Integrated fire fighting truck for fire fighting and fire extinguishing of high-rise building and rescue system and fire extinguishing method of integrated fire fighting truck

Abstract

The invention provides an integrated fire fighting truck for high-rise building fire fighting and a rescue system and a fire extinguishing method.The integrated fire fighting truck comprises a carriage, a standing workbench is arranged at the front end of a carriage body of the carriage, a vehicle-mounted multimedia display screen is arranged at the rear end of the carriage body, the standing workbench comprises a bottom supporting frame, and a standing platform is arranged at the upper end of the bottom supporting frame; a fence is arranged at the upper end of the bottom supporting frame around the standing platform, a control system of the vehicle-mounted multimedia display screen is connected with a vehicle-mounted electric control system, a fire-fighting ammunition storage frame is arranged on a bottom plate in the compartment body, a plurality of unmanned aerial vehicle lifting platforms are arranged above the fire-fighting ammunition storage frame, and a support for installing the unmanned aerial vehicle lifting platforms is arranged in the compartment body. A sliding door set matched with the unmanned aerial vehicle lifting platform to be opened and closed is arranged at the top of the compartment body. Through the unmanned aerial vehicle attitude and heading steady state control technology, the precise jet fire extinguishing technology and the body safety guarantee technology under the multi-source disturbance load based on artificial intelligence, and in combination with the high-rise building fire unmanned aerial vehicle cluster intelligent fire extinguishing system operation tactical and tactical method, the problem of fire extinguishing and rescue of urban high-rise buildings is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire fighting vehicles, in particular to an integrated fire fighting vehicle for high-rise building fire fighting and extinguishing, and a rescue system and a fire extinguishing method thereof. Background Art

[0002] In recent years, the public's awareness of fire safety has increased, and high-rise and super-high-rise buildings have increased sharply. High-rise / super-high-rise firefighting has the characteristics of complex functions, multiple fire sources, fast spread speed and great difficulty in evacuation, which is a common problem faced by the industry. In the past ten years, more than 30,000 high-rise building fires have occurred in my country, and the domestic emergency firefighting industry has not yet had a relatively feasible / competitive emergency firefighting solution for super-high floors above 100 meters. At present, in the ranks of drone firefighting, drone fire trucks mostly use tethered firefighting and other methods. This firefighting method is affected by the length of the water hose in terms of distance. At the same time, due to the stability of the drone in the air, the water hose cannot reach the pressure that can be provided for ground firefighting, and the firefighting effect is limited. This project is optimized on the original basis, using drones to carry fire extinguishing bombs or fire extinguishing tanks for firefighting operations. The flight altitude of the drone is not limited by the water hose, while ensuring that the firefighting effect is not lower than that of traditional drone fire trucks, and it can carry multiple types of firefighting ammunition, which is suitable for more working conditions. Foreign industrialized countries have carried out the research and development and application of high-rise building firefighting mobile devices earlier. Many cities in developed countries such as the United States, Japan, and France have established urban aviation fire rescue teams. Helicopters have played a good role in the emergency rescue of super high-rise buildings in some countries around the world. The United States, Brazil, and South Korea have all used flying equipment to participate in the emergency rescue of super high-rise buildings. In addition, using the flexibility of miniaturized unmanned aerial vehicles to carry out disaster monitoring is also a major research and development and application direction. UAV manufacturer Inspired Flight launched the IF1200A UAV, with a payload increased to 9.07 kg and a flight time of up to 40 minutes. It allows the integration of special firefighting equipment such as infrared thermal imagers to monitor the real-time dynamics of fires. The drone designed by Parrot for the characteristics of fire scenes and disaster areas is equipped with a 14-megapixel camera and a thermal imaging camera, which can survey the fire and trapped people in high temperature and high humidity environments, and provide fire scene information to rescuers.

[0003] In recent years, the technology of large-load multi-rotor firefighting drones has developed rapidly, and its key technologies such as load capacity, endurance, firefighting efficiency, and system reliability have all made major breakthroughs. The United States, Europe and other regions have carried out new explorations in firefighting drone technology and equipment. The ALTUS non-tethered electric drone of the First Respone project in the United States can carry 50kg of foam fire extinguishing agent to carry out firefighting operations, with an effective firefighting height of 100m; the BriSky drone of the European COMETS project adopts an 8-axis 16-propeller layout, can carry 8 fire extinguishing balls to carry out firefighting operations, and has a maximum take-off weight of 120kg; the tethered electric eight-rotor firefighting drone developed by Latvia Aerones can carry a high-pressure water gun to spray and extinguish the fire source, with a maximum take-off weight of 200kg and a payload of 80kg. The non-tethered electric multi-rotor drone developed by South Korea's Mingtuowei Company carries a high-compression foam fire extinguishing agent, with a continuous spraying time of 40 minutes, a maximum take-off weight of 280kg, and a payload of 120kg. The above-mentioned project products have all completed prototype trial production and testing, but there are no actual application cases yet.

[0004] In general, the majority of flying vehicles currently used in actual combat abroad are helicopters. The use of drones in high-rise building fire rescue work started early, but the types of drone products and functional performance indicators developed lag behind domestic progress, and their application in high-rise building fires has yet to be fully developed.

[0005] Therefore, in order to address the problems of limited effectiveness, insufficient safety and reliability of tethered large-payload fire-fighting drone systems for high-rise building fires, it is urgent to develop integrated fire-fighting and rescue technology equipment based on drone clusters and ground fire trucks. Summary of the invention

[0006] The purpose of the present invention is to provide an integrated fire truck and its rescue system and fire extinguishing method for high-rise building fire fighting. Through the drone swarm intelligent fire extinguishing system fire truck, combined with a fusion-type vehicle-machine integrated intelligent drone swarm combat system, the purpose of multi-agent collaborative control of complex air-to-ground fire extinguishing systems is achieved, thereby improving the efficiency of fire fighting and rescue.

[0007] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0008] Technical solution 1:

[0009] An integrated fire truck for high-rise building fire fighting and extinguishing, comprising a carriage, a standing workbench is provided at the front end of the carriage body, a vehicle-mounted multimedia display screen is provided at the rear end of the carriage body, the standing workbench comprises a bottom support frame, a standing platform is provided at the upper end of the bottom support frame, a fence is provided around the standing platform at the upper end of the bottom support frame, a control system of the vehicle-mounted multimedia display screen is connected to the vehicle-mounted electronic control system, a fire ammunition storage rack is provided on the bottom plate inside the carriage body, a plurality of drone lifting platforms are provided above the fire ammunition storage rack, a bracket for installing the drone lifting platform is provided in the carriage body, a sliding door group that cooperates with the drone lifting platform to open and close is provided on the top of the carriage body, the drone is a drone cluster composed of multiple drones, an ammunition quick-insertion device is provided at the bottom of the drone cluster, and a drone quick-insertion charging box is provided in the carriage body.

[0010] Improvement on the above technical solution: the fire ammunition storage rack includes a support plate, and ammunition fixing seats are respectively provided on the panels on both sides of the support plate. The bottom of the support plate is connected to the bottom plate of the carriage through a slide rail. A traction rope is provided on the upper edge of the support plate, and a pin perpendicular to the slide rail is provided at one end of the traction rope. A plurality of limiting holes are provided on the side of the slide rail from front to back, and a handle for pulling out the pin is provided at the other end of the traction rope.

[0011] Improvement on the above technical solution: the ammunition fixing seat is a clamp, and multiple groups of clamps are evenly distributed on the panel of the support plate.

[0012] Improvement on the above technical solution: an arc-shaped groove is provided in the middle of the clamp, the upper end of the clamp is hinged on the support frame, the fire-fighting ammunition is fixed on the support frame through the clamp and locked by its own weight.

[0013] Improvement on the above technical solution: the sliding door group includes a slide rail assembly, a door panel, and a door panel pushing and pulling mechanism, the slide rail assemblies are respectively arranged on both sides of the door panel, the bottom of the door panel is provided with a slideway corresponding to the slide rail assembly, the middle of the door panel is provided with a support plate, the door panel pushing and pulling mechanism is arranged on the support plate, the door panel pushing and pulling mechanism is parallel to the slide rails on both sides, one end of the door panel pushing and pulling mechanism is fixed on the support plate, and the other end is connected to the door panel.

[0014] Improvement on the above technical solution: the door panel pushing and pulling mechanism includes a screw and a motor. The motor is arranged at one end of the screw. A plurality of supports are arranged on the support plate. The screw passes through the supports and is installed on the support plate. A bearing matching the screw is provided at the center of the support.

[0015] Improvement on the above technical solution: the door panel is divided into two left and right parts, the lead screw is a bidirectional drive lead screw, and the two ends of the lead screw are respectively connected and fixed to the two door panels.

[0016] Improvement on the above technical solution: a base is provided at the bottom of the door panel, a slide groove matching the slide rail is provided at the bottom of the base, a plurality of guide rods are arranged in parallel on the base, and the door panel is slidably connected to the base through the guide rods.

[0017] Improvement on the above technical solution: a sealing strip is provided at the edge of the closed portion of the door panel.

[0018] Improvement on the above technical solution: the cross-sectional shape of the sealing strip includes a raised portion in the middle and horizontal edges on both sides of the raised portion, wherein the edge on one side is provided with a side edge extending vertically downward.

[0019] Improvements to the above technical solution: a fixed frame is provided at the rear end of the car body, and the on-board multimedia display screen is fixed to the rear end of the car body through the fixed frame; a drone reconnaissance platform is provided at the rear end of the car body above the on-board multimedia display screen, and a fence is provided around the operating platform at the rear end of the car body.

[0020] Improvements to the above technical solution: A return-to-center device is provided on the UAV lifting platform, and the return-to-center device includes a motor control box, a stepper motor, a brake mechanism, and a limit switch. The motor control box is arranged at the bottom of the UAV lifting platform, and the motor control box includes a UAV detection module. The motor control box is connected to the control system through a CAN bus, and the stepper motor, the brake mechanism, and the limit switch are arranged on the upper part of the UAV lifting platform. A plurality of sensors are also provided on the upper part of the UAV lifting platform, and the sensors are arranged at the four corners and the center of the lifting platform. The sensors arranged at the four corners of the lifting platform correspond to the position directly below the unfolded wings of the UAV.

[0021] Improvement on the above technical solution: the drone detection module is used to determine whether the drone wings are folded and whether the drone is parked, and the detection signal is connected to the motor control box of the centering device.

[0022] Improvement on the above technical solution: a telescopic ladder is provided on the side of the supporting frame at the bottom of the standing platform, an inner ladder frame of the telescopic ladder is fixed on the supporting frame, and an outer ladder frame which can slide up and down is provided on the inner ladder frame of the telescopic ladder.

[0023] Improvement on the above technical solution: a ladder is provided at the rear end of the car body, the upper and lower ends of the ladder are respectively connected to the rear end of the car body through fixed bases, and the fixed base at the lower end of the ladder is also provided with an inclined support base inclined upward, and the ladder and the car body are inclined at an angle of width at the bottom and narrowness at the top.

[0024] The integrated fire truck for high-rise building fire fighting described in the present invention has a workbench, a vehicle-mounted multimedia display screen, a drone lifting platform, etc. reasonably arranged on the body, so that the fire truck has a rapid response capability. After arriving at the fire scene, it can quickly form a temporary command center, conduct on-site reconnaissance through drones, and then magnify the on-site situation through multimedia displays, which can facilitate rescue personnel to quickly formulate rescue plans and effectively improve fire extinguishing and rescue capabilities.

[0025] This is achieved through the cooperation of the sliding door structure and the drone lifting platform.

[0026] At the same time, when the door is closed, the convex sealing strip can effectively fit the edge of the opposite door to keep the compartment well sealed. The door is connected to a base provided on the compartment through a slide rail assembly, forming a reasonable opening and closing structure, and the use experience is improved through the setting of the door pull rod.

[0027] Technical solution 2:

[0028] A rescue system of an integrated fire truck for high-rise building fire fighting, comprising a UAV cluster lifting and recovery module, a fire extinguishing agent rapid installation module, a fire scene monitoring module, a target automatic recognition module, a aiming and launching operation module, a cluster intelligent command and dispatch module, a flight safety guarantee module, and a power supply module.

[0029] Improvements to the above technical solution: The drone cluster lifting and recovery module, the vehicle is equipped with a dedicated drone lifting platform, to achieve vehicle-machine integration and rapid drone takeoff and recovery. The module can realize automatic opening of the chassis cover, automatic lifting of the lifting platform, automatic execution of rescue operations, and precise return of the drone.

[0030] The automatic opening of the chassis cover can realize the integrated control of the chassis cover opening, and is equipped with a joint motion control logic system of the lifting platform and the top sliding door group;

[0031] The lifting platform is automatically raised. An electric hydraulic lifting device is set for the lifting platform, and it is matched with a safety detection sensor to avoid collision between the drone and the chassis cover;

[0032] Automatic rescue operation is to automatically carry the drone to the highest point through the lifting platform, and the drone will automatically take off according to the instructions of the flight control system;

[0033] The UAV's precise return to home feature has a one-button recovery function and is equipped with a return-to-center device for the UAV's fixed and rapid return flight control system and lifting platform linkage.

[0034] Improvement of the above technical solution: The cluster intelligent command and dispatch module includes a multi-level platform linkage module, an AI intelligent auxiliary system module, an automatic aiming and launching module, and a UAV mutual communication module.

[0035] The multi-level platform linkage module includes fire trucks and command centers, and multiple command centers, which can integrate video, location, data and control technology to provide real-time feedback on drone footage;

[0036] AI intelligent assistance system module, including AI temperature sensing and identification, and AI personnel assisted discovery, can complete identification, tracking, and rescue proposals based on feature objects;

[0037] The automatic aiming and firing module includes a launcher equipped with a laser aimer that can automatically identify the fire source through thermal imaging heat source tracking to achieve precise strikes;

[0038] The UAV intercommunication module includes reconnaissance aircraft and firefighting UAVs. The reconnaissance aircraft and firefighting UAVs can communicate with each other according to instructions and coordinate rescue operations. They can operate simultaneously and step by step;

[0039] The return device includes an Ethernet module and a wireless communication module, and data interaction is performed through software protocols. The data interaction includes data interaction between the vehicle system and the flight control system, transmission of vehicle data to the drone through the flight control system, and data interaction between the vehicle system and the drone.

[0040] Improvements to the above technical solution: The automatic target recognition module can accurately identify people and objects, and with the assistance of drone cameras and intelligent AI technology, accurately identify people and objects to support rescue plans.

[0041] Improvements to the above technical solution: The fire scene monitoring module includes a drone system monitoring unit equipped at the rear of the vehicle to monitor the flight status in real time, detect the flight status of the drone through the background flight control system, and match the MCU dual main control and the fault automatic cruise recovery technology.

[0042] Improvements to the above technical solution: The drone is equipped with double insurance. The first insurance is design redundancy, matched with multiple motors, MCU, IMU, and configured with two operating modes: automatic and manual operation. The second insurance is matched with a parachute, which matches the drone parachute and automatically opens in an out-of-control state.

[0043] Technical solution three:

[0044] The above-mentioned rescue fire extinguishing method of the integrated fire fighting vehicle for high-rise building fire fighting has the following steps:

[0045] 1) Start the reconnaissance aircraft, start the reconnaissance work in advance, and send back the fire scene images in time to provide reference for rescue plan decision-making; at the same time, it can conduct search and rescue and check the fire source through image recognition function;

[0046] 2) After the command center determines the firefighting and rescue plan based on the fire scene information transmitted back by the reconnaissance aircraft, it starts the automatic lifting platform with one button and the drone starts taking off;

[0047] 3) After the rescue is completed, it will be recovered to the lifting platform according to the flight control instructions, and quickly returned to its original position through the automatic return-to-center device.

[0048] Improvement on the above technical solution: In the step 2), multiple drones operate simultaneously to form a drone cluster. The drones realize automatic aiming and firing through laser aimers and infrared functions under instructions. The drone cluster can carry multiple types of ammunition at the same time to extinguish fires simultaneously or in steps.

[0049] Improvements to the above technical solution: The ammunition carried by the cluster drones includes: 1. a personal detection bomb that monitors the status of life characteristics through millimeter wave radar technology, 2. a single-shot window-breaking fire-extinguishing bomb that can directly penetrate tempered double-layer vacuum glass, and 3. a smoke-collecting bomb that can quickly eliminate smoke inside a building.

[0050] Improvement on the above technical solution: the reconnaissance aircraft monitors the environment and detects whether there are people in the environment, and detects the fire source and fire intensity. Based on the above environmental conditions detection, the command center makes a judgment on the on-site situation and outputs a combat plan.

[0051] Beneficial effects:

[0052] The integrated fire truck and its rescue system and fire extinguishing method for high-rise building fire fighting described in the present invention solve the problem of fire fighting and rescue in urban high-rise building fires through the UAV attitude steady-state control technology under multi-source disturbance loads based on artificial intelligence, the precise spray fire extinguishing technology and the main body safety assurance technology, combined with the operating tactics and strategies of the high-rise building fire UAV cluster intelligent fire extinguishing system.

[0053] By developing the theory of multi-agent collaborative control of complex air-to-ground fire-fighting systems, we have made breakthroughs in the steady-state control technology of UAV attitude under multi-source disturbance loads based on artificial intelligence, precise spray fire-fighting technology and body safety assurance technology, developed multi-rotor electric UAVs for high-rise building fire-fighting and rescue, and developed a fire truck point for a UAV cluster intelligent fire-fighting system with integrated vehicle and machine.

[0054] Among them, the drone cluster intelligent fire extinguishing system fire truck is composed of a drone cluster hangar, a lifting system, a fire extinguishing agent storage system, and a monitoring and command cabin. It is equipped with multiple drones to realize the functions of drone cluster lifting and recovery, convenient storage and rapid installation of fire extinguishing agents, real-time ground monitoring of the fire situation and environment, precise fire fighting and rescue operations, cluster intelligent command and dispatch, and flight safety assurance.

[0055] A full range of fire-extinguishing ammunition is available, and the three fire-extinguishers can be equipped with powder, water, and foam separately, or they can be mounted interchangeably with each other; multi-level communications are seamlessly connected between UAVs, between UAVs and vehicle-mounted command systems, and between UAVs and the background; the intelligent flight control system ensures intelligent automatic take-off and landing of the cluster, automatic monitoring of flight safety status, automatic target identification, aiming and launching, achieving indicators such as early, accurate, and effective firefighting.

[0056] Additional aspects and advantages of the present invention will be given in part in the following description, which will become obvious from the following description, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0058] Figure 1 It is a structural schematic diagram of the sliding door group.

[0059] Figure 2 A cross-sectional view of the sealing strip.

[0060] Figure 3 for Figure 1 Enlarged view of part A in the middle.

[0061] Figure 4 for Figure 1 Enlarged view of part B in the middle.

[0062] Figure 5 This is a schematic diagram of the carriage structure.

[0063] Figure 6 This is a structural diagram of the UAV lifting platform.

[0064] Figure 7 This is a structural diagram of a fire ammunition storage rack.

[0065] Figure 8 This is the schematic diagram of the rescue control system.

[0066] Fig. 9 It is a quick-insert structure at the bottom of the drone.

[0067] Fig.10 This is a schematic diagram of the vehicle structure.

[0068] Fig.11 This is a schematic diagram of the bottom structure of the drone lifting platform.

[0069] Fig.12This is a schematic diagram of the interaction scheme between the vehicle computer and the sub-controller of the return device.

[0070] Fig.13 This is the schematic diagram of the second scheme of interaction between the vehicle computer and the sub-controller of the return-to-center device.

[0071] In the figure: slide rail assembly 1, door panel 2, door panel push-pull mechanism 3, support plate 4, base 5, sealing strip 6, compartment 7, slide rail 1-1, lead screw 3-1, motor 3-2, bearing 3-3, support 4-1, slide groove 5-1, guide rod 5-2, base 7-1, door pull rod 7-2, standing workbench 8, vehicle-mounted multimedia display screen 9, bottom support frame 10, standing platform 8-1, fence 8-2, fire ammunition storage rack 11, UAV lifting platform 12, bracket 13, fixed frame 14, UAV reconnaissance platform 15, fence 15-1, telescopic ladder 16, climbing ladder 17, support plate 11-1, ammunition fixing seat 11-2, slide rail 11-3, traction rope 11-4, latch 11-5, limit hole 11-6, handle 11-7, card slot 11-8, motor control box 18, stepper motor 19, brake mechanism 20, limit switch 21, sensor 22. DETAILED DESCRIPTION

[0072] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0073] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items.

[0074] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0075] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each embodiment does not constitute a limitation on the embodiments of the present invention.

[0076] like Figure 5 , 10 The integrated fire truck for high-rise building fire fighting shown in the figure includes a car body, a standing workbench 8 is provided at the front end of the car body 7 of the car body, and a vehicle-mounted multimedia display screen 9 is provided at the rear end of the car body 7. The standing workbench 8 includes a bottom support frame 10, and a standing platform 8-1 is provided at the upper end of the bottom support frame 10. A fence 8-2 is provided around the standing platform 8-1 at the upper end of the bottom support frame 10. The control system of the vehicle-mounted multimedia display screen 9 is connected to the vehicle-mounted electronic control system, and the vehicle-mounted multimedia display screen 9 communicates with the command center at the same time. A fire ammunition storage rack 11 is provided on the bottom plate inside the car body 7, and a plurality of drone lifting platforms 12 are provided above the fire ammunition storage rack 11. A bracket 13 for installing the drone lifting platform 12 is provided in the car body 7, and a bracket 13 for installing the drone lifting platform 12 is provided on the top of the car body 7. A sliding door group for opening and closing; a fixed frame 14 is provided at the rear end of the car body 7, and the on-board multimedia display screen 9 is fixed to the rear end of the car body 7 through the fixed frame 14; a drone reconnaissance platform 15 is provided at the rear end of the car body 7 above the on-board multimedia display screen 9, and a fence 15-1 is provided around the drone reconnaissance platform 15 at the rear end of the car body 7; a telescopic ladder 16 is provided on the side of the bottom support frame 10 of the standing platform 8-1, and the inner ladder frame of the telescopic ladder 16 is fixed on the bottom support frame 10, and an outer ladder frame that can slide up and down is provided on the inner ladder frame of the telescopic ladder 16; a ladder 17 is provided at the rear end of the car body 7, and the upper and lower ends of the ladder 17 are respectively connected to the rear end of the car body through fixed bases, and the fixed base at the lower end of the ladder 17 is also provided with an oblique support base inclined upward, and the ladder 17 and the car body 7 are at an inclined angle of being wider at the bottom and narrower at the top.

[0077] like Figure 7The fire-fighting ammunition storage rack 11 shown includes a support plate 11-1, and ammunition fixing seats 11-2 are respectively provided on the panels on both sides of the support plate 11-1. The bottom of the support plate 11-1 is connected to the bottom plate of the carriage through a slide rail 11-3. A traction rope 11-4 is provided on the upper edge of the support plate 11-1. One end of the traction rope 11-4 is provided with a pin 11-5 perpendicular to the slide rail 11-3. The side of the slide rail 11-3 is provided with a plurality of limiting holes 11-6 in sequence from front to back. The other end of the traction rope 11-4 is provided with a handle 11-7 for pulling out the pin 11-5. The ammunition fixing seat 11-2 is a clamp, and multiple groups of clamps are evenly distributed on the panel of the support plate 11-1. An arc-shaped clamping groove 11-8 is provided in the middle of the clamp, and the upper end of the clamp is hinged on the support plate 11-1. The fire-fighting ammunition is fixed to the support plate 11-1 through the clamp and locked by its own weight.

[0078] like Figure 1-4 The sliding door group shown includes a slide rail assembly 1, a door panel 2, and a door panel pushing and pulling mechanism 3. The slide rail assemblies 1 are respectively arranged on both sides of the door panel 2. A slideway corresponding to the slide rail assembly 1 is provided at the bottom of the door panel 2. A support plate 4 is provided in the middle of the door panel 2. The door panel pushing and pulling mechanism 3 is arranged on the support plate 4. The door panel pushing and pulling mechanism 3 is parallel to the slide rails 1-1 on both sides. One end of the door panel pushing and pulling mechanism 3 is fixed on the support plate 4, and the other end is connected to the door panel 2.

[0079] Furthermore, the door panel pushing and pulling mechanism 3 includes a screw 3-1 and a motor 3-2. The motor 3-2 is arranged at one end of the screw 3-1. A plurality of supports 4-1 are arranged on the support plate 4. The screw 3-1 passes through the support 4-1 and is installed on the support plate 4. A bearing 3-3 that cooperates with the screw 3-1 is provided at the center of the support 4-1.

[0080] Furthermore, the door panel 2 is divided into two left and right parts, the lead screw 3 - 1 is a bidirectional drive lead screw, and the two ends of the lead screw 3 - 1 are respectively connected and fixed to the two door panels 2 .

[0081] Furthermore, a base 5 is provided at the bottom of the door panel 2, a slide groove 5-1 adapted to the slide rail 1-1 is provided at the bottom of the base 5, a plurality of guide rods 5-2 are arranged in parallel on the base 5, and the door panel 2 is slidably connected to the base 5 via the guide rods 5-2.

[0082] A sealing strip 6 is provided at the edge of the closed portion of the door panel 2. The cross-sectional shape of the sealing strip 6 includes a raised portion in the middle and horizontal edges on both sides of the raised portion. The raised portion in the middle is an arc-shaped raised portion.

[0083] In the actual production process, the door panel can be a single piece or can be set to two or more pieces as needed.

[0084] In this embodiment, there are two door panels, and the opening and closing of the two door panels are controlled simultaneously by a bidirectional driving screw rod. In actual production, the door panels can also be changed to be driven by driving screw rods separately as needed to achieve the purpose of individual control.

[0085] like Figure 6 , 11 The unmanned aerial vehicle lifting platform 12 shown is provided with a centering device, which includes a motor control box 18, a stepper motor 19, a brake mechanism 20, and a limit switch 21. The motor control box 18 is arranged at the bottom of the unmanned aerial vehicle lifting platform 12. The motor control box 18 includes a unmanned aerial vehicle detection module. The motor control box is connected to the control system through a CAN bus. The stepper motor 19, the brake mechanism 20, and the limit switch 21 are arranged on the upper part of the unmanned aerial vehicle lifting platform 12. The upper part of the unmanned aerial vehicle lifting platform 12 is also provided with a plurality of sensors 22. The sensors 22 are arranged at the four corners and the center of the unmanned aerial vehicle lifting platform 12. The sensors 22 arranged at the four corners of the lifting platform correspond to the position directly below the unfolded wings of the unmanned aerial vehicle.

[0086] Further: the drone detection module is used to determine whether the drone wings are folded and whether the drone is parked, and the detection signal is connected to the motor control box of the return device.

[0087] like Fig. 9 The standardized quick-plug interface for UAV ammunition shown can realize the carrying of a variety of ammunition; the interface for tethered water hose and power supply is reserved; the quick-plug battery interface can realize fast battery replacement.

[0088] like Figure 8 The rescue system of the integrated fire truck used for high-rise building fire fighting shown in the figure includes a drone cluster lifting and recovery module, a fire extinguishing agent rapid installation module, a fire scene monitoring module, an automatic target recognition module, an aiming and launching operation module, a cluster intelligent command and dispatch module, a flight safety assurance module, and a power supply module.

[0089] The UAV cluster lifting and recovery module is equipped with a dedicated UAV lifting platform on the vehicle, which realizes vehicle-machine integration and rapid takeoff and recovery of UAVs. The module can realize automatic opening of the chassis cover, automatic lifting of the lifting platform, automatic execution of rescue operations, and precise return of UAVs.

[0090] The automatic opening of the chassis cover can realize the integrated control of the chassis cover opening, and is equipped with a joint motion control logic system of the lifting platform and the top sliding door group;

[0091] The lifting platform is automatically raised. An electric hydraulic lifting device is set for the lifting platform, and it is matched with a safety detection sensor to avoid collision between the drone and the chassis cover;

[0092] Automatic rescue operation is to automatically carry the drone to the highest point through the lifting platform, and the drone will automatically take off according to the instructions of the flight control system;

[0093] The UAV's precise return to home feature has a one-button recovery function and is equipped with a return-to-center device for the UAV's fixed and rapid return flight control system and lifting platform linkage.

[0094] The cluster intelligent command and dispatch module includes a multi-level platform linkage module, an AI intelligent auxiliary system module, an automatic aiming and launching module, and a UAV mutual communication module.

[0095] The multi-level platform linkage module includes fire trucks and command centers, and multiple command centers, which can integrate video, location, data and control technology to provide real-time feedback on drone footage;

[0096] AI intelligent assistance system module, including AI temperature sensing and identification, and AI personnel assisted discovery, can complete identification, tracking, and rescue proposals based on feature objects;

[0097] The automatic aiming and firing module includes a launcher equipped with a laser aimer that can automatically identify the fire source through thermal imaging heat source tracking to achieve precise strikes;

[0098] The UAV intercommunication module includes reconnaissance aircraft and firefighting UAVs. The reconnaissance aircraft and firefighting UAVs can communicate with each other according to instructions and coordinate rescue operations. They can operate simultaneously and step by step;

[0099] like Fig.12 The return device shown includes an Ethernet module and a wireless communication module, and data interaction is performed through a software protocol. The data interaction includes data interaction between the vehicle system and the flight control system, and the vehicle data is transmitted to the drone through the flight control system.

[0100] like Fig.13 The return device shown includes an Ethernet module and a wireless communication module, and performs data interaction through a software protocol. The data interaction includes data interaction between the vehicle system and the flight control system, and data interaction between the vehicle system and the drone.

[0101] The automatic target recognition module can accurately identify people and objects with the assistance of drone cameras and intelligent AI technology to provide support for rescue plans.

[0102] The fire scene monitoring module includes a drone system monitoring unit equipped at the rear of the vehicle to monitor the flight status in real time, detect the flight status of the drone through the background flight control system, and match the MCU dual main control and fault automatic cruise recovery technology.

[0103] The drone is equipped with double insurance. The first insurance is design redundancy, matched with multiple motors, MCU, IMU, and configured with two operating modes: automatic and manual operation. The second insurance is matched with a parachute, which matches the drone parachute and automatically opens in an out-of-control state.

[0104] The rescue fire extinguishing method of the integrated fire fighting vehicle for high-rise building fire fighting has the following steps:

[0105] 1) Start the reconnaissance aircraft, start the reconnaissance work in advance, and send back the fire scene images in time to provide reference for rescue plan decision-making; at the same time, it can use infrared thermal imaging function to conduct search and rescue and check the fire source point;

[0106] 2) After the command center determines the firefighting and rescue plan based on the fire scene information transmitted back by the reconnaissance aircraft, it starts the automatic lifting platform with one button and the drone starts taking off;

[0107] 3) After the rescue is completed, it will be recovered to the lifting platform according to the flight control instructions, and quickly returned to its original position through the automatic return-to-center device.

[0108] In the step 2), multiple drones operate simultaneously to form a drone cluster. The drones automatically aim and fire through laser sights and infrared functions under instructions. The drone cluster can carry multiple types of ammunition at the same time to extinguish fires simultaneously or in steps.

[0109] The ammunition carried by the cluster drones includes: 1. personal detection bombs that monitor life characteristics through millimeter wave radar technology, 2. window-breaking fire-extinguishing bombs that can directly penetrate tempered double-layer vacuum glass with a single shot, and 3. smoke-collecting bombs that can quickly eliminate smoke inside buildings.

[0110] The reconnaissance aircraft monitors the environment, detects whether there are people in the environment, and detects the fire source and fire. Based on the above environmental conditions, the command center makes a judgment on the on-site situation and outputs a combat plan.

[0111] like Fig.10 The drones shown are a drone cluster consisting of multiple drones, and an ammunition quick-insertion device is provided at the bottom of the drone cluster.

[0112] The main research content and technical route of this invention are:

[0113] (I) Research on the Theoretical Study of Multi-agent Collaborative Control of Complex Air-to-Ground Fire Extinguishing System

[0114] Study the intelligent individual motion models and energy models such as drone cluster lifting and recovery, rapid installation of fire extinguishing bombs, fire scene monitoring, automatic target identification, aiming and launching operations, cluster intelligent command and dispatch, flight safety assurance, power supply, etc., and reveal the influence mechanism of the three factors of the intelligent body's own dynamics, system topology, and communication mode on the collaborative behavior of the intelligent body; carry out research on drone attitude steady-state control and precise injection control technology under multi-source disturbance conditions based on AI, and establish multi-source disturbance models such as airflow and bomb injection in harsh fire scene environments such as high-temperature and high-pressure smoke turbulence around buildings; study active and passive fusion collaborative control strategies, and construct distributed multi-agent linkage control theories, methods and strategies; develop flight control software and carry out semi-physical simulation and flight test verification.

[0115] (II) Research on UAV safety protection technology

[0116] Research the safety risk perception and assessment technology of UAV full power failure, develop air warning and ultra-low altitude UAV landing equipment based on the safety analysis of the air-ground strong coupling system, and effectively reduce the safety risks of UAVs.

[0117] (III) Research on fire truck technology of “UAV swarm intelligent fire extinguishing system”

[0118] 1. Research on drone cluster and fire extinguishing agent loading technology

[0119] (1) Technical path: Customize a special chassis for emergency vehicles to improve vehicle power and fire truck box space, and increase loading and carrying capacity;

[0120] (2) Technical solution:

[0121] 1) Customized chassis for emergency vehicles with extended wheelbase (5700mm) and 360ps horsepower, with a chassis durability of more than 1.2 million kilometers, which is convenient for increasing the design space of the upper body, ensuring the loading capacity of the whole vehicle, and effectively ensuring the stability, durability and power of the whole vehicle;

[0122] 2) The upper structure is innovatively designed. The upper part uses a square box structure design to improve space utilization. A UAV flight control platform and ammunition loading equipment are set up in the car. It can carry a total of 3 combat UAVs, 1 reconnaissance UAV, and more than 50 fire-fighting ammunition. The reconnaissance UAV is placed on a special placement platform on the top of the box, which is convenient for the reconnaissance UAV to take off and recover freely and survey the site in advance.

[0123] 3) Multiple equipment boxes and equipment racks are configured inside the box to load different types of ammunition and firefighting equipment;

[0124] 2. Research on UAV cluster takeoff and recovery technology

[0125] (1) Technical path: The vehicle is equipped with a dedicated UAV flight control platform to achieve rapid takeoff and recovery of the UAV;

[0126] (2) Technical solution:

[0127] 1) The box is equipped with a hydraulic lifting platform, and an automatic return device for the drone is configured above the platform to fix and quickly return the drone. The top is designed with an automatic sliding door group, which can be opened and closed with one button;

[0128] 2) Configure the joint motion control logic system of the lifting platform and the top sliding door group to achieve one-button control. After the sliding door is opened to the appropriate position, the lifting platform automatically carries the drone to the highest point, controls the drone to take off, and retracts it with one button after the operation is completed;

[0129] 3) Configure the automatic take-off and landing system for drone swarms;

[0130] 3. Research on collaborative control technology of complex air-to-ground fire extinguishing system based on “vehicle-machine integration”

[0131] (1) Technical path: Equipped with drone cluster flight control system and monitoring system.

[0132] (2) Technical solution:

[0133] 1) Configure automatic operation and manual operation to increase the operability of the drone cluster and select the operation mode according to the on-site conditions;

[0134] 2) Equipped with drone cluster flight control system, multi-machine cluster management; multi-level platform linkage (vehicle and command center, multiple command centers); fusion of video, fusion of location, fusion of data, and fusion of control; real-time flight monitoring; multi-command center video distribution technology; flight control remote control; on-site perception and recording; AI temperature perception and identification; AI personnel assisted discovery;

[0135] 3) The rear of the vehicle is equipped with a drone system monitoring unit, which provides real-time feedback of drone footage with a feedback delay of less than 1s, allowing for quick decision-making based on on-site conditions.

[0136] (IV) Research on operational tactics of UAV swarm intelligent fire extinguishing system

[0137] Based on various operation modes such as single-equipment operation and multi-equipment coupling and joint use, the automatic planning of multi-machine collaborative tasks and the multi-machine multi-task collaborative combat methods are studied; tactics and operations such as rapid deployment of fire-fighting drone clusters and fire trucks in multi-task modes, coordinated actions, command actions, and operational support are proposed to form tactics and combat methods for super-high-rise building fire-fighting drone operations.

[0138] 4. Firefighting drone operation tactics and strategies

[0139] (1) Three combat drones operate continuously. They are released in turn. After a single drone completes the firefighting operation, it is recovered and replenished or reloaded according to the on-site situation. Another single drone is released to carry out the firefighting operation. The three combat drones operate continuously in rotation to ensure the system's continuous firefighting capability for 2-4 hours.

[0140] (2) Three drones operate simultaneously, releasing all drones to carry out firefighting operations, thereby improving the system's instantaneous firefighting area and firefighting capabilities;

[0141] (2) Technical path: Innovative UAV swarm operation methods to ensure operation time, fire extinguishing area, fire extinguishing accuracy and diversity of operating conditions;

[0142] (3) Technical solution:

[0143] 1) Adopting a non-tethered drone cluster system, using drones to launch ammunition for firefighting operations, ensuring that the firefighting height can reach more than 200m; multiple drones can operate continuously to ensure the duration of on-site operations;

[0144] 2) A personnel passage is reserved in the middle of the box to ensure that firefighters can quickly pass through and take ammunition.

[0145] 3) Configure "fire extinguishing bomb + gas-liquid controlled ejection" technology: The drone launches a window-breaking fire extinguishing bomb, which achieves the effect of breaking windows and extinguishing fires at the same time; fire extinguishing bombs are divided into three types: gunpowder-activated; carbon dioxide pneumatically-activated; and liquid fire extinguishing bombs. Gunpowder-activated fire extinguishing agents have the advantages of small particle size, low fire extinguishing concentration, and good flow and diffusion performance. They are suitable for extinguishing total flooding and local fires, and are suitable for high-rise buildings, warehouses, ship cabins, and distribution stations. The principle of carbon dioxide activating is that after launching a window-breaking fire scene, supercritical carbon dioxide is excited, and the carbon dioxide gasifies and expands in volume. With high-pressure carbon dioxide gas as the driving force, the fire extinguishing agent is quickly and efficiently diffused into the fire extinguishing site, and the flames are extinguished by chemical inhibition and heat absorption and cooling mechanisms. However, if people are trapped, it is not very suitable. Liquid fire extinguishing bombs are more suitable for parabolic launch from high to low to the fire point, and are more suitable for forest fire fighting; the diversity of ammunition can ensure the fire extinguishing area and cope with different working conditions;

[0146] 4) The vehicle body is equipped with various ammunition carrying devices, including fire extinguishing bombs, high-pressure fire extinguishing tanks, water-based fire extinguishing bombs, smoke bombs and other ammunition. The three fire extinguishers can flexibly carry different types of fire extinguishing agents such as powder, water, foam, etc., to achieve the diversification and complementarity of fire extinguishing methods. Combined with the diversity of drone cluster combat methods,

[0147] 5) Equipped with UAV infrared guidance + AI control technology: The launcher is equipped with a laser sight, which tracks the heat source through infrared thermal imaging and is equipped with an AI-assisted aiming system to ensure fire-fighting accuracy and achieve precise strikes.

[0148] Technological innovations:

[0149] It is planned to propose a theory of multi-agent collaborative control of complex air-to-ground fire-fighting systems, break through the collaborative control technology of complex air-to-ground fire-fighting systems based on "vehicle-machine integration", develop domestic leading drone swarm intelligent fire-fighting system operation tactics and strategies, and develop a "drone swarm intelligent fire-fighting system" fire truck to fill the domestic gap.

[0150] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0151] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An integrated fire truck for high-rise building fire fighting, comprising a car compartment, Features: A standing workbench is provided at the front end of the carriage body, and a vehicle-mounted multimedia display screen is provided at the rear end of the carriage body. The standing workbench includes a bottom support frame, a standing platform is provided at the upper end of the bottom support frame, and a fence is provided around the standing platform at the upper end of the bottom support frame. The control system of the vehicle-mounted multimedia display screen is connected to the vehicle-mounted electronic control system, and the vehicle-mounted multimedia display screen communicates with the command center at the same time. A fire ammunition storage rack is provided on the bottom plate inside the carriage body, and a plurality of drone lifting platforms are provided above the fire ammunition storage rack. A bracket for installing the drone lifting platform is provided in the carriage body, and a sliding door group that opens and closes in cooperation with the drone lifting platform is provided on the top of the carriage body.

2. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1, Features: The fire-fighting ammunition storage rack includes a support plate, and ammunition fixing seats are respectively arranged on the panels on both sides of the support plate. The bottom of the support plate is connected to the car floor through a slide rail. A traction rope is arranged on the upper edge of the support plate, and a pin perpendicular to the slide rail is arranged at one end of the traction rope. A plurality of limiting holes are arranged on the side of the slide rail in sequence from front to back, and a handle for pulling out the pin is arranged at the other end of the traction rope.

3. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 2, Features: The ammunition fixing seat is a clamp, and multiple groups of clamps are evenly distributed on the panel of the support plate.

4. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 3, Features: An arc-shaped clamping groove is arranged in the middle of the clamp, and the upper end of the clamp is hinged on the support frame. The fire-fighting ammunition is fixed on the support frame through the clamp and is locked by its own weight.

5. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1, Features: The sliding door group includes a slide rail assembly, a door panel, and a door panel push-pull mechanism. The slide rail assemblies are respectively arranged on both sides of the door panel. A slideway corresponding to the slide rail assembly is provided at the bottom of the door panel. A support plate is provided in the middle of the door panel. The door panel push-pull mechanism is arranged on the support plate. The door panel push-pull mechanism is parallel to the slide rails on both sides. One end of the door panel push-pull mechanism is fixed on the support plate, and the other end is connected to the door panel.

6. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 5, Features: The door panel push-pull mechanism includes a lead screw and a motor. The motor is arranged at one end of the lead screw. A plurality of supports are arranged on a support plate. The lead screw passes through the supports and is installed on the support plate. A bearing matching the lead screw is arranged at the center of the support.

7. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 6, Features: The door panel is divided into two left and right panels, the lead screw is a bidirectional drive lead screw, and the two ends of the lead screw are respectively connected and fixed to the two door panels.

8. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 5, 6 or 7, Features: A base is provided at the bottom of the door panel, a slide groove matched with the slide rail is provided at the bottom of the base, a plurality of guide rods are arranged in parallel on the base, and the door panel is slidably connected with the base through the guide rods.

9. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 5, 6 or 7, Features: A sealing strip is arranged at the edge of the closed portion of the door panel.

10. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 9, Features: The cross-sectional shape of the sealing strip comprises a raised portion in the middle and horizontal edges on both sides of the raised portion, wherein one edge is provided with a side edge extending vertically downward.

11. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1, Features: A fixed frame is provided at the rear end of the car body, and a vehicle-mounted multimedia display screen is fixed to the rear end of the car body through the fixed frame. A drone reconnaissance platform is provided at the rear end of the car body above the vehicle-mounted multimedia display screen, and a fence is provided around the operating platform at the rear end of the car body.

12. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1, Features: The UAV lifting platform is provided with a centering device, which includes a motor control box, a stepper motor, a brake mechanism, and a limit switch. The motor control box is arranged at the bottom of the UAV lifting platform. The motor control box includes a UAV detection module. The motor control box is connected to the control system through a CAN bus. The stepper motor, the brake mechanism, and the limit switch are arranged on the upper part of the UAV lifting platform. The upper part of the UAV lifting platform is also provided with a plurality of sensors, which are arranged at the four corners and the center of the lifting platform. The sensors arranged at the four corners of the lifting platform correspond to the position directly below the unfolded wings of the UAV.

13. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1 or 12, Features: The drone detection module is used to determine whether the drone wings are folded and whether the drone is parked, and the detection signal is connected to the motor control box of the return device.

14. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1, Features: A telescopic ladder is arranged on the side of the supporting frame at the bottom of the standing platform, an inner ladder frame of the telescopic ladder is fixed on the supporting frame, and an outer ladder frame which can slide up and down is arranged on the inner ladder frame of the telescopic ladder.

15. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1 or 14, Features: The rear end of the box body is provided with a ladder, the upper and lower ends of the ladder are respectively connected to the rear end of the box body through fixed bases, and the fixed base at the lower end of the ladder is also provided with an inclined supporting base inclined upward, and the ladder and the box body are inclined at a wider bottom and narrower top angle.

16. The integrated fire fighting vehicle for high-rise building fire fighting according to claim 1, Features: The drone is a drone cluster composed of multiple drones. An ammunition quick-insertion device is provided at the bottom of the drone cluster, and a drone quick-insertion charging box is provided in the car.

17. A rescue system for an integrated fire truck used for high-rise building fire fighting. Features: It includes a drone cluster lifting and recovery module, a fire extinguishing agent rapid installation module, a fire scene monitoring module, an automatic target identification module, an aiming and launching operation module, a cluster intelligent command and dispatch module, a flight safety assurance module, and a power supply module.

18. The rescue system of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 17, Features: The UAV cluster lifting and recovery module is equipped with a dedicated UAV lifting platform on the vehicle, which realizes vehicle-machine integration and rapid takeoff and recovery of UAVs. The module can realize automatic opening of the chassis cover, automatic lifting of the lifting platform, automatic execution of rescue operations, and precise return of UAVs. The automatic opening of the chassis cover can realize the integrated control of the chassis cover opening, and is equipped with a joint motion control logic system of the lifting platform and the top sliding door group; The lifting platform is automatically raised. An electric hydraulic lifting device is set for the lifting platform, and it is matched with a safety detection sensor to avoid collision between the drone and the chassis cover; Automatic rescue operation is to automatically carry the drone to the highest point through the lifting platform, and the drone will automatically take off according to the instructions of the flight control system; The UAV's precise return to home feature has a one-button recovery function and is equipped with a return-to-center device for the UAV's fixed and rapid return flight control system and lifting platform linkage.

19. The rescue system of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 17, Features: The cluster intelligent command and dispatch module includes a multi-level platform linkage module, an AI intelligent auxiliary system module, an automatic aiming and launching module, and a UAV mutual communication module. The multi-level platform linkage module includes fire trucks and command centers, and multiple command centers, which can integrate video, location, data and control technology to provide real-time feedback on drone footage; AI intelligent assistance system module, including AI temperature sensing and identification, and AI personnel assisted discovery, can complete identification, tracking, and rescue proposals based on feature objects; The automatic aiming and firing module includes a launcher equipped with a laser aimer that can automatically identify the fire source through thermal imaging heat source tracking to achieve precise strikes; The UAV intercommunication module includes reconnaissance aircraft and firefighting UAVs. The reconnaissance aircraft and firefighting UAVs can communicate with each other according to instructions and coordinate rescue operations. They can operate simultaneously and step by step; The return device includes an Ethernet module and a wireless communication module, and data interaction is performed through software protocols. The data interaction includes data interaction between the vehicle system and the flight control system, transmission of vehicle data to the drone through the flight control system, and data interaction between the vehicle system and the drone.

20. The rescue system of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 17 or 19, Features: The automatic target recognition module can accurately identify people and objects with the assistance of drone cameras and intelligent AI technology to provide support for rescue plans.

21. The rescue system of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 17, Features: The fire scene monitoring module includes a drone system monitoring unit equipped at the rear of the vehicle to monitor the flight status in real time, detect the flight status of the drone through the background flight control system, and match the MCU dual main control and fault automatic cruise recovery technology.

22. The rescue system of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 17, 19 or 21, Features: The drone is equipped with double insurance. The first insurance is design redundancy, matched with multiple motors, MCU, IMU, and configured with two operating modes: automatic and manual operation. The second insurance is matched with a parachute, which matches the drone parachute and automatically opens in an out-of-control state.

23. The rescue fire extinguishing method of the integrated fire fighting vehicle for high-rise building fire extinguishing according to claims 17-22, wherein the steps are as follows: 1) Start the reconnaissance aircraft, start the reconnaissance work in advance, and send back the fire scene images in time to provide reference for rescue plan decision-making; at the same time, it can conduct search and rescue and check the fire source through image recognition function; 2) After the command center determines the firefighting and rescue plan based on the fire scene information transmitted back by the reconnaissance aircraft, it starts the automatic lifting platform with one button and the drone starts taking off; 3) After the rescue is completed, it will be recovered to the lifting platform according to the flight control instructions, and quickly returned to its original position through the automatic return-to-center device.

24. The rescue fire extinguishing method of the integrated fire fighting vehicle for high-rise building fire extinguishing according to claim 23, Features: In the step 2), multiple drones operate simultaneously to form a drone cluster. The drones automatically aim and fire through laser sights and infrared functions under instructions. The drone cluster can carry multiple types of ammunition at the same time to extinguish fires simultaneously or in steps.

25. The rescue fire extinguishing method of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 23 or 24, Features: The ammunition carried by the cluster drones includes:

1. personal detection bombs that monitor life characteristics through millimeter wave radar technology, 2. window-breaking fire-extinguishing bombs that can directly penetrate tempered double-layer vacuum glass with a single shot, and 3. smoke-collecting bombs that can quickly eliminate smoke inside buildings.

26. The rescue fire extinguishing method of the integrated fire fighting vehicle for high-rise building fire fighting according to claim 23 or 24, Features: The reconnaissance aircraft monitors the environment, detects whether there are people in the environment, and detects the fire source and fire. Based on the above environmental conditions, the command center makes a judgment on the on-site situation and outputs a combat plan.

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