An intelligent tethered unmanned aerial vehicle fire extinguishing system suitable for underground construction space and a control method thereof

Abstract

The present application relates to underground fire emergency rescue and unmanned aerial vehicle automatic control technical field, especially to a kind of intelligent tethered unmanned aerial vehicle fire extinguishing system suitable for underground construction space and control method thereof.It includes tethered unmanned aerial vehicle platform, ground support platform, composite conveying pipeline, navigation and perception unit, intelligent identification and decision unit, automatic fire extinguishing control unit, medium supply module, fire extinguishing execution unit and ground control unit.It also includes medium supply module.Based on structural configuration and control process, the present application can adapt to underground complex space, realize multi-medium intelligent matching, cover multiple fire types, break through the limitation of short endurance and signal interruption of conventional unmanned aerial vehicle, realize continuous operation, and through intelligent identification and decision unit, real-time determination and medium matching on fire type can be carried out, the most effective fire extinguishing medium can be switched according to fire situation, avoid fire extinguishing failure or secondary risk caused by improper medium selection, significantly improve the fire extinguishing pertinence and success rate.

Description

Technical Field

[0001] This invention relates to the fields of underground fire emergency rescue and unmanned aerial vehicle (UAV) automatic control technology, and in particular to an intelligent tethered UAV fire extinguishing system and its control method suitable for underground construction spaces. Background Technology

[0002] Construction sites such as underground stations, tunnels, utility tunnels, and underground factories are characterized by their unique structures, often featuring long, narrow spaces with numerous turns, poor ventilation and smoke extraction, dense obstructions, and visibility easily impaired by smoke and dust. In the event of a fire, hot smoke accumulates extremely rapidly, causing a sharp drop in visibility, and the temporary support structures during construction are at risk of collapse, making it difficult for firefighters to approach the fire source for close-range operations. Traditional methods relying on personnel carrying fire extinguishers to engage in firefighting are not only limited in response time but also pose significant safety hazards, including burns from high temperatures, inhalation of toxic fumes, and injuries or fatalities due to structural instability.

[0003] In underground construction environments, the causes of fires are complex and varied. These include surface fires of solid combustibles such as wood, plastics, formwork, and waterproofing materials; electrical fires caused by temporary power lines and cable trays; and liquid fuel fires caused by leaks of flammable liquids such as diesel, lubricating oil, and hydraulic oil. Different types of fires require significantly different extinguishing media. For example, water or foam is effective against solid fires but may exacerbate the risk of electrical fires, while dry powder is effective against electrical fires but has limited effectiveness against deep-seated solid fires. Inappropriate media selection can not only weaken the extinguishing effect but also potentially increase operational risks.

[0004] While existing firefighting drones can replace personnel in dangerous areas to some extent, conventional untethered drones still face challenges in underground scenarios, including short flight time, limited payload, insufficient fire extinguishing medium capacity, unstable communication links, and difficulties in positioning and navigation without GPS signals. These limitations hinder their ability to perform complex fire suppression tasks continuously and for extended periods. For example, patent CN215231728U discloses a track-mounted foam-water mist fire extinguishing system for underground utility tunnels, which extinguishes fires by moving along guide rails. However, this system only uses foam-water mist as the extinguishing medium. For electrical fires common in underground construction (such as temporary power lines and cable trays), the water-based medium may increase the risk of electric shock; for liquid fuel fires, the single medium has limited effectiveness. Patent CN120459580A discloses an intelligent fire extinguishing robot for underground parking garages, which uses multi-system collaboration for fire prevention and control. However, it is battery-powered, resulting in limited flight time and inability to support long-term continuous firefighting operations. Furthermore, the robot needs to carry its own extinguishing medium, and its weight and size limit its effectiveness in extinguishing fires requiring large-volume, continuous spraying. In addition, wireless communication is susceptible to interference in underground spaces, resulting in poor signal stability.

[0005] Existing technologies for underground construction scenarios, characterized by "narrow spaces, numerous turns, and no satellite signals," suffer from limitations such as short flight time, unstable communication links, and difficulties in positioning and navigation, making it difficult for conventional untethered drones to operate continuously for extended periods. Secondly, most existing systems employ a single medium injection method, lacking a medium switching mechanism based on intelligent fire detection, making it difficult to handle complex fire situations involving the coexistence of solid, electrical, and liquid fuels in underground construction. Thirdly, existing technologies separate the fire detection, type determination, medium supply, and injection execution stages, lacking a closed-loop linkage mechanism of "fire detection—medium matching—injection control—manual takeover," which fails to meet the comprehensive requirements of continuous power supply, continuous medium supply, and safe collaborative control in complex underground scenarios.

[0006] Therefore, there is an urgent need to develop an integrated drone firefighting system and control method that can combine underground space environment perception, intelligent fire type determination, flexible switching of multiple media, and support tethered power supply and remote manual takeover, so as to improve the efficiency of fighting underground construction fires and the safety of rescue. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an intelligent tethered UAV fire extinguishing system and its control method suitable for underground construction spaces. The system integrates tethered power supply, multi-media supply, environmental perception, fire identification, automatic control and manual take-off into one configuration to form a closed-loop fire extinguishing scheme suitable for handling complex underground fires.

[0008] The technical solution adopted is as follows: A smart tethered drone firefighting system suitable for underground construction spaces includes a tethered drone platform, a ground support platform, a composite delivery pipeline, a navigation and sensing unit, an intelligent identification and decision-making unit, an automatic firefighting control unit, a firefighting execution unit, and a ground control unit; The ground support platform is connected to the tethered UAV platform via the composite delivery pipeline, and is capable of supplying the tethered UAV platform with electrical energy, control and communication signals, and fire extinguishing media; wherein, the ground support platform is implemented in a vehicle-mounted form; The navigation sensing unit is installed on the tethered UAV platform and is capable of collecting visible light images, thermal images, temperature information, smoke information and pose information in the underground space construction environment. The intelligent identification and decision-making unit is communicatively connected to the navigation sensing unit, the automatic fire extinguishing control unit, and the ground control unit, and outputs the fire source location, fire type, identification confidence level, medium matching result, and fire extinguishing strategy based on environmental information. It also includes a media supply module, which is installed on the ground support platform; the media supply module is capable of storing and delivering two or more types of fire extinguishing media; the media supply module is also known as a multi-media supply module. The fire extinguishing execution unit is installed on the tethered drone platform and is connected to the media supply module. The fire extinguishing execution unit includes a media switching mechanism and a spraying mechanism. The media switching mechanism can connect the corresponding media branch under the action of control commands, and the spraying mechanism can spray the selected fire extinguishing media toward the target fire source area. The automatic fire extinguishing control unit can, when the automatic control conditions are met, control the media switching mechanism and the spraying mechanism to perform fire extinguishing based on the fire source location, fire type, identification confidence level and fire extinguishing strategy; The ground control unit is used to manually intervene in the selection of media, spray direction, spray duration and spray intensity when automatic control conditions are not met, identification results cannot be output stably or a manual takeover command is received.

[0009] Preferably, the tethered unmanned aerial vehicle platform includes a body, a flight control module, a communication module, a tethering interface component, an airborne power management component, and a collision protection structure, with the navigation sensing unit and the fire extinguishing execution unit mounted on the body.

[0010] Preferably, the ground support platform includes a media storage module, a pressurization and delivery module, a power supply module, a pipeline retraction and deployment mechanism, and a control and monitoring module. The control and monitoring module can monitor the pressure, flow rate, remaining volume, valve status, and working status of each media branch and feed back status information to the automatic fire extinguishing control unit or the ground control unit.

[0011] Preferably, the composite delivery pipeline includes an outer sheath and a power transmission channel, a control communication channel, and at least one fire extinguishing medium delivery channel disposed within the outer sheath. Both ends of the composite delivery pipeline are provided with quick-connect interfaces.

[0012] Preferably, the medium supply module includes at least two of the following: a water mist supply branch, a dry powder supply branch, and a foam supply branch, and a gas extinguishing medium supply branch is selectively provided according to the fire extinguishing requirements.

[0013] Preferably, the fire extinguishing unit includes a switching valve group, a nozzle assembly, and a spray angle adjustment assembly, wherein the nozzle assembly is one or more of the following combinations: water mist nozzle, dry powder nozzle, foam nozzle, and gas release nozzle.

[0014] Preferably, the navigation sensing unit includes a thermal imaging positioning submodule, a visual sensing submodule, and an inertial navigation positioning submodule, which can realize the perception, positioning, and path planning of fire sources, obstacles, and work paths in the absence of global positioning signals.

[0015] Preferably, the intelligent identification and decision-making unit can integrate visible light image features, thermal imaging features, temperature distribution information, smoke information, and target area environmental information to output the fire source location, fire type, identification confidence level, medium matching result, and injection parameters. The fire type includes at least electrical fires, liquid fuel fires, solid combustible fires, and mixed fires.

[0016] Preferably, the automatic control conditions include at least: the fire source identification confidence level is not lower than a preset threshold, the communication link is normal, the pressure of the selected medium branch is within the allowable range, and the composite delivery pipeline is in a safe working state; when it is determined to be an electrical fire and the power outage is not confirmed, the automatic fire extinguishing control unit prohibits the water mist supply branch and the foam supply branch from being connected, and preferentially selects the dry powder supply branch or the gas extinguishing medium supply branch. The ground control unit includes a manual takeover submodule. When the automatic control conditions are not met, the identification results cannot be output stably, or a manual intervention command is received, the manual takeover submodule takes over the control of the UAV platform and sets or adjusts the target area confirmation, the order of switching fire extinguishing media, the spraying duration, the spraying direction, and the spraying intensity.

[0017] This invention also provides a control method for an intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces, comprising the following steps: S1. Activate the tethered drone platform and establish communication connections with the ground support platform, automatic fire suppression control unit, and ground control unit; S2. The navigation and perception unit guides the tethered UAV platform to the suspected fire area and collects visible light images, thermal images, temperature information, smoke information and pose information. S3. The intelligent identification and decision-making unit performs fusion processing on the information to identify the fire source location, determine the fire type, and output the identification confidence level, medium matching result, and fire extinguishing strategy. S4. Determine whether the automatic control conditions are met; if they are met, control the multi-media supply module to connect the corresponding media branch and control the fire extinguishing execution unit to spray fire extinguishing to the fire source area; if they are not met, switch to manual takeover mode. S5. During the firefighting process, continuously monitor the changes in the fire situation, communication status and branch operation status. When the fire type, fire status or operational risk changes, re-execute steps S3 and S4. S6. When the fire is extinguished, the preset operation termination conditions are met, or an evacuation order is received, control the tethered drone platform to end the mission or return to base. In steps S3 to S4, the medium matching results are generated according to the following rules: for electrical fires, dry powder or gaseous extinguishing media are preferred before power outage is confirmed; for liquid fuel fires, foam or dry powder extinguishing media are preferred; for solid combustible fires, water mist extinguishing media are preferred; and for mixed fires, a phased extinguishing strategy or a combined extinguishing strategy is generated.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This invention can adapt to complex underground spaces and achieve continuous operation in all terrains. It adopts a tethered UAV platform and achieves continuous power supply and stable communication through a composite delivery pipeline, which breaks through the limitations of conventional UAVs, such as short flight time and easy signal interruption. This invention is not limited by the track coverage area and can flexibly fly to any fire point location; it can cross ground obstacles from the air and is not affected by material accumulation or slippery ground, which significantly improves the passability and operation continuity in complex underground construction terrain.

[0019] (2) This invention can achieve intelligent matching of multiple media, covering a variety of fire types. In response to the complex scenario of multiple fires or coexistence of solid combustibles, electrical equipment, liquid fuels and other fires in underground construction, this invention is equipped with multiple fire extinguishing media supply branches such as water mist, dry powder, foam and gas. Through intelligent identification and decision-making units, the fire type is determined and the media is matched in real time. It can dynamically switch the most effective fire extinguishing media according to the fire situation, avoid fire extinguishing failure or secondary risks caused by improper media selection, and significantly improve the targeting and success rate of fire extinguishing.

[0020] (3) This invention can realize a closed-loop linkage mechanism and support both automatic and manual dual-mode control. This invention constructs a complete closed-loop linkage mechanism of "fire identification - medium matching - spray control - manual takeover". Under normal operating conditions, the system can automatically complete fire source location, type determination, medium switching and spraying operation; when the identification result is unstable, communication is abnormal or special fire situations occur, the ground control unit supports remote manual takeover, and the operator can directly control the attitude and spraying direction of the UAV. This design takes into account both the rapid response of automation and the flexibility and safety of manual intervention, and makes up for the defects of "separation of perception, judgment and execution" in the prior art.

[0021] (4) This invention enables multi-source information fusion perception, improving the accuracy of fire situation determination. This invention integrates multi-source sensors such as visible light, thermal imaging, temperature, smoke, and pose sensors, and performs fusion processing through intelligent identification and decision-making units to output the fire source location, fire type, identification confidence level, and fire extinguishing strategy. Thermal imaging technology can effectively penetrate smoke and dust, overcoming the problem of low visibility in underground spaces; multi-source information fusion reduces the risk of false alarms or missed alarms from a single sensor, improving the robustness and reliability of fire situation determination.

[0022] (5) This invention can continuously supply power and extinguishing media, ensuring long-term firefighting operations. Through a ground support platform and composite delivery pipelines, it continuously supplies power and extinguishing media to the UAV, reducing the risk of firefighting interruption due to insufficient battery life of ordinary untethered UAVs. This overcomes the bottlenecks of short battery life and small media carrying capacity of conventional firefighting UAVs. For large-scale fires requiring continuous spraying of extinguishing media, the system can operate continuously for extended periods, avoiding firefighting interruptions due to power or media depletion, effectively improving the firefighting capability and safety of underground construction fires. Attached Figure Description

[0023] Figure 1 This is a flowchart of the overall control method of the present invention.

[0024] Figure 2 This is a schematic diagram of the ground support platform structure of the present invention.

[0025] Figure 3 This is a schematic diagram of the navigation perception and positioning of the present invention.

[0026] Figure 4 This is a flowchart of the intelligent recognition and decision-making process of the present invention.

[0027] Figure 5 This is a flowchart illustrating the collaborative process of automatic control and manual intervention in this invention.

[0028] In the diagram, 1 is a tethered UAV platform; 2 is a ground support platform; 3 is a composite delivery pipeline; 4 is a fire extinguishing execution unit; 5 is a navigation and sensing unit; 6 is an intelligent identification and decision-making unit; 7 is an automatic fire extinguishing control unit; 8 is a ground control unit; 21 is a media storage module (in the illustrated embodiment, it is a liquid supply tank); 22 is a pressurized delivery module (in the embodiment, it is a pressurized pump set); 23 is a power supply module; 24 is a pipeline retraction and deployment mechanism; 25 is a control and monitoring module; 511 is a thermal imaging positioning submodule; 521 is a visual perception submodule; and 531 is an inertial navigation positioning submodule. Detailed Implementation

[0029] The accompanying drawings are for illustrative purposes only; the invention will be further described below in conjunction with the drawings, but the scope of protection of the invention is not limited to the following embodiments.

[0030] Example 1 like Figure 1 As shown, an intelligent tethered drone firefighting system suitable for underground construction spaces includes a tethered drone platform 1, a ground support platform 2, a composite delivery pipeline 3, a navigation and sensing unit 5, an intelligent identification and decision-making unit 6, an automatic firefighting control unit 7, a firefighting execution unit 4, and a ground control unit 8.

[0031] The tethered unmanned aerial vehicle (UAV) platform 1 includes a fuselage, a flight control module, a communication module, a tethering interface component, an onboard power management component, and a collision protection structure. The navigation sensing unit 5 and the fire extinguishing execution unit 4 are mounted on the fuselage. The flight control module is used to control attitude stability and trajectory flight; the communication module is used to maintain bidirectional communication between the UAV and the ground support platform 2, the automatic fire extinguishing control unit 7, and the ground control unit 8; the tethering interface component is used to connect the composite delivery pipeline 3; the onboard power management component is used to distribute and manage the input electrical energy; and the collision protection structure is used to reduce the damage to the fuselage when it collides with obstacles in narrow passages.

[0032] like Figure 2 As shown, the ground support platform 2 is connected to the tethered UAV platform 1 via the composite delivery pipeline 3, and can supply the tethered UAV platform 1 with electrical energy, control communication signals, and fire extinguishing media; wherein, the ground support platform 2 is implemented in a vehicle-mounted form. The ground support platform 2 includes a media storage module 21, a pressurized delivery module 22, a power supply module 23, a pipeline retraction mechanism 24, and a control and monitoring module 25. The media storage module 21 includes a liquid supply tank, and can be configured with a powder storage tank, foam liquid tank, or gas cylinder group according to the type of fire extinguishing media. The pressurized delivery module 22 is used to provide delivery pressure for the corresponding media branch; the power supply module 23 is used to continuously supply power to the tethered UAV platform 1 and airborne equipment; the pipeline retraction mechanism 24 is used to retract, guide, and tension the composite delivery pipeline; the control and monitoring module 25 is used to monitor the pressure, flow rate, balance, valve status, and pipeline working status of each media branch, and to feed back status information to the automatic fire extinguishing control unit or the ground control unit. Figure 2 The multi-media supply module shown includes a water mist branch, a dry powder branch, a foam branch, and a gas branch.

[0033] The composite delivery pipeline 3 includes an outer sheath and, within the outer sheath, power transmission channels, control and communication channels, and multiple fire extinguishing medium delivery channels. The medium delivery channels are arranged in the form of independent flexible hoses. Both ends of the composite delivery pipeline 3 are equipped with quick-connect interfaces to facilitate rapid assembly, disassembly, and maintenance between the ground support platform 2 and the tethered UAV platform 1. The composite delivery pipeline 3 not only undertakes the function of delivering fire extinguishing media but also provides power supply and control and communication functions, thereby enabling the UAV to maintain a longer operating time and continuous operation capability in underground environments.

[0034] The fire extinguishing execution unit 4 is mounted on the tethered unmanned aerial vehicle platform 1 and includes a switching valve assembly, a nozzle assembly, and a spray angle adjustment assembly. The switching valve assembly is connected to different fire extinguishing medium branches and is used to select the corresponding medium to enter the spray channel under the action of control commands; the nozzle assembly is used to spray the selected fire extinguishing medium towards the target fire source area; the spray angle adjustment assembly is used to adjust the nozzle orientation to improve the fire extinguishing coverage accuracy. The nozzle assembly can be configured with various combinations of water mist nozzles, dry powder nozzles, foam nozzles, and gas release nozzles according to actual needs. When the identification result indicates that the fire is a mixed type of fire, the fire extinguishing execution unit 4 can sequentially connect different medium branches according to a preset time sequence to perform staged fire extinguishing or combined fire extinguishing.

[0035] like Figure 3 As shown, the navigation sensing unit 5 is installed on the tethered UAV platform 1 and is capable of collecting visible light images, thermal images, temperature information, smoke information, and pose information in the underground construction environment. The navigation sensing unit 5 includes a thermal imaging positioning submodule 511, a visual perception submodule 521, and an inertial navigation positioning submodule 531. The thermal imaging positioning submodule 511 is used to identify high-temperature areas and assist in determining the location of fire sources; the visual perception submodule 521 is used to collect images of the tunnel environment and identify obstacles and work passages; the inertial navigation positioning submodule 531 is used to provide pose estimation and short-term positioning support in complex environments. The three submodules work together to output fire source, obstacle, and positioning / path planning results to achieve autonomous navigation and assisted positioning in underground environments without global positioning signals.

[0036] like Figure 4 As shown, the intelligent identification and decision-making unit 6 is communicatively connected to the navigation sensing unit 5, the automatic fire extinguishing control unit 7, and the ground control unit 8, and outputs the fire source location, fire type, identification confidence level, medium matching result, and fire extinguishing strategy according to environmental information.

[0037] The intelligent identification and decision-making unit 6 integrates the data collected by the navigation and sensing unit 5, sequentially completing the identification of the fire source location, the judgment of the fire status, the determination of the fire type, and the generation of the fire extinguishing strategy. Specifically, the intelligent identification and decision-making unit 6 can classify and identify fires based on parameters such as the temperature distribution of the fire source area, changes in smoke concentration, flame image characteristics, whether there are electrical devices in the target area, and whether there is information on the storage or leakage of flammable liquids in the target area. When the identification result is an electrical fire, the control command for the dry powder branch or gas branch is output first before the power is confirmed to be cut off; when the identification result is a liquid fuel fire, the control command for the foam branch or dry powder branch is output first; when the identification result is a solid combustible fire, the control command for the water mist branch is output first; when the identification result is a mixed fire, a staged fire extinguishing or combined fire extinguishing control strategy is output. If the identification confidence is lower than a preset threshold, the intelligent identification and decision-making unit 6 outputs the judgment result of "unable to identify stably" and requests to switch to manual takeover mode.

[0038] The ground control unit 8 includes a manual takeover submodule. When the automatic control conditions are not met, the identification results cannot be stably output, or a manual intervention command is received, the manual takeover submodule takes over the control of the UAV platform and sets or adjusts the target area confirmation, the order of switching fire extinguishing media, the spraying duration, the spraying direction, and the spraying intensity.

[0039] The automatic fire suppression control unit 7 receives the fire source location, fire type, identification confidence level, and media matching results output by the intelligent identification and decision-making unit, and controls the fire suppression execution unit to complete media switching, spray parameter setting, and spray execution accordingly. Preferably, the automatic control conditions include: the fire source identification confidence level is not lower than a preset threshold, the communication link is normal, the pressure of the selected media branch is within the allowable range, and the composite delivery pipeline is in a safe working state. When all the above conditions are met, the automatic fire suppression control unit controls the corresponding media branch to be connected and adjusts the nozzle assembly to spray towards the target area according to the fire source location; when the above conditions are not met, or when a manual intervention command is received, the manual takeover submodule in the ground control unit takes over the system and manually sets or adjusts the target area confirmation, media switching sequence, spray duration, spray direction, and spray intensity.

[0040] like Figure 1 and 5 As shown, the present invention also provides a control method for an intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces, comprising the following steps: S1. Activate the tethered drone platform and establish communication connections with the ground support platform, automatic fire suppression control unit, and ground control unit; S2. The navigation and perception unit guides the tethered UAV platform to the suspected fire area and collects visible light images, thermal images, temperature information, smoke information and pose information. S3. The intelligent identification and decision-making unit performs fusion processing on the information to identify the fire source location, determine the fire type, and output the identification confidence level, medium matching result, and fire extinguishing strategy. S4. Determine whether the automatic control conditions are met; if they are met, control the multi-media supply module to connect the corresponding media branch and control the fire extinguishing execution unit to spray fire extinguishing to the fire source area; if they are not met, switch to manual takeover mode. S5. During the firefighting process, continuously monitor the changes in the fire situation, communication status and branch operation status. When the fire type, fire status or operational risk changes, re-execute steps S3 and S4. S6. When the fire is extinguished, the preset operation termination conditions are met, or an evacuation order is received, control the tethered drone platform to end the mission or return to base. In steps S3 to S4, the medium matching results are generated according to the following rules: for electrical fires, dry powder or gaseous extinguishing media are preferred before power outage is confirmed; for liquid fuel fires, foam or dry powder extinguishing media are preferred; for solid combustible fires, water mist extinguishing media are preferred; and for mixed fires, a phased extinguishing strategy or a combined extinguishing strategy is generated.

[0041] Based on the structural configuration and control process, the system of the present invention can achieve continuous power supply, continuous medium supply and differentiated fire extinguishing control according to fire type in underground construction environment, so as to improve the efficiency of handling and reduce the risk of personnel working at close range.

[0042] Example 2 The intelligent tethered drone fire extinguishing system for underground construction spaces provided in this embodiment is basically the same as the system in Embodiment 1, except that the multi-media supply module includes a water mist supply branch, a dry powder supply branch, and a gaseous fire extinguishing medium supply branch.

[0043] Other areas not mentioned are the same as in Example 1.

[0044] Example 3 The intelligent tethered drone fire extinguishing system for underground construction spaces provided in this embodiment is basically the same as the system in Embodiment 1, except that the multi-media supply module includes a foam supply branch, a dry powder supply branch, and a gaseous fire extinguishing medium supply branch.

[0045] Other areas not mentioned are the same as in Example 1.

[0046] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces, characterized in that, It includes a tethered unmanned aerial vehicle platform, a ground support platform, a composite delivery pipeline, a navigation and sensing unit, an intelligent identification and decision-making unit, an automatic fire extinguishing control unit, a fire extinguishing execution unit, and a ground control unit; The ground support platform is connected to the tethered UAV platform through the composite delivery pipeline, and is able to deliver electrical energy, control communication signals and fire extinguishing media to the tethered UAV platform; The navigation sensing unit is installed on the tethered UAV platform and is capable of collecting visible light images, thermal images, temperature information, smoke information and pose information in the underground space construction environment. The intelligent identification and decision-making unit is communicatively connected to the navigation sensing unit, the automatic fire extinguishing control unit, and the ground control unit, and outputs the fire source location, fire type, identification confidence level, medium matching result, and fire extinguishing strategy based on environmental information. It also includes a media supply module, which is installed on the ground support platform; the media supply module is capable of storing and transporting two or more fire extinguishing media; The fire extinguishing execution unit is installed on the tethered drone platform and is connected to the media supply module. The fire extinguishing execution unit includes a media switching mechanism and a spraying mechanism. The media switching mechanism can connect the corresponding media branch under the action of control commands, and the spraying mechanism can spray the selected fire extinguishing media toward the target fire source area. The automatic fire extinguishing control unit can, when the automatic control conditions are met, control the media switching mechanism and the spraying mechanism to perform fire extinguishing based on the fire source location, fire type, identification confidence level and fire extinguishing strategy; The ground control unit is used to manually intervene in the selection of media, spray direction, spray duration and spray intensity when automatic control conditions are not met, identification results cannot be output stably or a manual takeover command is received.

2. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The tethered unmanned aerial vehicle platform includes a fuselage, a flight control module, a communication module, a tethered interface component, an airborne power management component, and a collision protection structure. The navigation sensing unit and the fire extinguishing execution unit are mounted on the fuselage.

3. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The ground support platform includes a media storage module, a pressurization and delivery module, a power supply module, a pipeline deployment and retraction mechanism, and a control and monitoring module. The control and monitoring module can monitor the pressure, flow rate, remaining volume, valve status, and working status of each media branch and feed back status information to the automatic fire extinguishing control unit or the ground control unit.

4. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The composite delivery pipeline includes an outer sheath and a power transmission channel, a control communication channel, and at least one fire extinguishing medium delivery channel disposed within the outer sheath. Both ends of the composite delivery pipeline are provided with quick-connect interfaces.

5. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The media supply module includes at least two of the following: water mist supply branch, dry powder supply branch, and foam supply branch, and the gas extinguishing media supply branch is selectively provided according to the fire extinguishing requirements.

6. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The fire extinguishing unit includes a switching valve group, a nozzle assembly, and a spray angle adjustment assembly. The nozzle assembly is one or more of the following combinations: water mist nozzle, dry powder nozzle, foam nozzle, and gas release nozzle.

7. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The navigation sensing unit includes a thermal imaging positioning submodule, a visual sensing submodule, and an inertial navigation positioning submodule, which can realize the perception, positioning, and path planning of fire sources, obstacles, and work paths in the absence of global positioning signals.

8. The intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The intelligent recognition and decision-making unit can integrate visible light image features, thermal imaging features, temperature distribution information, smoke information, and target area environmental information to output the fire source location, fire type, recognition confidence level, medium matching result, and injection parameters. The fire type includes at least electrical fires, liquid fuel fires, solid combustible fires, and mixed fires.

9. A smart tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces according to claim 1, characterized in that, The automatic control conditions include at least: the fire source identification confidence level is not lower than the preset threshold, the communication link is normal, the pressure of the selected medium branch is within the allowable range, and the composite delivery pipeline is in a safe working state; when it is determined to be an electrical fire and the power outage is not confirmed, the automatic fire extinguishing control unit prohibits the water mist supply branch and the foam supply branch from being connected, and prioritizes the dry powder supply branch or the gas extinguishing medium supply branch. The ground control unit includes a manual takeover submodule. When the automatic control conditions are not met, the identification results cannot be output stably, or a manual intervention command is received, the manual takeover submodule takes over the control of the UAV platform and sets or adjusts the target area confirmation, the order of switching fire extinguishing media, the spraying duration, the spraying direction, and the spraying intensity.

10. A control method for an intelligent tethered unmanned aerial vehicle (UAV) firefighting system suitable for underground construction spaces, as described in any one of claims 1-9, characterized in that... Includes the following steps: S1. Activate the tethered drone platform and establish communication connections with the ground support platform, automatic fire suppression control unit, and ground control unit; S2. The navigation and perception unit guides the tethered UAV platform to the suspected fire area and collects visible light images, thermal images, temperature information, smoke information and pose information. S3. The intelligent identification and decision-making unit performs fusion processing on the information to identify the fire source location, determine the fire type, and output the identification confidence level, medium matching result, and fire extinguishing strategy. S4. Determine whether the automatic control conditions are met; if so, control the medium supply module to connect the corresponding medium branch and control the fire extinguishing execution unit to spray fire extinguishing to the fire source area; If the conditions are not met, switch to manual takeover mode; S5. During the firefighting process, continuously monitor the changes in the fire situation, communication status and branch operation status. When the fire type, fire status or operational risk changes, re-execute steps S3 and S4. S6. When the fire is extinguished, the preset operation termination conditions are met, or an evacuation order is received, control the tethered drone platform to end the mission or return to base. In steps S3 to S4, the medium matching results are generated according to the following rules: for electrical fires, dry powder or gaseous extinguishing media are preferred before power outage is confirmed; for liquid fuel fires, foam or dry powder extinguishing media are preferred; for solid combustible fires, water mist extinguishing media are preferred; and for mixed fires, a phased extinguishing strategy or a combined extinguishing strategy is generated.

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