraying time 2 = total volume of foam concentrate that can be prepared / upper limit of the required total flow rate. If the theoretical continuous spraying time 1 is lower than the preset minimum effective extinguishing time requirement, usually 10 minutes, an alarm for insufficient storage is triggered. The supply intensity is reduced to near the lower limit of the required total flow rate to extend the spraying time, and personnel are notified to prepare for replenishment.

[0042] 3% aqueous film-forming foam (AFFF) is a synthetic foam extinguishing agent. It requires pre-mixing with fresh water or seawater at a volume ratio of 3:97, meaning the foam concentrate comprises 3% of the total volume of the foam mixture. Its core extinguishing mechanism is that the foam film formed after spraying rapidly spreads on the oil surface, creating an extremely thin, closed water film. This spreading speed is typically less than 10 seconds. It possesses the dual functions of isolating oxygen for asphyxiation and cooling, while also exhibiting excellent insulation properties for electrical equipment. Therefore, it is the preferred extinguishing medium for oil-immersed transformer fires.

[0043] The specialized output parameters are combined, including the foam concentrate type as 3% aqueous film-forming foam, the mixed solution supply intensity as 17.8 to 22.2 liters per square meter per minute, the recommended spray flow rate, and the estimated continuous spraying duration, and are packaged and output.

[0044] Furthermore, this application also includes the following steps: when the vertical height parameter exceeds 220 meters, the gas-liquid mixing ratio is set to 98:10 in the early stage of fire extinguishing to obtain foam with an expansion ratio of 11 times and a range of 17 meters; in the middle and late stages of fire extinguishing, the gas-liquid mixing ratio is adjusted to 6:1 to obtain foam with an expansion ratio of 11 times and a range of 13 meters.

[0045] Specifically, the initial fire extinguishing stage timer is read and triggered when the foam injection valve is first opened. Simultaneously, the equivalent density and expansion ratio of the foam are monitored in real time by a foam density sensor and mass flow meter installed at the outlet of the terminal injection device. The gas-liquid ratio controller is set to a target value of 98:10, and the air flow regulating valves on the compressed air branch and the liquid flow regulating valves on the foam mixture branch are driven by a PID controller. If the current foam mixture pump displacement is set to Q1, then the target discharge volume of the air compressor is 9.8. Q1. For example, when the liquid pump displacement is 200.0 L / min, the air compressor needs to provide a compressed air flow rate of 1960.0 L / min. The PID controller continuously adjusts the opening of the regulating valve based on real-time feedback from the vortex flow meter installed in the air line and the electromagnetic flow meter in the liquid line, keeping the actual gas-liquid ratio locked near the set value of 98:10, with a control accuracy of ±2%.

[0046] Due to the significant reduction in the equivalent density of the foam, under the same pump outlet pressure (typically set to 2.4 MPa to 2.6 MPa), the outlet velocity of the foam jet at the nozzle is significantly increased, with the measured horizontal range reaching 17.0 m to 17.5 m. During the spraying process, flame height and thermal radiation intensity, dynamic feedback parameters of the fire scene, are continuously collected, with sampling occurring once per second, and data from the most recent 20 sampling cycles are cached in local memory.

[0047] During the initial spraying process, the comprehensive fire index (flame height × thermal radiation intensity) is continuously calculated and compared with the data from the immediately preceding cycle. The instantaneous decline slope of the comprehensive fire index is calculated in real time, which is the difference between the comprehensive fire indices of two cycles divided by the time difference. When the instantaneous decline slope is less than -5 for three consecutive sampling cycles (e.g., 3 seconds), indicating a continuous decline in the instantaneous decline slope at a rate exceeding 5 units per second, it is determined that a clear suppression inflection point has appeared in the fire, meaning the fire has transitioned from a stage of intense development to a stage of attenuation. At this point, the stage switching logic is triggered, switching the fire control state from the initial stage to the mid-to-late stage.

[0048] During the later stages of firefighting, the gas-liquid mixing ratio was adjusted from 98:10 to 6:1, decreasing linearly at a rate of 1.0 L / s. This transition from 9.8:1 to 6:1 lasted approximately 3.8 seconds to prevent fluctuations in foam quality and water hammer in the pipeline caused by a sudden drop in the gas-liquid ratio. After the switchover, if the liquid pump discharge rate remained constant at 200 L / min, the air compressor discharge rate was automatically adjusted to 6 × 200 = 1200 L / min, reducing compressed air consumption by 760 L / min compared to the initial stage, a saving of approximately 38.8%. After the gas-liquid ratio dropped to 6.0:1, the equivalent foam density recovered to approximately 140 kg / m³. 3 Up to 150kg / m 3 As the jet's kinetic energy weakens, its horizontal range drops to 13 meters. Since the fire has been effectively suppressed at this point—with the overall fire intensity index decreasing to 30% to 40% of its peak—the fire area and flame height are significantly reduced, and a 13-meter range is sufficient to cover the remaining fire source. Simultaneously, the higher liquid content of the foam accelerates its precipitation rate after covering the fire surface, and the resulting aqueous solution has a stronger cooling effect on the hot oil layer, helping to accelerate fire extinguishing and effectively prevent reignition.

[0049] Even after switching to the mid-to-late stage, the overall fire intensity index continues to be monitored. If an abnormal rise in the overall fire intensity index is detected, with an upward trend for five consecutive sampling periods and an instantaneous drop slope greater than 2, it is determined that the fire has signs of reignition or renewed development. The current stage is immediately interrupted, and the system reverts to the initial stage's gas-liquid ratio setting of 98:10 to restore long-range suppression capabilities. Switching back to the mid-to-late stage can only be attempted again after the fire is suppressed once more. This reversion mechanism ensures that the system always possesses the ability to proactively respond to fire fluctuations or reignition throughout the entire firefighting process.

[0050] The fire extinguishing target is controlled according to the type of extinguishing medium and the initial supply parameters, and dynamic feedback parameters of the fire site are collected in real time during the fire extinguishing process.

[0051] Furthermore, this application also includes the following steps: the fire dynamic feedback parameters include flame height, thermal radiation intensity, fire temperature distribution, and oxygen volume fraction in the enclosed space.

[0052] Specifically, based on the type of extinguishing medium and initial supply parameters, a sequence of activation commands is issued to the actuators. The dynamic feedback parameters of the fire scene are a set of multi-dimensional physicochemical quantities used to characterize the current state and evolution trend of the fire, obtained in real time through a sensor array during the fire extinguishing process. These include flame height, thermal radiation intensity, fire scene temperature distribution, and oxygen volume fraction within the enclosed space. Flame height is the vertical distance from the burning surface of the fire source to the visible flame front at the top of the continuous flame zone; thermal radiation intensity is the thermal radiation energy per unit area perpendicular to the direction of radiation propagation per unit time, i.e., the radiative heat flux density received at a certain point in the fire scene; fire scene temperature distribution is the set of temperature field data collected by temperature sensors deployed at different spatial locations within the fire extinguishing scenario; and oxygen volume fraction is the percentage of oxygen by volume in the air within the enclosed space.

[0053] Open the backflow regulating valve of the foam mixture pipeline to start the pump set under low load. Start the water pump motor and foam concentrate pump motor in sequence. After the two pumps are running smoothly and the flow rate reaches more than 90% of the set value, start the air compressor and adjust its exhaust volume to the target value corresponding to the initial air-liquid ratio. Open the outlet valve leading to the terminal spray device and adjust the fire monitor to the preset initial spray elevation angle and rotation angle. At this point, the extinguishing medium is officially sprayed towards the fire target.

[0054] Data is read from a multi-sensor array at a sampling frequency, such as 5Hz. Flame height is determined by real-time stereoscopic images of the fire source area captured by a binocular vision camera mounted on the spray device platform. The height of the top of the continuous flame zone is obtained through parallax calculation and flame front edge extraction algorithms, employing a combination of Canny edge detection and threshold segmentation. Median filtering is then used to eliminate high-frequency noise caused by flame pulsation. Thermal radiation intensity is measured using a heat flux density meter installed 2.5m to the side of the end spray device at a 45° angle to the fire source centerline. The millivolt-level analog signal output by the sensor is sampled by a 24-bit analog-to-digital converter and converted into a thermal radiation intensity value.

[0055] If the scenario is a closed or semi-closed space, a K-type thermocouple array has been deployed along the vertical direction of the space at 1m intervals during the installation and commissioning phase. The thermocouple signals are connected to the data acquisition card via compensating wires, with a cold junction compensation accuracy of ±0.5℃. During fire extinguishing, the temperature values ​​of each layer of thermocouples are read and a temperature distribution vector is constructed, with particular attention paid to the smoke layer temperature 0.3m below the ceiling. If the scenario is an open space, temperature distribution measurement is an optional configuration, and its activation depends on the actual installation conditions. The oxygen volume fraction in the closed space is measured by an electrochemical oxygen sensor installed at a height of 1.5m above the ground in the center of the space. The measurement range is 0 to 30% VOL, with an accuracy of ±0.5% VOL and a response time of less than 15s. It is continuously collected at the same frequency of 5Hz, and the output value is the current oxygen volume fraction. If the scenario is an open space, this parameter is automatically marked as invalid.

[0056] Furthermore, this application also includes the following steps: when the continuous supply time of the current extinguishing medium exceeds a preset threshold and the fire has not been reduced to a safe level, a medium switching is triggered; during the switching process, the supply intensity of the first extinguishing medium is reduced in a decreasing manner, while the supply intensity of the second extinguishing medium is increased in an increasing manner, and an overlapping supply period is set between the first extinguishing medium and the second extinguishing medium.

[0057] Specifically, after entering continuous spray mode, the system reads the cumulative spray time of the current extinguishing medium once per second. Simultaneously, it continuously receives dynamic feedback parameters from the fire scene and calculates the latest comprehensive fire index once per second, comparing it with a pre-stored safety level threshold in the configuration file. The safety level threshold is loaded during initialization based on the type of extinguishing medium; for example, 2 corresponds to compressed air foam, and 1.5 corresponds to dry powder.

[0058] When the continuous supply time of the current extinguishing medium exceeds a preset threshold and the fire intensity fails to decrease to a safe level, both conditions are met simultaneously. The system determines that the current medium's extinguishing effect is insufficient in this scenario and a switching operation is required. A start command is then sent to the switching execution module. Medium switching refers to actively terminating the supply of the currently used extinguishing medium and initiating the supply of another extinguishing medium with different physicochemical properties. When the first extinguishing medium's extinguishing mechanism is incompatible or the fire intensity exceeds its effective extinguishing range, a second extinguishing medium with a complementary extinguishing mechanism is used to continue extinguishing the fire. Examples of switching between different media include switching from compressed air foam to dry powder, suitable for situations where deep-seated fires or high-temperature hot surfaces reignite after the surface of an oil fire is covered with foam; and switching from water to foam, suitable for situations where smoldering or high-temperature hot surfaces remain after the surface flames of a solid fire are extinguished by water.

[0059] Upon receiving the switching command, the system immediately searches the preset extinguishing medium library for available alternative media types. If the current first extinguishing medium is compressed air foam, dry powder is selected from the library as the second extinguishing medium, providing complementary chemical inhibition and suffocation coverage. If the current first extinguishing medium is water, compressed air foam is selected from the library as the second extinguishing medium, providing complementary cooling coverage. If the current first extinguishing medium is dry powder, either water or foam is selected from the library as the second extinguishing medium. After selection, a pre-start command is sent to the actuator of the supply pipeline corresponding to the second extinguishing medium, causing it to enter standby mode in advance. This includes opening the electric valve of the corresponding pipeline, starting the drive pump or cylinder heating device of the second extinguishing medium, and establishing preliminary pipeline pre-pressure to ensure that the second extinguishing medium can respond immediately after subsequent incremental commands are issued.

[0060] A switching window period is defined at the switching initiation time. Within this time window, from the switching initiation time to the switching initiation time plus the switching window period, the supply intensity of the first extinguishing medium decreases linearly from its current operating value to 0 at a predetermined decrease rate, which is the ratio of the current operating value to the switching window period, i.e., the flow rate decrease per second. The supply intensity of the second extinguishing medium increases linearly from zero to its target setpoint at a predetermined increase rate, which is the ratio of the target setpoint to the switching window period, i.e., the flow rate increase per second. Within this time window, from the switching initiation time to the switching initiation time plus the switching window period, the first and second extinguishing media are simultaneously sprayed onto the fire, forming an overlapping supply period. At any moment during the overlapping period, the total supply intensity received by the fire is always greater than zero, achieving a smooth transition from the first to the second extinguishing medium.

[0061] When any given moment is the switching window, the decrease rate of the first extinguishing medium reaches 100%, its supply intensity drops to 0, and the corresponding actuators are completely shut down or switched to standby / dormant state. The increase rate of the second extinguishing medium reaches 100%, its supply intensity reaches the target set value, and the corresponding actuators enter a stable operating state. After the switch is completed, the trend of the comprehensive fire index is continuously monitored. If the comprehensive fire index begins to decline steadily within 30 seconds after the switch and eventually falls below the safe threshold, the switch is deemed effective, and the second extinguishing medium continues to be used for subsequent firefighting until the fire is completely extinguished. If the comprehensive fire index shows no downward trend or even continues to rise within 60 seconds after the switch, the second extinguishing medium is deemed ineffective, and the above switching process is repeated to attempt to switch to a third alternative medium. An alarm signal is issued when no more alternative media are available, such as indicating firefighting failure or requesting external reinforcement. All time-series data during the switch process are recorded in a detailed log file of this firefighting process.

[0062] By overlapping supply periods, the fire suppression window is eliminated, ensuring that the fire is effectively suppressed by at least one extinguishing agent throughout the entire switching process, thus eliminating the time window for fire rebound. Different extinguishing agents have different extinguishing mechanisms: compressed air foam primarily acts as suffocation and heat insulation, dry powder primarily acts as chemical inhibition, and water primarily acts as cooling. During the overlapping supply periods, it is ensured that the two agents with different extinguishing mechanisms do not conflict and act on the fire simultaneously, maintaining the continuity of the fire suppression concentration. This significantly improves the robustness and ultimate success rate of the fire suppression system in complex fire scenarios and avoids secondary disasters caused by improper agent switching.

[0063] Furthermore, this application also includes the following steps: In scenarios using firefighting robots, before the first fire extinguishing medium carried by the robot body is exhausted, the robot is controlled to move to dock with an external fire extinguishing medium supply equipment; after successful docking, a second fire extinguishing medium is obtained from the supply equipment and fire extinguishing continues; if automatic docking fails, it switches to manual docking mode; wherein, if automatic docking fails, it switches to manual docking mode, including: after the number of automatic docking failures reaches two, it switches to manual docking mode, wherein, during the automatic docking process, position deviation information is obtained by collecting images of markers set on the docking device, and the robot is controlled to adjust its posture and retry docking according to the position deviation information, and the deviation range is reduced after each adjustment.

[0064] Specifically, during firefighting operations, the firefighting robot's onboard media storage tank is equipped with a capacitive liquid level sensor with an accuracy of ±2%, continuously monitoring the remaining media level at a sampling frequency of once per second. It calculates the remaining media mass and estimates the remaining spray time in real time: estimated remaining spray time = remaining media mass / current spray rate. When the remaining spray time drops to a preset return-to-base warning value, such as 45 seconds, the firefighting robot is determined to initiate the return-to-base docking procedure before its current spraying capacity is completely exhausted. The firefighting robot sends a resupply request signal to the firefighting control center. Based on the current operational status of other robots and the occupancy of supply equipment, the center assigns a target supply equipment and a corresponding docking berth number to the current robot. Simultaneously, it sends a pre-start command to the target supply equipment, putting its media output pipeline into a pressurized state.

[0065] After receiving the docking berth coordinates from the fire control center, the firefighting robot plans an unobstructed path from its current location to the berth using a global map and its current positioning information. As the robot moves along the planned path, it continuously detects obstacles ahead using its forward-mounted depth camera and LiDAR, making dynamic obstacle avoidance adjustments in real time. When the firefighting robot reaches the pre-docking position approximately 1.5 meters in front of the berth, it automatically decelerates to a stop and adjusts its orientation so that its longitudinal axis is substantially parallel to the central axis of the supply equipment's output interface, completing the coarse positioning phase.

[0066] After coarse positioning, the firefighting robot activates the industrial camera mounted above its docking interface. The camera has a resolution of 1280×1024 pixels and a frame rate of 30fps. The camera faces a pre-set QR code marker on the supply equipment docking device. The marker is a square with sides of 150mm, featuring a concentric circle mark in the center for precision alignment, and an outermost diameter of 100mm. After acquiring the marker image, it undergoes grayscale conversion and histogram equalization preprocessing. Adaptive threshold segmentation is used to extract the marker's boundary contour. A corner detection algorithm is then used to extract the pixel coordinates of the four corner points of the square in the image coordinate system. Using the PNP pose estimation algorithm combined with the camera's intrinsic parameter matrix, the six degrees of freedom deviation between the docking interfaces in the robot's body coordinate system is calculated, including horizontal offset, vertical offset, axial distance deviation, and yaw angle deviation.

[0067] The calculated six-degree-of-freedom deviation is transmitted to the motion controller of the firefighting robot. Using a proportional control law, the deviation signal is converted into translational and rotational speed commands for the chassis, driving the tracked or wheeled chassis to make corresponding posture adjustments. In the first automatic attempt, the docking success criteria were relatively lenient: when the horizontal offset was less than 50mm, the vertical offset was less than 50mm, the axial distance deviation was less than 30mm, and the yaw angle deviation was less than 3°, the posture was considered to meet the docking conditions. The robot was then driven forward to bring the docking interfaces into contact and lock. The final deviation value of this docking was recorded. If the interface locking mechanism issued a positioning signal and the pressure in the sealed chamber was established, the first docking was considered successful; if the interface failed to lock, the reason for failure was recorded as excessive docking deviation or mechanical jamming, and the second attempt process began. In the second attempt, the docking accuracy requirements were increased, narrowing the success criteria to a horizontal offset of less than 20mm, a vertical offset of less than 20mm, an axial distance deviation of less than 15mm, and a yaw angle deviation of less than 1.5°. This required the robot to perform more precise posture corrections during the second automatic docking process than the first. In the second attempt, the proportional gain of the motion controller was automatically reduced to 0.6 times that of the first attempt to decrease the adjustment step size and avoid overshoot and oscillation. Simultaneously, in the second attempt, feedforward compensation was applied to the current pose deviation based on historical deviation data recorded in the first attempt, ensuring that the initial deviation of the second attempt was better than the final deviation of the first. If the second attempt is successful, the docking process continues to the media replenishment stage; if the second attempt also fails, the failure status is recorded as two automatic docking failures, triggering a manual docking mode switching command.

[0068] If two automatic docking attempts fail, a prompt window will appear on the operator's terminal in the control center indicating that manual docking is required. Simultaneously, the chassis drive motor speed will be automatically reduced to the safe speed limit in manual mode, such as 0.2 m / s, and control will be transferred to the operator's remote control or control terminal. The relative position of the docking interface will be visually observed using high-definition video footage transmitted from the pan-tilt camera on the fire-fighting robot. The robot's forward, backward, left, right, and fine-tuning movements will be manually controlled via remote operation to guide the docking interface to final alignment and locking. Once manual docking is successful, the system will immediately switch back to automatic control mode and enter the media replenishment phase.

[0069] After docking, the firefighting robot sends a supply start command to the supply equipment. The output valve of the supply equipment opens, and the second extinguishing medium is filled into the medium storage tank of the firefighting robot through the docking pipeline at a preset flow rate (e.g., 200 L / min) and pressure (e.g., 1.20 MPa). The liquid level in the medium storage tank is monitored in real time by a level sensor. When the liquid level reaches 95% of the rated capacity, the robot sends a stop supply command to the supply equipment and closes the shut-off valve at the docking interface. After resupply, the firefighting robot unlocks the docking interface, retreats to a safe distance, reports the resupply completion status to the control center, and then returns to its original firefighting position according to the replanned path to continue the unfinished firefighting tasks.

[0070] By combining the autonomous mobility of the firefighting robot with vision-guided automatic docking technology, and introducing a progressive deviation narrowing strategy and a manual docking guarantee mechanism during the docking process, the autonomous endurance of the firefighting robot in complex environments has been improved.

[0071] The fire development stage is determined based on the flame height and thermal radiation intensity in the fire dynamic feedback parameters, and the pressure supply intensity corresponding to the fire development stage is matched according to the step-by-step pressure supply strategy.

[0072] Furthermore, this application also includes the following steps: obtaining the product of the flame height and the thermal radiation intensity, denoted as the fire intensity comprehensive index; when the fire intensity comprehensive index is in a first predetermined range, determining that the fire is in the initial development stage; when the fire intensity comprehensive index is in a second predetermined range, determining that the fire is in the intense development stage; when the fire intensity comprehensive index is in a third predetermined range, determining that the fire is in the decay stage.

[0073] Specifically, a binocular vision camera continuously captures stereo images of the fire source area at a sampling frequency of 5 frames per second, extracting the vertical height value of the top of the continuous flame zone; simultaneously, a heat flux density meter outputs thermal radiation intensity values ​​at the same sampling frequency. Both are strictly synchronized in time, with each set of data pairs generated in each sampling cycle bearing the same timestamp label.

[0074] At each sampling moment, the flame height and thermal radiation intensity, after median filtering, are retrieved from the current data buffer, and their product is calculated to obtain the comprehensive fire index. Three predetermined intervals are loaded from the configuration file: the first predetermined interval, the second predetermined interval, and the third predetermined interval. Two boundary thresholds are determined: the boundary value between the first and second predetermined intervals, and the boundary value between the second and third predetermined intervals. If 0 ≤ Fire Intensity Index ≤ the boundary value between the first and second predetermined intervals, the current fire is determined to be in the initial development stage. If the boundary value between the first and second predetermined intervals < Fire Intensity Index ≤ the boundary value between the second and third predetermined intervals, the current fire is determined to be in the rapid development stage. If the Fire Intensity Index ≤ the boundary value between the second and third predetermined intervals and the Fire Intensity Index has experienced a clear downward trend, the determination condition for the decay stage, in addition to the Fire Intensity Index falling into the low interval, must also include a trend constraint. If the slope of the Fire Intensity Index is continuously negative in the last N consecutive sampling periods, the current fire is determined to be in the decay stage. If the absolute value of the Fire Intensity Index simultaneously meets the third interval condition but the trend is not yet clear, that is, the Fire Intensity Index drops to a low value instantaneously due to foam impact shortly after the fire extinguishing is started, a hysteresis comparison logic is adopted. That is, after the initial determination, the FCI of three consecutive sampling periods needs to be stable within the same interval before the stage determination result is officially output to prevent frequent erroneous stage switching due to fluctuations in a single measurement. Here, FCI refers to the Fire Intensity Index.

[0075] The corresponding fire development stage is officially output only if the comprehensive fire index falls within the same predetermined range for five consecutive sampling periods. If the comprehensive fire index crosses the range boundary during this period, the confirmation window counter is reset to zero and re-accumulated.

[0076] The fire suppression supply pressure is set into multiple progressively changing pressure levels according to the stages of fire development. The target pressure value of the corresponding level is automatically matched based on the current comprehensive fire index to determine the pressure supply intensity. Along with the output pressure supply intensity, an output stage switching indicator is included to determine whether the adjustment is an increase or decrease in pressure, allowing for the selection of different rate limits. Increases in pressure can be slightly faster, while decreases need to be slower to prevent water hammer.

[0077] As attached Figure 2As shown, the horizontal axis represents extinguishing time, the left vertical axis represents the comprehensive fire index (the product of flame height and thermal radiation intensity), and the right vertical axis represents pressure supply intensity. Solid dots represent the change of the comprehensive fire index over time, dashed squares represent the pressure supply intensity automatically matched according to the predetermined range of the comprehensive fire index, and dotted lines represent the threshold for determining the fire development stage. When the comprehensive fire index exceeds the upper limit of the first predetermined range (50), the pressure supply intensity is increased stepwise from 0.6 MPa to 1.2 MPa; when the comprehensive fire index drops below 50 and continues to decline, the pressure supply intensity is gradually reduced stepwise, thus achieving dynamic adaptation of extinguishing parameters to the fire development stage. The first predetermined range is 0 to 50, representing the initial development stage; the second predetermined range is 50 to 100, representing the intense development stage; and the third predetermined range is less than 50 and continues to decline, representing the decay stage. The initial development phase lasted from 0 to 4 minutes. A transformer oil leak ignited, and the flame climbed from 1.2m to 5.5m. A low-pressure test supply of 0.6MPa was initiated, and the foam supply intensity gradually increased from 18.0 L / min·m. 2 The gas-liquid ratio is maintained at 98:10, ensuring an expansion ratio of 11 times and a range of 17m. The intense development phase lasts from 4 to 9 minutes. At the 4th minute, the comprehensive fire index exceeds 50, indicating the start of the intense phase, and the pressure gradient is increased to 1.2MPa. The fire reaches its peak at the 6th minute, with a flame length of 7.5m and a thermal radiation of 15.0kW / m². 2 The fire intensity index was 112.5; at the 7th minute, the gas-liquid ratio was switched to 6:1, the range was adjusted from 17m to 13m, and the foam supply intensity was maintained at a peak of 22.0L / min·m. 2 The decay phase lasted from 9 to 18 minutes. In the 9th minute, the comprehensive fire index dropped below 50, indicating that the fire had entered the decay phase. The pressure gradient dropped to 0.8 MPa, and the foam supply intensity gradually decreased. The fire was completely extinguished in the 18th minute.

[0078] By calculating the comprehensive fire index and combining it with three-interval comparison and trend judgment, the system integrates both the geometric scale and energy intensity of the flames, thereby improving the accuracy and anti-interference ability of determining the stage of fire development.

[0079] The initial supply parameters are adjusted based on the pressure supply intensity, and continuous fire suppression control is performed on the fire suppression target.

[0080] Specifically, based on the pressure supply intensity, the current actual operating pressure is read by a high-precision pressure transmitter installed on the fire pump outlet pipeline, and the deviation is calculated, which is the difference between the pressure supply intensity and the current actual operating pressure. If the difference is less than or equal to the accuracy error range of the pressure gauge, such as 0.02 MPa, the current pressure is considered to meet the target value, the adjustment process is skipped, and the existing set value is maintained; if the difference is greater than the accuracy error range of the pressure gauge, the adjustment process is initiated.

[0081] To obtain the current pump speed of the fire pump, based on the proportional law of centrifugal pumps (that is, the pump outlet pressure is proportional to the square of the speed), calculate the target speed required to reach the target pressure: Target speed = Current pump speed × sqrt(Pressure supply intensity / Actual operating pressure). After calculating the target speed, the control unit operates at a speed not exceeding 50 r / min·s. -1 The safe rate of change is usually calibrated during the commissioning phase based on the pump set's rotational inertia and water hammer tolerance, generating the frequency change curve of the frequency converter so that the pump set speed linearly transitions from the current value to the target value, i.e., the pressure supply intensity.

[0082] During the pump speed adjustment process, the pipeline regulating valve is simultaneously controlled. Specifically, the stroke length of the foam concentrate pump remains constant, but the air compressor's discharge capacity setpoint is recalculated and adjusted based on changes in pump outlet pressure to ensure that the gas-liquid mixing ratio does not deviate due to pump pressure changes. When the pressure increases, the pipeline back pressure increases, and the air compressor needs to increase its discharge pressure accordingly to overcome the back pressure; when the pressure decreases, the air compressor's discharge pressure decreases synchronously to save energy. The entire pressure transition process lasts approximately 3 to 8 seconds, with the actual pressure value sampled every 100 milliseconds and compared with the target value, forming a closed-loop negative feedback control to ensure the smoothness of the transition process and the accuracy of the endpoint.

[0083] After adjustment, using the new supply parameters—adjusted pump outlet pressure, synchronously corrected air compressor exhaust pressure, and maintained media mixing ratio—the fire extinguishing medium continues to be sprayed onto the fire source, entering the continuous fire extinguishing control phase. During this phase, the data acquisition module continuously collects flame height and heat radiation intensity at a frequency of 5Hz, calculating the comprehensive fire index every second and monitoring its trend. If the value and trend of the comprehensive fire index indicate no change in the fire stage, the current pressure setpoint is maintained, with only minor fluctuation corrections. If the comprehensive fire index indicates a change in the fire stage—for example, if the fire in the decay stage reignites due to some reason, such as damage to the foam covering layer or reignition of residual heat sources—the aforementioned process is immediately repeated, switching the pressure from the current level to the corresponding level, achieving dynamic tracking control throughout the entire fire extinguishing cycle. Continuous fire extinguishing control continues until the flames are completely extinguished and, after 60 seconds of continuous observation confirming no risk of reignition, the load is gradually reduced, valves are closed, and the pump unit is stopped, ending the current fire extinguishing control mission.

[0084] After the fire is extinguished, the target fire extinguishing records of this fire extinguishing process are collected, and the target fire extinguishing records are associated with the corresponding scene feature information and stored in the historical database. The historical database is used for the initial recommendation of fire extinguishing parameters in subsequent similar or identical scenarios.

[0085] Specifically, after the firefighting mission is fully completed, the full-cycle thermal radiation integral value is read from the heat flow meter, the full-frame-rate flame image sequence is read from the high-definition camera, and the pressure and flow values ​​at the second level are read from the pressure transmitter and flow meter. This data is standardized and preprocessed, and then bound to scene feature information. Scene feature information, initial supply parameters, time-series data of the comprehensive fire index throughout the fire's development, switching time points at each stage, actual supply parameters executed at each stage, and the final firefighting effect indicators are collectively encapsulated into a structured target firefighting record. After encapsulation, the target firefighting record undergoes an integrity check by calculating the checksum of each data segment and comparing it with the value before storage. If the checksum passes, the record is temporarily stored in a local cache.

[0086] Extract a copy of the scene feature information from the target firefighting record and calculate the scene file identification code. Check if an entry with the same scene file identification code already exists in the historical database. If it does, append the unique identification code of the current target firefighting record to the list of associated records under that scene feature entry and update the last update date field of that entry. If it does not exist, create a new entry in the scene feature information table, storing the complete scene feature information and the unique identification code of the current record. Write the target firefighting record to the historical data table in a structured data format, and simultaneously create a foreign key index between the unique identification code and the scene file identification code. The write operation uses transactional write to ensure data consistency. If an error occurs during the write process, such as network interruption or insufficient storage space, the transaction is automatically rolled back and the error log is recorded. The write is retried after the system recovers.

[0087] When undertaking a new firefighting mission at some point in the future, after collecting scene feature information, a historical database query is performed. The current scene file identification code is calculated using the scene feature information of the current mission. A two-step search is performed in the historical database: first, an exact match is made with records having the same scene file identification code, sorted in descending order by last update date, and the most recent record is selected. If no exact match is found or the results are insufficient, a similar scene search is performed, calculating the Euclidean distance between the current scene feature vector and all scene feature entries in the historical database. All entries with a distance less than 0.15 are sorted in ascending order by distance, and the top three are selected. The initial supply parameter set is extracted from the selected historical records, including medium type, initial pressure, mixing ratio, supply intensity, etc. The median of each parameter is calculated to form an initial recommended parameter set. If configured in fully automatic mode, the initial recommended parameter set is automatically written into the initial parameter setting table for the current mission. If configured in semi-automatic mode, the recommended values ​​are displayed on the operation interface with a recommendation confidence level. Based on the normalized value of the matching similarity, the operator confirms or manually corrects the value before execution. After the recommendation is completed, the historical record number and matching similarity value used in this recommendation are recorded in the log for subsequent evaluation of the effectiveness of the recommendation strategy.

[0088] After each firefighting operation, new target firefighting records are continuously added to the historical database, making the database cover increasingly diverse scenarios and increasing the number of samples in each scenario. As the sample size grows, the recommended values ​​gradually converge towards the statistical optimum, and the ability to set initial parameters is continuously optimized with increased usage.

[0089] In summary, the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method provided in this application has the following technical effects: By acquiring scenario feature information of the scene where the fire extinguishing target is located, and using the scenario feature information as a selection constraint, an applicable fire extinguishing medium type and initial supply parameters are selected from a preset fire extinguishing medium library; fire extinguishing control is performed on the fire extinguishing target according to the fire extinguishing medium type and initial supply parameters, and dynamic feedback parameters of the fire scene are collected in real time during the fire extinguishing process; the fire development stage is determined based on the flame height and thermal radiation intensity in the dynamic feedback parameters of the fire scene, and the pressure supply intensity corresponding to the fire development stage is matched according to a stepped pressure supply strategy; the initial supply parameters are adjusted based on the pressure supply intensity, and continuous fire extinguishing control is performed on the fire extinguishing target; after the fire extinguishing is completed, the target fire extinguishing record of this fire extinguishing process is collected, and the target fire extinguishing record is associated with the corresponding scenario feature information and stored in a historical database, which is used for initial recommendations of fire extinguishing parameters in subsequent identical or similar scenarios. In other words, by introducing a method for collecting fire scene characteristic information based on collaborative measurement of multiple types of sensors, the initial medium selection is constrained. At the same time, multi-dimensional dynamic feedback parameters are collected in real time during the fire extinguishing process, enabling quantitative measurement and judgment of the fire development stage. Based on the measurement results, a stepped pressure matching and closed-loop negative feedback correction are performed. After the fire is extinguished, the measurement data is associated with the scene characteristics and stored to form a searchable historical database. This ensures that every adjustment of the supply parameters is based on quantifiable fire scene measurement data, thereby achieving precise matching between the fire extinguishing supply intensity and the fire development stage throughout the entire life cycle, significantly improving the fire extinguishing success rate in a wide range of fire scenarios.

[0090] Example 2: Based on the same inventive concept as the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method in Example 1, this application also provides a scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system. Please refer to the appendix. Figure 3The scene-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system includes: a parameter selection module 11, used to acquire scene feature information of the scene where the fire extinguishing target is located, and select the applicable fire extinguishing medium type and initial supply parameters from a preset fire extinguishing medium library using the scene feature information as a selection constraint; a fire extinguishing control module 12, used to control the fire extinguishing target according to the fire extinguishing medium type and initial supply parameters, and collect dynamic feedback parameters of the fire scene in real time during the fire extinguishing process; a fire development judgment module 13, used to judge the fire development stage according to the flame height and thermal radiation intensity in the dynamic feedback parameters of the fire scene, and match the pressure supply intensity corresponding to the fire development stage according to a stepped pressure supply strategy; a parameter adjustment module 14, used to adjust the initial supply parameters based on the pressure supply intensity, and perform continuous fire extinguishing control on the fire extinguishing target; and an association storage module 15, used to collect the target fire extinguishing records of this fire extinguishing process after the fire extinguishing is completed, and associate and store the target fire extinguishing records with the corresponding scene feature information in a historical database, the historical database being used for initial recommendations of fire extinguishing parameters in subsequent identical or similar scenarios.

[0091] Furthermore, the parameter selection module 11 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used to: include at least the space enclosure type, fire load material type, and vertical height parameter of the fire extinguishing medium delivery path of the scenario feature information.

[0092] Furthermore, the parameter selection module 11 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used to: select compressed air foam extinguishing medium when the space enclosure type is an enclosed space and the fire load material type is flammable liquid or electrical equipment; select water extinguishing medium or dry powder extinguishing medium when the space enclosure type is an open space and the fire load material type is solid combustible material; and select compressed air foam extinguishing medium instead of water extinguishing medium when the vertical height parameter exceeds a set threshold.

[0093] Furthermore, the parameter selection module 11 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used to: when the fire load material type is an oil-immersed transformer and the space enclosure type is an underground enclosed space, the selected compressed air foam fire extinguishing medium foam stock solution type is 3% aqueous film-forming foam, and the foam mixture supply intensity in the initial supply parameters is set to 17.8 liters to 22.2 liters per square meter per minute.

[0094] Furthermore, the parameter selection module 11 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used to: when the vertical height parameter exceeds 220 meters, set the gas-liquid mixing ratio to 98:10 in the early stage of fire extinguishing to obtain foam with an expansion ratio of 11 times and a range of 17 meters; and adjust the gas-liquid mixing ratio to 6:1 in the middle and late stages of fire extinguishing to obtain foam with an expansion ratio of 11 times and a range of 13 meters.

[0095] Furthermore, the fire extinguishing control module 12 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used for: the fire scene dynamic feedback parameters include flame height, thermal radiation intensity, fire scene temperature distribution, and oxygen volume fraction in the enclosed space.

[0096] Furthermore, the fire extinguishing control module 12 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used to: trigger medium switching when the continuous supply time of the current fire extinguishing medium exceeds a preset threshold and the fire intensity has not dropped to a safe level; during the switching process, the supply intensity of the first fire extinguishing medium is reduced in a decreasing manner, while the supply intensity of the second fire extinguishing medium is increased in an increasing manner, and an overlapping supply period is set between the first fire extinguishing medium and the second fire extinguishing medium.

[0097] Furthermore, the fire extinguishing control module 12 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used for: in scenarios using fire extinguishing robots, before the first fire extinguishing medium carried by the robot body is exhausted, controlling the robot to move to dock with external fire extinguishing medium supply equipment; after successful docking, obtaining a second fire extinguishing medium from the supply equipment and continuing fire extinguishing; if automatic docking fails, switching to manual docking mode; wherein, if automatic docking fails, switching to manual docking mode includes: switching to manual docking mode after the number of automatic docking failures reaches two, wherein, during automatic docking, position deviation information is obtained by collecting images of markers set on the docking device, and the robot is controlled to adjust its posture and retry docking according to the position deviation information, reducing the deviation range after each adjustment.

[0098] Furthermore, the fire development judgment module 13 in the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system is also used to: obtain the product of the flame height and the thermal radiation intensity, denoted as the fire comprehensive index; when the fire comprehensive index is in a first predetermined range, determine that the fire is in the initial development stage; when the fire comprehensive index is in a second predetermined range, determine that the fire is in the intense development stage; when the fire comprehensive index is in a third predetermined range, determine that the fire is in the attenuation stage.

[0099] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method and specific examples in the aforementioned embodiment one are also applicable to the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system of this embodiment. Through the foregoing detailed description of the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method, those skilled in the art can clearly understand the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system of this embodiment. Therefore, for the sake of brevity, it will not be described in detail here.

[0100] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0101] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scenario adaptability, characterized in that, include: Obtain scene feature information of the scene where the fire extinguishing target is located, and select the applicable fire extinguishing medium type and initial supply parameters from the preset fire extinguishing medium library using the scene feature information as the selection constraint. Fire extinguishing control is performed on the fire extinguishing target according to the type of fire extinguishing medium and the initial supply parameters, and dynamic feedback parameters of the fire scene are collected in real time during the fire extinguishing process. The fire development stage is determined based on the flame height and thermal radiation intensity in the fire dynamic feedback parameters, and the pressure supply intensity corresponding to the fire development stage is matched according to the step-by-step pressure supply strategy. The initial supply parameters are adjusted based on the pressure supply intensity, and continuous fire suppression control is performed on the fire suppression target. After the fire is extinguished, the target fire extinguishing records of this fire extinguishing process are collected, and the target fire extinguishing records are associated with the corresponding scene feature information and stored in the historical database. The historical database is used for the initial recommendation of fire extinguishing parameters in subsequent similar or identical scenarios.

2. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability according to claim 1, characterized in that, The scene feature information includes at least the type of space enclosure, the type of fire-borne material, and the vertical height parameter of the extinguishing medium delivery path.

3. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability according to claim 2, characterized in that, Using the scene feature information as a selection constraint, the applicable fire extinguishing medium type and initial supply parameters are selected from the preset fire extinguishing medium library, including: When the space enclosure type is an enclosed space and the fire load material type is a flammable liquid or electrical equipment, compressed air foam extinguishing medium is selected. When the space enclosure type is open space and the fire load material type is solid combustible material, water extinguishing medium or dry powder extinguishing medium is selected. When the vertical height parameter exceeds the set threshold, compressed air foam fire extinguishing medium is selected instead of water-based fire extinguishing medium.

4. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability according to claim 3, characterized in that, When the fire load material type is an oil-immersed transformer and the space enclosure type is an underground enclosed space, the selected compressed air foam extinguishing medium foam concentrate type is 3% aqueous film-forming foam, and the foam mixture supply intensity in the initial supply parameters is set to 17.8 liters to 22.2 liters per square meter per minute.

5. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability according to claim 3, characterized in that, When the vertical height parameter exceeds 220 meters, the gas-liquid mixing ratio is set to 98:10 in the initial stage of fire extinguishing to obtain foam with an expansion ratio of 11 times and a range of 17 meters. In the later stages of firefighting, the gas-liquid mixing ratio was adjusted to 6:1 to obtain foam with an expansion ratio of 11 times and a range of 13 meters.

6. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability according to claim 1, characterized in that, The dynamic feedback parameters of the fire scene include flame height, thermal radiation intensity, fire temperature distribution, and oxygen volume fraction in the enclosed space.

7. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scene adaptability according to claim 6, characterized in that, During the firefighting process, real-time collection of dynamic feedback parameters from the fire scene is included, followed by: If the continuous supply time of the current extinguishing medium exceeds a preset threshold and the fire intensity does not decrease to a safe level, the medium switching is triggered. During the switching process, the supply intensity of the first extinguishing medium is reduced in a decreasing manner, while the supply intensity of the second extinguishing medium is increased in a increasing manner, and an overlapping supply period is set between the first extinguishing medium and the second extinguishing medium.

8. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scenario adaptability according to claim 7, characterized in that, Also includes: In scenarios where firefighting robots are used, before the first fire extinguishing medium carried by the robot body is exhausted, control the robot to move to dock with external fire extinguishing medium supply equipment. After successful docking, the second fire extinguishing medium is obtained from the supply equipment and fire extinguishing continues. If automatic docking fails, it switches to manual docking mode. If automatic docking fails, it will switch to manual docking mode, including: After two failed automatic docking attempts, the system switches to manual docking mode. During automatic docking, position deviation information is obtained by collecting images of markers placed on the docking device. Based on the position deviation information, the robot is controlled to adjust its posture and retry docking, reducing the deviation range after each adjustment.

9. The method for dynamic adjustment of broad-spectrum fire extinguishing parameters based on scenario adaptability according to claim 6, characterized in that, Determining the fire development stage based on the flame height and thermal radiation intensity in the fire dynamic feedback parameters includes: The product of the flame height and the thermal radiation intensity is obtained and recorded as the comprehensive fire index; When the fire intensity index is within the first predetermined range, the fire is determined to be in the initial development stage. When the comprehensive fire index is within the second predetermined range, it is determined that the fire is in a stage of rapid development. When the comprehensive fire index is in the third predetermined range, the fire is determined to be in the decay stage.

10. A scene-adaptive, broad-spectrum fire extinguishing parameter dynamic adjustment system, characterized in that, The step of implementing the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment method according to any one of claims 1 to 9, wherein the scenario-adaptive broad-spectrum fire extinguishing parameter dynamic adjustment system comprises: The parameter selection module is used to obtain scene feature information of the scene where the fire extinguishing target is located, and select the applicable fire extinguishing medium type and initial supply parameters from the preset fire extinguishing medium library using the scene feature information as the selection constraint. The fire extinguishing control module is used to control the fire extinguishing of the target according to the type of fire extinguishing medium and the initial supply parameters, and to collect dynamic feedback parameters of the fire scene in real time during the fire extinguishing process. The fire development judgment module is used to judge the fire development stage based on the flame height and heat radiation intensity in the fire dynamic feedback parameters, and match the pressure supply intensity corresponding to the fire development stage according to the step-type pressure supply strategy. The parameter adjustment module is used to adjust the initial supply parameters based on the pressure supply intensity and to perform continuous fire extinguishing control on the fire extinguishing target. The associated storage module is used to collect the target fire extinguishing records of this fire extinguishing process after the fire is extinguished, and to associate and store the target fire extinguishing records with the corresponding scene feature information in the historical database. The historical database is used for the initial recommendation of fire extinguishing parameters in subsequent similar or identical scenarios.

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