A transportation system, an aircraft incorporating the transportation system, and related devices, structures, techniques, and applications thereof

Abstract

The present invention relates to a transport system and an aircraft comprising the same, as well as related devices, techniques and applications thereof, particularly in the field of firefighting, aerial operations, transport, positioning, orientation, connection, combination and fixation of aerial objects and the like. The transport system is used for moving objects from an aircraft or aircraft system to the outside.

Description

Technical Field

[0001] This invention relates to a transportation system and an aircraft containing the transportation system, as well as related devices, technologies and applications, particularly devices, technologies, methods and applications in fire fighting, aerial operations, glass breaking, transportation, positioning, orientation, connection, combination and fixation of aerial objects, etc. Background Technology

[0002] Currently, when entering high-rise buildings to extinguish fires, firefighters rely on manual transport of hoses and other supplies to enter the burning building. One reason for this is the lack of equipment capable of horizontally transporting firefighting and rescue supplies from aircraft to high-rise buildings. Simultaneously, there is also a lack of equipment capable of transporting firefighting components from aircraft and attaching them to high-rise buildings. When the firefighting components are attached to the building, the recoil force generated when the firefighting components spray the extinguishing agent will not act on the aircraft. In existing technology, rotary-wing drones are used to pull fire hoses for firefighting. Utility model patent application number 201921859756.6 discloses a firefighting system for ultra-high-rise buildings based on a ducted drone. The drone is mounted on a fire truck, and during flight, its rotor is driven by an engine to generate lift. Flight is controlled by a ground control station inside the vehicle. A water spray assembly is installed at the bottom of the drone. One end of a high-pressure fire hose is connected to a hose connector on the water spray assembly, and the other end is connected to a high-pressure fire pump assembly. The high-pressure fire pump assembly is supplied with water from the fire truck's own water tank, other fire trucks, or fire hydrants. Using the technical solution of this utility model, the mass of water and water pipes will increase with the fire extinguishing height, which will increase the load of the drone; and the recoil generated when the spray pressure is high will affect the flight of the drone or even cause the drone to become unstable. Summary of the Invention

[0003] In view of the above problems, this invention is proposed. This invention provides a transportation system, an aircraft including the transportation system, and related technical solutions. The building described in this invention includes houses and structures. The structures include, but are not limited to, water towers, chimneys, and tanks. Using the technical solution provided by this invention, fire extinguishing media can be sprayed onto buildings for fire suppression; the spray height can be higher than that of current fire trucks, and the spray volume and pressure can meet normal fire suppression requirements.

[0004] For illustrative purposes, in this invention, the terms "comprising," "including," "having," and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, apparatus, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, systems, apparatus, or devices. For ease of description, in this invention, the meanings of the six terms "connected," "fixed," "connected," "linked," "combined," and any variations thereof are all included in the term "combined." The term "combined" is intended to "combine" two objects together, either directly or by means of other objects. The terms "support," "mounted," "movable," and any variations thereof are intended to "support," "mount," or "move" another object with one object, which may or may not be connected by other objects. The terms "installed," "connected," "connected," or other variations should be interpreted broadly; for example, they may refer to fixed connections or detachable connections.

[0005] In this invention, when describing the same technical solution, the various "preferred options" and "further preferred options" are parallel, not inclusive or progressive; all these technical solutions can be combined as needed without conflict. Since this invention provides multiple devices and methods, and multiple technical solutions, different technical solutions can be combined as needed without conflict. These combinations are also within the protection scope of this invention.

[0006] It should be noted that in the description of this invention, the numbers "I", "II", ... or "1", "2", ... and the terms "first", "second", ... are used only for the convenience of describing different components and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "I", "II", ... or "1", "2", ... may explicitly or implicitly include at least one of that feature.

[0007] To clarify the concepts and scope of protection of certain devices, this invention defines some devices or terms. When referring to related devices or terms, the definitions in this specification shall prevail.

[0008] In this invention, some devices and components may be sealed and waterproofed, or protected against high temperatures, as needed. Since these are known technologies, they will not be described in detail here. The structures and usage methods of motors, servos, their control components, ultrasonic distance detectors, UAV bodies, cameras, thermal imagers, and other equipment are also common knowledge and readily available for purchase; therefore, they will not be described in detail here.

[0009] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions.

[0010] Firstly, this invention defines a latch used to lock, fasten, or combine two objects together to make them difficult to separate. This invention provides a latch I, which includes a driving element, a lead screw, a U-shaped locking plate, and a locking rod. The driving element includes a motor or a servo motor. The U-shaped locking plate has a lock hole, and the motor controls the locking rod to move in and out of the lock hole to achieve locking and unlocking functions. Preferably, a motor with a self-locking function is used.

[0011] Secondly, this invention defines an "AB-type mechanism" and an "AB-type combination method." In this invention, "a method of combining object A and object B together so that object A can provide support for object B" is defined as an AB-type combination method; the device used to implement the AB-type combination method is simply referred to as an AB-type mechanism, that is, a mechanism that can combine object A and object B together, enabling object A to provide support for object B. The AB-type mechanism includes, but is not limited to, electromagnets, suction cups, magnets, clamping mechanisms, and the aforementioned latch. If, after being combined with other objects using an AB-type mechanism, it can still detach from those objects, then the AB-type mechanism is called an ABA-type mechanism.

[0012] Thirdly, the present invention provides a support system for supporting objects originating from the exterior of a building. These objects include, but are not limited to, fire extinguishing devices, glass-breaking devices, transportation equipment, aircraft, and objects carried by aircraft. The support system includes, but is not limited to, rods, rings, or plates, or any object constructed from rods, rings, or plates. The support system is installed on the exterior wall or surface of the building, or on attachments to the exterior wall or surface. The attachments to the exterior wall or surface include, but are not limited to, windows, window frames, and balconies.

[0013] Fourthly, the present invention defines a plug, the plug including a piston, for blocking the water passage or outlet of a water pipe or valve, and the plug can be removed manually, by operating a machine or by remote control when needed.

[0014] The present invention provides a plug I, wherein the piston of the plug I is provided with the telescopic mechanism, and when the telescopic mechanism extends or retracts, the plug I can be connected to or disconnected from a water pipe or valve.

[0015] The present invention provides a plug II, wherein the piston of the plug II has threads, and the plug II is coaxially mounted with a driven rotating component. The driven rotating component refers to a component that can rotate under the action of an external force. The driven rotating component includes, but is not limited to, gears, driven wheels in incomplete gear mechanisms, ratchet wheels, and grooved wheels.

[0016] Preferably, the piston of the plug has a circular cross-section, and the shape of the piston includes, but is not limited to, a cylindrical shape, a frustum shape, or a boss shape. Preferably, the plug includes an object for fixing or connecting a rope, including, but not limited to, a loop, a bolt, or a short rod. Preferably, a pull rope is connected to the plug, one end of which is connected to the plug, and the other end is connected to or fixed to the valve or water pipe into which the plug is to be inserted, or to the exterior wall of a building, or to an appendage of the exterior wall. This way, when the plug is pulled out, it can be held in place by the pull rope and will not fall. Preferably, the plug includes one or more of a handle, a loop, or a hook to facilitate mechanical control of the plug.

[0017] Fifthly, this invention defines a passive component. The passive component refers to a component that can passively change its orientation or spatial angle under the action of external force, including but not limited to components such as: springs, elastic rods, spring sheets, elastic plates, fisheye bearings, bulleye bearings, and spherical bearings. The elastic plate includes, but is not limited to, an elastic rubber plate, or a device consisting of two plates and multiple springs fixed between the two plates.

[0018] Sixthly, the present invention provides a fisheye bearing I, comprising: an outer sleeve, a core, and a bushing. The bushing is fixed to the outer sleeve, and the core includes bearing balls and a limiting component. The limiting component is used to limit the rotation angle of the bearing balls, and the limiting component includes, but is not limited to, an annular protrusion. Preferably, the core also includes a connecting component or a water pipe connector. The connecting component is used to connect with an external object. Preferably, the outer sleeve includes a mounting component for mounting or fixing the fisheye bearing I. Preferably, a lubricating component is included between the core and the bushing, and the lubricating component is fixed to the bushing to reduce friction, including, but not limited to, a plastic mesh or a metal mesh.

[0019] In a seventh aspect, the present invention defines a connector tube comprising a tubular structure having a structure on its inner or outer wall for connecting to a plug, water pipe, water hose, or other water pipe connector. The structure includes, but is not limited to, grooves, recesses, annular protrusions, snap-fits, and threads. The snap-fit ​​refers to a structure on the male end of a quick-connect water pipe connector for connecting to a female end, or a structure on the female end for connecting to a male end. The connector tube includes any water pipe connector, a pipe capable of connecting to other water pipe connectors, and a valve. The present invention provides a connector tube with the following structure, the features of which can be combined with each other:

[0020] A connector pipe I is provided, on which a movable pagoda connector, a movable pipe section, or a movable nut (or bolt) is fitted, all of which can rotate around the connector pipe I. The movable pagoda connector, the movable pipe section, or the movable nut can be connected to a water pipe connector to be connected by rotation. For example, if the movable pipe section has threads on its inner or outer side, the connection can be made via threads. Preferably, the movable pagoda connector, the movable pipe section, or the movable nut has external threads. Preferably, the movable pagoda connector, the movable pipe section, or the movable nut has a D-type structure. A D-type structure means that the outer diameter of the pipe is smaller closer to the end face; if the inner diameter is larger closer to the end face, it is called a C-type structure, or a flared structure. Preferably, the driven rotating component is fixed on the movable pagoda connector, the movable pipe section, or the movable nut.

[0021] A connector tube II has an opening in the form of a C-shape and includes a structure for connecting a plug, including but not limited to grooves, recesses, and threads. More preferably, the connector tube II includes the plug. More preferably, the connector tube II includes a pull cord and a plug. The pull cord includes, but is not limited to, steel wire or iron wire. The pull cord is used to connect one end to the plug and the other end to a component fixed to the connector tube II or its appendage. More preferably, the connector tube II includes an object for connecting or fixing the linear object, including but not limited to a coil or rod. Preferably, the connector tube II is a female connector of a quick-connect coupling.

[0022] A connector tube III includes one or more of the following components: a driven rotating component, a passive component, a plug, a guiding and positioning component, a support component, an annular protrusion, a limiting component, and a sealing ring. The support component supports external objects and includes, but is not limited to, a support rod and an annular protrusion. Preferably, the support component supports components on an aircraft or objects transported from an aircraft. The limiting component restricts the movement of external objects connected to or in contact with the connector tube III and includes, but is not limited to, a limiting rod, a groove, a boss, and a square block.

[0023] A connector tube IV includes a fisheye bearing or a bulleye bearing. Preferably, the tube is threaded to the fisheye bearing or bulleye bearing. Preferably, the tube and the bearing balls of the fisheye bearing or bulleye bearing are integrally formed. Preferably, the connector tube IV includes one of a male or female quick coupling.

[0024] A connector tube V includes a telescopic component for connecting to a female connector of a water pipe. Preferably, the telescopic component includes a spring.

[0025] Eighthly, the present invention defines a three-way valve body having three openings: an inlet, an outlet, and a control channel for providing a channel for components that control the opening and closing of the three-way valve body. The present invention provides a three-way valve body I, which has one or two of the following features: (1) The three-way valve body I contains a structure capable of connecting components that control the opening and closing of the three-way valve body (e.g., the plug), including but not limited to grooves and recesses. (2) The three-way valve body I contains an internal thread for engaging with an external thread on a screw, the screw being used to control the opening and closing of the three-way valve body I. This allows the plug or the rotary plug to control the opening and closing of the three-way valve body I. This allows the three-way valve body I to be opened easily.

[0026] Preferably, the three-way valve body I includes one or more of the following components: the plug and the connector tube. Preferably, the three-way valve body has a flat surface that mates with a sealing ring to achieve a sealing effect.

[0027] Ninthly, the present invention defines an electric valve, which is a valve whose opening and closing can be controlled by a control circuit switch. The present invention provides an electric valve I, wherein the outlet pipe of the electric valve I is provided with a structure capable of connecting a water pipe, water hose, or other water pipe connector, including but not limited to threads, grooves, recesses, annular protrusions, and the aforementioned snap-fit.

[0028] Tenthly, the present invention defines a pull valve, which is a valve that can be opened by pulling. When the pull rod on the pull valve is pulled, the pull valve can be opened. The present invention provides a pull valve I, the structure of which includes: (1) a three-way valve body; (2) the plug I, the plug being connected to the three-way valve body, the plug having a handle, and the valve can be opened by pulling the handle. Preferably, its structure includes, but is not limited to, the following: (1) the plug I, characterized in that the plug I has a relatively long pull rod, the pull rod passing through the control channel of the three-way valve body. The plug I is used to open and block the water passage of the pull valve I. (2) the three-way valve body I, the groove and recess of the three-way valve body I being used to match the telescopic mechanism on the plug I, so that the telescopic mechanism of the plug I can be connected to the groove and recess. Preferably, the other end of the pull rod has a ring or hook. Preferably, the pull valve I includes: an inlet pipe, a three-way valve body, an outlet pipe, a connector pipe, a first plug, and a second plug. The connector pipe is a female quick-connect fitting connected to the outlet pipe; the first plug is used to block or open the pull valve I, and the second plug is connected to the female plug to prevent foreign objects from entering. Using the pull valve I, the valve can be opened by simply pulling the handle of the first plug; it is purely mechanical, requires no electricity, is simple to set up, and can be easily connected to other fittings.

[0029] Eleventhly, the present invention provides a rotary valve, characterized in that the rotary valve includes the driven rotating component. Controlling the rotation of the driven rotating component by external force can control the water flow within the rotary valve. Preferably, the rotary valve includes: (1) the three-way valve body, characterized in that the control channel of the three-way valve body contains an internal thread. (2) the driven rotating component. Controlling the rotation of the driven rotating component by external force thereby controls the water flow within the rotary valve. (3) a piston (hereinafter referred to as piston IV), the piston IV including a piston body IV and a piston rod IV, the piston rod IV containing an external thread that engages with the internal thread of the control channel of the three-way valve body. One end of the piston rod IV is connected to the piston body IV, and the driven rotating component is coaxially mounted on the piston rod IV. When the rotation of the driven rotating component is controlled by external force, the piston rod IV will rotate, thereby controlling the piston body IV to open and close the water passage of the rotary valve.

[0030] In a twelfth aspect, the present invention provides a rotary ball valve, characterized in that the rotary ball valve includes a ball and a driven rotating component, wherein the ball is rotated by the driven rotating component to realize the opening and closing of the valve. The rotary ball valve includes: (1) a three-way valve body, characterized in that the control channel of the three-way valve body contains an internal thread; (2) a ball, wherein the ball contains a blind hole; (3) a valve stem, wherein the valve stem is connected to the blind hole of the ball, and the rotation of the ball is controlled by rotating the valve stem to realize the opening and closing of the rotary ball valve; and (4) the driven rotating component, which is coaxially mounted on the valve stem.

[0031] In a thirteenth aspect, the present invention provides a valve, including but not limited to any of the aforementioned electric valves, pull valves, rotary ball valves, rotary valves, and connector pipes. The pipe section where the valve's outlet is located is provided with a structure capable of connecting a water pipe, water hose, or water pipe connector. The structure capable of connecting a water pipe or water hose includes, but is not limited to, threads, grooves, recesses, bosses, and snap-fit ​​fasteners.

[0032] Preferably, the valve, the electric valve, the pull valve, the rotary ball valve, the rotary valve, and the connector tube contain one or more of the following: the guide positioning component, the support component, the annular protrusion, the limiting component, the magnetic adsorption component, the pull rope, the three-way valve body, the plug, the rotary plug, and the connector tube. The magnetic adsorption component is a component capable of attracting magnets and is made of ferromagnetic material. Preferably, the magnetic adsorption component includes a flat surface for adsorption.

[0033] In a fourteenth aspect, the present invention defines a spraying system. The spraying system refers to a system capable of spraying water for cooling.

[0034] This invention provides a spraying system I, which is used for spraying water and cooling aerial devices or equipment, particularly for cooling aerial fire extinguishing devices or equipment; preferably, the spraying system I and the aerial fire extinguishing devices or equipment are transported by aircraft. The spraying system I includes one or more of the following structures: (1) The spraying system I includes a nozzle and a support body, the support body being used to support the nozzle; preferably, the spraying system I also includes one or more of a valve, a pipe, and a water tank. (2) The spraying system I includes a nozzle, a pipe, a water tank connected to the pipe, and a water pump. The water pump draws water from the water tank and delivers it to the nozzle for spraying.

[0035] Preferably, the spraying system I further includes a one-way valve, which connects the external water source to the water tank and supplies water to the tank. Preferably, the spraying system I also includes a three-way connector, with its three ports respectively connected to the nozzle, the water source, and the one-way valve. Preferably, the spraying device includes a direct-spray nozzle, the outlet of which is positioned higher than or equal to the highest water level of the spraying system I in a static state. For example, the outlet of the direct-spray nozzle is positioned higher than the highest water level achievable by the water tank. When water is supplied to the spraying system I from the outside, water can be sprayed from the direct-spray nozzle without the need for a water pump. Preferably, the nozzle is a mist nozzle.

[0036] In a fifteenth aspect, for ease of description, the present invention defines a positioning / orientation system, which refers to a system capable of positioning, or orienting, or changing the position or orientation of an object. This includes, but is not limited to, linear motion components and rotary motion components. The linear motion component is a component containing a movable block capable of linear motion, including but not limited to: a slide table, a push rod, and an electric lifting platform, wherein the slider of the slide table is the movable block. The rotary motion component includes, but is not limited to, a motor and a servo motor.

[0037] This invention provides a positioning / orientation system I, comprising: the passive component. Preferably, the positioning / orientation system I comprises: a slide table, a lifting platform, and the passive component. The passive component is fixed to a slider of the slide table, and the lifting platform is fixed to the passive component. When the base plate of the slide table is fixed, the lifting direction of the lifting platform can be changed by an external force. Preferably, the positioning / orientation system I contains two slide tables forming a cross.

[0038] In a sixteenth aspect, the present invention defines a tube holding system, the tube holding system comprising a tube holding mechanism, the tube holding mechanism being a mechanism capable of clamping, releasing, fixing, moving, tilting or rotating a tube.

[0039] This invention provides a pipe holding system I, comprising: (1) a linear motion component, preferably wherein the motion direction of the movable block of the linear motion component is parallel to the axial direction of the rod; and (2) a rod having hooks or loops for pulling objects. The rod is connected to or fixedly mounted on the linear motion component and is movable. Preferably, the rod can be positioned or oriented by the positioning / orientation system. The hooks or loops can be used to hook or loop other objects. The pipe holding system I can be used to open the pull valve.

[0040] This invention provides a pipe holding system II, comprising: (1) the linear motion component; and (2) the AB-type mechanism. The AB-type mechanism is mounted on the linear motion component. The AB-type mechanism is used in conjunction with a water pipe connector, and the linear motion component moves the AB-type mechanism, thus enabling the connection of plug-in quick-connect couplings. The pipe holding system II is also known as an insert-type pipe connection structure, used to mechanically connect two water pipe connectors by insertion.

[0041] This invention provides a pipe holding system III, comprising: (1) a connector pipe I including the driven rotating component; and (2) a rotary drive component, which drives the driven rotating component to rotate. The rotary drive component includes, but is not limited to, gears, a driving wheel in an incomplete gear mechanism, a driving dial in a Geneva mechanism, and a pawl and lever in a ratchet mechanism. The rotary drive component meshes with the driven rotating component of the connector pipe I. Thus, the driven rotating component of the connector pipe I can be driven to rotate by the rotary drive component, thereby connecting the movable pagoda connector, the movable pipe section, or the movable nut to the water pipe connector to be connected. For example, the connection can be made by threads. The pipe holding system III is also called a screw-in pipe connection structure and can also be used to control the rotary valve. Preferably, the pipe holding system III includes the AB type mechanism and a linear motion component.

[0042] This invention provides a pipe holding system IV, which includes the AB-type mechanism and a water pipe connector II. The water pipe connector II is matched with the water pipe connector I to which it is intended to be connected. The pipe holding system IV is configured to satisfy the following condition: when the AB-type mechanism clamps or engages with the water pipe connector I, the axes of the water pipe connector I and the water pipe connector II coincide. This facilitates the connection of the water pipe connectors. Preferably, the AB-type mechanism is the clamping device. Preferably, the pipe holding system IV includes the linear motion component. Preferably, the part of the AB-type mechanism for engaging with other water pipe connectors is the outer cylindrical surface of the water pipe connector I, so that when the AB-type mechanism is engaged with the water pipe connector I, their contact surfaces perfectly match.

[0043] The present invention provides a pipe holding system V: the pipe holding system V includes a plate-shaped object having a through hole or an open groove, the plate-shaped object being able to support a water pipe joint, and a water hose or water pipe connected to the water pipe joint being able to pass through the through hole or the open groove.

[0044] Preferably, the tube holding mechanism may include one or more of the following devices: the AB type mechanism, the ABA type mechanism, an electromagnet, a magnet, a suction cup, and an elastic structure, wherein the elastic structure is used to press the tubular or rod-shaped object, and the elastic structure includes, but is not limited to, a spring, an elastic pad, and an elastic gasket.

[0045] Preferably, the tube holding system includes one or more of the following structures or devices: a rotary drive, the positioning / orientation system, the passive component, the AB type mechanism, the connector tube, a mounting plate, or the bracket body. The mounting plate or the bracket body is used to mount, fix, or support the tube holding mechanism. Preferably, the bracket body is a three-dimensional frame.

[0046] Preferably, the tube holding system includes two linear motion components. Preferably, the tube holding mechanism is mounted on the slider of the slide table.

[0047] The pipe holding system can be used to connect water pipe joints and to open or close valves.

[0048] In a seventeenth aspect, the present invention provides an electric gripper, comprising a gripper head, a connecting rod, and a power mechanism. The gripper head is mounted on one end of the connecting rod, and the power mechanism controls the opening and closing actions of the gripper head. Preferably, the electric gripper includes a gripper head, a connecting rod, a power mechanism, and a pull rope; the gripper head is mounted on one end of the connecting rod, and the power mechanism is connected to the other end of the connecting rod; the power mechanism pulls the pull rope, which in turn pulls the gripper head, thus achieving the gripping and releasing functions. The power mechanism includes, but is not limited to, a winding mechanism, which is used to retract and release the pull rope, thereby controlling the gripping and releasing of the gripper head. This structure minimizes the mass of the gripper head, making it suitable for applications requiring a lightweight gripper, such as when an electric gripper is mounted on a drone. Preferably, the surface of the connecting rod is smooth, allowing a movable block to slide on the connecting rod; the movable block includes, but is not limited to, a sleeve, a linear bearing, and a slider.

[0049] In an eighteenth aspect, the present invention defines a connection system, characterized in that the connection system is used to connect or combine an aircraft body or aircraft system with an external object.

[0050] This invention provides a connection system I, characterized in that the connection system I comprises one or more rod-like objects. The rod-like object refers to an object whose length-to-square root ratio is greater than 10. The rod-like object can be used to provide support for moving solid objects.

[0051] Preferably, the rod is not used to provide support for the drone rotor or spraying equipment, nor as a channel for powder or fluid. Preferably, the rod contains a through hole. Preferably, the rod includes a guide rod or rail, or functions as a guide rod or rail, for conveying objects; the guide rail includes, but is not limited to, prismatic sliding guide rails, cylindrical sliding guide rails, ball bearing guide rails, roller guide rails, L-shaped guide rails, and U-shaped guide rails. Preferably, the cross-section of the rod includes, but is not limited to, circular, square, L-shaped, irregular, or U-shaped.

[0052] Preferably, the connection system I includes one or more of the following components: the AB-type mechanism, the guiding and positioning component, a distance detector, a camera, an infrared detector, a thermal imaging detector, and a motorized gripper. The AB-type mechanism is fixed to one end of the rod-shaped object and is used to connect the connection system I to an object outside the aircraft system using an AB-type connection method; more preferably, the connection system I includes the ABA-type mechanism.

[0053] Preferably, one end of the connection system I is connected to a water pipe or hose in an AB-type connection manner, and the end of the water pipe or hose is connected to the water pipe connector; more preferably, the water pipe, hose or water pipe connector is tied or clamped to the end of the rod-shaped object.

[0054] The connection system can be used to connect or combine the aircraft body or aircraft system with external objects.

[0055] In a nineteenth aspect, the present invention provides a transportation system. The transportation system is used to move objects. Preferably, the transportation system transports objects from an aircraft or aircraft system to the outside. The transportation system includes transportation components and a transportation power mechanism. The transportation components include, but are not limited to, a trolley, the linear motion component, a movable block of the linear motion component, a linear bearing, and one or more of the trolley components. The transportation power mechanism is capable of providing power to the transportation components, driving the transportation components to move. The transportation power mechanism includes, but is not limited to, a motor and the winding mechanism. The winding mechanism moves the transportation components by pulling a rope.

[0056] Preferably, the transport system includes one or more of the rod-like structure, the ABA-type mechanism, the connecting system, and the electric gripper. The transport component can move from one end of the rod-like structure to the other.

[0057] Preferably, the transport system includes a guide rail (or guide rod), and the transport component is mounted on the guide rail to form, but is not limited to, a sliding pair or a rolling linear guide pair. More preferably, the transport component includes or is connected to the ABA-type mechanism.

[0058] Preferably, the transport system further includes a winding mechanism with a double-grooved pulley and a fixed pulley. One end of the rod is fitted with a fixed pulley, and the other end is fitted with the winding mechanism containing the double-grooved pulley. The winding directions of the two grooves on the double-grooved pulley are opposite, so that when the double-grooved pulley rotates, one groove takes in the thread, and the other groove releases the thread. The pull rope of one groove is directly connected to one end of the transport component, and the pull rope of the other groove passes around the fixed pulley and connects to the other end of the transport component. Thus, the movement of the transport component can be controlled by the double-grooved pulley.

[0059] Preferably, the transport system includes a spring and the winding mechanism, with one end of the spring connected to the base of the winding mechanism and the other end connected to the rod-like object. The spring is used to tighten the pull rope of the winding mechanism so that the pull rope maintains tension and prevents it from slackening.

[0060] Preferably, the transportation system uses a motor with a self-locking function.

[0061] The transport system can be used to transport objects from the aircraft or aircraft system to the outside of the aircraft system via a rod, or from one end of the rod to the other, wherein the transport route of the object is outside the rod.

[0062] In a twentieth aspect, the present invention provides a structure (hereinafter referred to as the precise structure) capable of precisely positioning / orienting an object X on platform II onto platform I, wherein platform II is in relative motion with respect to platform I. In some cases, due to the inherent characteristics of the platforms, it is impossible for one platform (hereinafter referred to as platform II) to remain relatively stationary with another platform (hereinafter referred to as platform I). Examples include two moving vehicles, two moving ships, and a flying drone and a building. The purpose of the precise structure is to establish a physical connection between two platforms and then transfer an object (labeled as object X) from one platform (labeled as platform II) to the vicinity of or on the other platform (labeled as platform I). Object X refers to the object to be transported from platform II to platform I. Preferably, object X is fixed or attached to platform I using an AB-type connection. Preferably, the positioning / orientation system is used to move or rotate object X. Thus, object X will remain stationary relative to platform I, or the relative motion between the two will be significantly reduced. That is, relative to the original state (object X on platform II), the above process achieves precise positioning / orientation of object X on platform I. Object X can be any object, such as a water pipe, the connector pipe, or a water pipe connector. In this invention, platform I and platform II are two objects, including but not limited to mechanical devices, equipment, vehicles, buildings, mountains, cliffs, and bridges. The precise structure includes: (1) platform II, which is in motion relative to the platform to be positioned or oriented; and (2) the transportation system. Preferably, the precise structure also includes the positioning / orientation system. When platform II is an aircraft or a drone, the precise structure is referred to as the aircraft X structure or the drone X structure.

[0063] Preferably, the precision structure includes a sub-platform, which includes, but is not limited to, mechanical devices or supports. The sub-platform contains the AB-type mechanism and can be coupled to the platform I using the AB-type mechanism.

[0064] Preferably, platform II or platform I includes one or more of the following: a guiding and positioning structure, the passive component, the AB-type mechanism, and the ABA-type mechanism.

[0065] In a twentieth aspect, the present invention provides a structure for connecting a water pipe connector II on a platform II to a water pipe connector I on a platform I (referred to as a cross-platform connection structure), wherein the platform II is in a state of relative motion with respect to the platform I.

[0066] The cross-platform pipe connection structure establishes a physical connection between two platforms, then transports the water pipe connector II of platform II, or a device containing the water pipe connector II, to the vicinity of platform I, on platform I, or near the water pipe connector I. A positioning / orientation device is then used to align the axes of connector II and connector I, and they are then connected. Preferably, the water pipe connector II, or a device containing the water pipe connector II, is fixed or connected to platform I using an AB-type connection. The cross-platform pipe connection structure includes: (1) the precision structure; and (2) the pipe holding mechanism.

[0067] When platform II is an aircraft, the cross-platform control structure is referred to as an aircraft control structure. The aircraft control structure can be used to: transport the pipe-holding system to the target location using the aircraft system's transport system; and, in conjunction with the positioning / orientation system and the pipe-holding system, align and connect the water pipe connector II with the water pipe connector I along their axes.

[0068] In a twentieth aspect, the present invention defines a blocking device that can be used to prevent glass fragments from falling outside the glass plane or the exterior of a building when glass is broken, and / or to obstruct airflow by blocking window frames or windows.

[0069] This invention provides a blocking device I, comprising (1) a blocking component, and (2) one or both of the linear motion component and the rotary drive component. The blocking component includes, but is not limited to, a baffle or a curtain. When the glass is broken, the blocking component can prevent the glass from falling to the outside. The linear motion component is used to move the blocking component, and when the glass is broken, moving the blocking component can push the broken glass into the room. The rotary drive component is used to adjust the angle between the blocking component and the glass. Preferably, the blocking component includes a high-temperature resistant material, which refers to a material that can withstand a temperature of 100 degrees Celsius, including but not limited to asbestos cloth, metal plate, silicone, ceramic, glass wool, rock wool, perlite, rubber, metal plate or plastic plate coated with a high-temperature resistant coating, plate covered with a high-temperature resistant material, metal mesh, and perforated metal plate. The baffle can be a composite plate, such as a two-layer plate obtained by fixing rubber and aluminum plate with bolts. For example, a metal mesh with a maximum aperture of less than 2 mm. Preferably, the baffle contains a plate of rigid material (referred to as a rigid plate) and a plate of elastic material (referred to as an elastic plate). As a further preferred embodiment, the rigid plate has elastic plates around its perimeter. This structure allows the baffle to be pushed into the window frame more easily, better pushes away broken glass, and also helps to impede airflow.

[0070] The present invention provides a blocking device II, which includes a spray nozzle capable of spraying a spray of water to prevent broken glass from falling off the glass mounting surface or the exterior of the building.

[0071] Preferably, the blocking device I includes a means for discarding the blocking component. Preferably, the curtain can be rolled up or unfolded, and the blocking device I includes a means for supporting, rolling up, and unrolling the curtain, including but not limited to a return gear structure, a motor, and a spiral spring.

[0072] Preferably, the blocking devices I and II include one or more of the AB type mechanism, the support body, and the positioning / orientation device.

[0073] Currently, breaking glass in high-rise, especially super high-rise, buildings is done with great caution because falling glass shards can injure people and property on the ground, as well as water hoses laid in the air during firefighting. The blocking device described in this invention can reduce or even completely prevent glass shards from falling outside the building when breaking glass in the air; after breaking the window frame glass and extinguishing the fire, it can be used to obstruct airflow and reduce the risk of reignition. Currently, there is no similar means of obstructing airflow as described in this invention.

[0074] In the twenty-third aspect, the present invention defines a glass-breaking device, which is a device capable of breaking glass. It includes: (1) a glass-breaking body, which can directly act on and break the glass. The glass-breaking body includes, but is not limited to, a hammer, a metal bead, a metal rod, a bullet, or a sharp object. Preferably, the glass-breaking body has a sharp part and is made of a hard material, the hardness of which is greater than that of glass. The hard material includes, but is not limited to, diamond, synthetic diamond, tungsten steel, high-carbon steel, and alloy steel. The hammer is used to interact with the glass and break it; (2) a glass-breaking power device, which is used to make the glass-breaking body move, act on the glass, and break it. The glass-breaking power device includes, but is not limited to, the following devices: the linear motion component and the impact device. For example, fixing a tungsten steel tip to a slider of a slide table allows the slide table to drive the tungsten steel tip to act on the glass and break it. The impact device is a device capable of suddenly accelerating an object, including, but not limited to, a catapult device, a rotating device, a gun-type spring device, an explosive device, and a gunpowder device. The ejection device refers to a device capable of launching the glass-breaking object and causing it to move in a straight line through the air. The rotating device refers to a device capable of causing the glass-breaking object to rotate. The explosive device refers to a device capable of detonating and producing an object that can impact and shatter glass after the explosion. The gun-type spring device refers to a device capable of storing energy through a spring and causing the object to suddenly accelerate upon release.

[0075] This invention provides a glass-breaking device I, which includes a motor, a cam, a spring, a glass-breaking body, and a push rod. Its principle is as follows: the motor drives the push rod to rotate, thereby pushing the cam, which has its rotation restricted, to compress the spring. When the push rod rotates past the highest point of the cam profile, the spring ejects the cam, causing the glass-breaking body to impact and shatter the glass.

[0076] This invention provides a glass-breaking device II, which includes a motor, a connecting rod, and a hammer. The hammer is mounted at both ends of the connecting rod, and the motor drives the hammer to rotate, thereby breaking the glass.

[0077] Preferably, the glass-breaking device includes the linear motion component, which moves the glass-breaking body. Preferably, the glass-breaking device includes one or more of the following: the support body, the AB mechanism, the blocking component, the blocking device, the spraying device, and the positioning / orientation system. The spraying device is used to cool the glass-breaking device. The blocking component is used to block the window frame with broken glass and prevent airflow. The blocking device can prevent broken glass from falling outside the building when the glass is broken. For example, when breaking glass, the baffle or curtain of the blocking device can be placed close to the outer surface of the glass. After the glass breaks, the linear motion component pushes the baffle or curtain into the room, thus pushing the glass fragments into the room. Alternatively, spraying hot water onto the glass from the outside when breaking glass will cause the broken glass to be washed into the room by the water flow. More preferably, the linear motion component controls the blocking component or the blocking device.

[0078] In a twentieth aspect, the present invention defines a spraying device, which is a device containing a nozzle from which water (or other fluid) can be sprayed when connected to a water (or other fluid) source under certain pressure.

[0079] This invention provides a spraying device I, comprising: a nozzle and one or more of the following devices: a glass-breaking device, an AB-type mechanism, a support body, and a blocking component. The AB-type mechanism is used to attach the spraying device I to another object; the support body is used to support the spraying device I; the blocking component is used to block the window frame to prevent or reduce airflow after water is sprayed for fire extinguishing; the glass-breaking device is used to break the glass before water is sprayed. As a further preferred embodiment, it also includes one or more of the following devices: the blocking device, the spraying device, and the positioning / orientation system. The blocking device is used to prevent glass from falling to the outside of the building when the glass is broken; the spraying device is used to spray water for cooling; the positioning / orientation system is used to move the spraying device I or change the spraying direction.

[0080] The present invention provides a spraying device II, which includes a spray nozzle that sprays a spray of water to prevent broken glass from falling off the glass mounting surface or the exterior of the building.

[0081] In a twentieth aspect, the present invention provides a support system. The support system includes the support body and the object supported and mounted on the support body.

[0082] Preferably, the support system includes one or more of the following: the AB mechanism, the glass-breaking device, the positioning / orientation system, the tube-holding system, the tube-holding mechanism, the connector tube, the electric valve, the rotary valve, the rotary ball valve, the passive component, the spraying device, the spraying system, the blocking component, and the barrier device. Preferably, one or more of the following components are moved using the linear motion component: the glass-breaking device, the spraying device, the connector tube, the tube-holding system, the tube-holding mechanism, the spraying system, the passive component, the blocking component, and the barrier device. The support body supports the aforementioned devices or components, the structure and function of which have been detailed above and will not be repeated here. The support system can be attached to a building or building appurtenance via the AB mechanism.

[0083] Preferably, the support system further includes one or more of the following components: the ABA-type mechanism, a control box, a thermal imager, and a camera. The control box is used to house objects such as motor control components and batteries.

[0084] Preferably, the support body is made of lightweight, high-strength or heat-resistant materials, including but not limited to aluminum alloy, steel, titanium alloy, carbon fiber or other composite materials coated with fire-retardant paint.

[0085] In a twenty-sixth aspect, the present invention provides an aircraft system. It includes: (1) an aircraft body, wherein the present invention employs a hovering aircraft body, including but not limited to a rotorcraft or a tiltrotor aircraft; and (2) a J component. The J component is used to contact, connect, link, clamp, fix, or combine the aircraft system with a target object in the air. The target object is an object outside the aircraft system to which the aircraft system intends to contact, connect, link, clamp, fix, or combine, such as a building, the support system, or a person. The J component includes, but is not limited to, the AB-type mechanism and the rod-like object.

[0086] Preferably, the aircraft system includes one or more of the following objects: the support body, the support system, the connection system, the transport system, the glass-breaking device, the positioning / orientation system, the spraying device, the connector tube, the precision structure, the electric valve, the rotary valve, the rotary ball valve, the winding mechanism, the cross-platform connector structure, the tube-holding system, the tube-holding mechanism, the electric gripper, the ABA-type mechanism, the spraying system, the blocking component, the passive component, and the arresting device. More preferably, the linear motion component moves one or more of the following components: the blocking component, the glass-breaking device, the spraying device, the connector tube, the tube-holding system, the tube-holding mechanism, the spraying system, the arresting device, and the passive component. The structure and function of these devices or components have been described in detail above and will not be repeated here.

[0087] Preferably, the aircraft is an unmanned aerial vehicle, i.e., a drone.

[0088] Preferably, the aircraft system or aircraft body includes one or more of the following: an RTK module, a Global Navigation Satellite System module, a camera, a thermal imaging camera, a distance sensor, and an ultrasonic detector. Since these are well-known technologies and the products are readily available, their structures will not be specifically described in this invention.

[0089] Preferably, the aircraft system includes the rod-like component of the connecting system, and when the aircraft body is rotor-type, the length of the rod-like component is greater than twice the wheelbase of the aircraft body.

[0090] Preferably, the aircraft system includes a water hose or pipe, the rod-shaped object, and the jetting device. One end of the rod-shaped object is fixed to the aircraft body, one end of the water hose or pipe is connected to the nozzle of the jetting device, and the other end is connected to the end of the rod-shaped object away from the aircraft body using the ABA-type mechanism, or the other end is connected to the connector pipe, which is connected to the rod-shaped object by an AB-type connection.

[0091] Preferably, the aircraft system includes the connection system, the transportation system, and the support system. The support system is connected to the transportation component of the transportation system using the ABA-type mechanism, and is transported from the aircraft system via the transportation system and connected to an external object using the AB-type mechanism.

[0092] The uses of the aircraft system include, but are not limited to: (1) moving the carried object outside the aircraft system via a rod; (2) connecting the carried water pipe connector to a water pipe connector outside the aircraft system, and transporting and attaching the carried fire extinguishing device or the spraying device to a building or building appurtenance; (3) transporting and attaching any one or more of the following devices carried to an object (e.g., a building) outside the aircraft system: the fire extinguishing device, the spraying device, the support body, the support system, the pipe connection structure, the water pipe connector, the pipe holding system, the spraying system, the blocking component, and the blocking device.

[0093] The aircraft system of this invention enables connection between the aircraft system and external objects, allows for precise transport of objects from the aircraft system to external locations, and can carry and transport the devices listed above within the aircraft system, connect these devices to external objects, and perform related operations, including but not limited to breaking glass, spraying liquids, preventing glass shards from falling, blocking airflow, spraying water for cooling, connecting water pipes, opening water valves, and positioning or orienting objects. The aircraft system of this invention can be applied to firefighting, extinguishing fires, aerial transport, and aerial operations.

[0094] In a twenty-seventh aspect, the present invention provides a fire extinguishing method. The fire extinguishing method includes the following steps:

[0095] (1) Control the aircraft system containing fire extinguishing equipment to fly to the target location. The target location includes, but is not limited to, the location of the connection of the hose, pipe or connector, the location where the spray device or the support system is to be connected, the location of the valve, the location of the firefighters, the location of the support system, and other building appurtenances.

[0096] (2) Connect the nozzle or the spraying device to a fire water source or other extinguishing medium source. The connection methods include, but are not limited to, connecting via the pipe-holding system, the aircraft connection method described below, or manual connection. The location of the extinguishing medium source includes, but is not limited to, on a building or on the ground. Preferably, the extinguishing medium source connected to the spraying device is on a building.

[0097] (3) The aircraft system or a part thereof is attached to the target object using an AB-type connection. The target object includes the support system, valves, building facade accessories, or other objects that can be attached using an AB-type connection. In specific operations, steps (2) and (3) can be interchanged according to the actual situation. Preferably, the nozzle or the spraying device is attached to the target object using an AB-type connection. Preferably, the support system containing the nozzle or the spraying device is used, and the support system is attached to the target object using an AB-type connection. Preferably, the connecting system is attached to the target object using an AB-type connection. Preferably, the connecting system is attached to the target object using an ABA-type mechanism.

[0098] (4) Open the valve controlling water or other extinguishing media to allow water or other extinguishing media to be sprayed from the nozzle or the spraying device for fire extinguishing. The target location for fire extinguishing includes, but is not limited to, the interior of the building, the building surface, the building facade, the appurtenances of the building facade, and objects outside the facade. The method of opening the valve includes, but is not limited to, the valve opening method described above, and manually opening the valve.

[0099] Preferably, one or more of the following steps are also included:

[0100] 1. Disconnect the plug from the valve. The method used includes, but is not limited to, the plug-pulling method or the plug-opening method.

[0101] 2. Break the glass. The equipment used includes, but is not limited to, the glass-breaking device, and the methods used include, but are not limited to, the glass-breaking methods. 3. Use the transport system to move one or more of the following devices: the spraying device, the glass-breaking device, the pipe-holding system, the blocking device, the spraying system, and the support system. 4. Use the positioning / orientation system to position or orient the water pipe connector or the spraying device. 5. Use the aircraft connection method described below to connect the nozzle or the spraying device to a valve on the building. 6. Use the blocking component or the blocking device to obstruct airflow caused by the window frame. 7. Use the thermal imager to locate high-temperature areas. 8. Perform water spraying for cooling, using equipment including, but not limited to, the spraying system. 9. When breaking the glass, use the blocking device to prevent glass fragments from falling outside the building. 10. Use the ABA-type mechanism to connect one end of the aircraft system or the connecting system of the aircraft system to the water hose or water hose connector, and release the water hose or water hose connector upon reaching the destination. 11. Firefighters shall connect the extinguishing medium source to the nozzle or spraying device in the fire compartment near the fire location, and then control the nozzle or spraying device to spray the extinguishing medium to extinguish the fire.

[0102] Preferably, the aircraft is a drone.

[0103] Preferably, the fire extinguishing method includes the following steps: 1. Controlling the UAV system to fly to the intended fire extinguishing location. 2. Using an ABA-type mechanism to connect the connection system to the support system or building appurtenance. 3. Transporting the support system to the support system via a transport system and connecting it to the support system using an AB-type connection. 4. Connecting the connector pipe on the support system to the valve installed on the building's exterior wall via the pipe holding system. 5. Controlling the connection system of the UAV system to detach from the support system. 6. Opening the valve to spray water for fire extinguishing. Steps 4 and 5 can be interchanged.

[0104] Preferably, the fire extinguishing method includes the following steps: 1. Controlling the drone system to fly towards the location of the firefighters, wherein the end of the drone system's connection system is connected to a water pipe connector using the ABA mechanism. 2. The firefighters remove the water pipe connector from the drone system's connection system and connect it to a fire water source. 3. Controlling the drone system to fly to the intended fire extinguishing location. 4. The drone system or the fire extinguishing device transported from the drone system is connected to the building appurtenances or the support system at the intended fire extinguishing location. 5. The firefighters open the valve and spray water to extinguish the fire. Preferably, the method also includes one or more of the following steps: 1. Controlling the drone system to separate from the building appurtenances or the support system. 2. Connecting the support system or the spraying device to the building appurtenances using an AB mechanism. Preferably, the firefighters open the valve in the fire compartment adjacent to the fire location.

[0105] Preferably, the fire extinguishing method includes the following steps: 1. Controlling the UAV system to fly towards the building appurtenance at the intended fire location. 2. Using an ABA-type mechanism to connect the connecting system to the building appurtenance. 3. Transporting the support system to the support system via a transport system and connecting it to the support system using an AB-type connection. 4. Controlling the UAV system to detach the connecting system from the support system. 5. Controlling the ABA-type mechanism to release the stacked water hoses. 6. Opening the valve to spray water for fire extinguishing. The order of steps 4 and 5 can be interchanged.

[0106] The technical solution of this invention significantly increases the fire extinguishing height compared to fire truck firefighting. In fact, firefighting operations based on this invention are not limited by building height. It also allows for close-range water spraying, reducing air entrainment and facilitating smoke extraction. Furthermore, it enables the use of thermal imagers to locate high-temperature areas indoors, allowing for direct attack on the fire. Therefore, this invention is advantageous for firefighting in buildings, especially high-rise buildings. The spraying device of this invention can enter indoor spaces for firefighting, allowing for the adjustment of nozzle angles to extinguish fires from various directions—something currently impossible with fire trucks. It can also prevent glass fragments from falling from controlled areas when breaking glass. After extinguishing the fire, it can cover broken window frames, obstructing airflow and reducing the probability of reignition. Firefighters can reach adjacent units or nearby fire compartments to extinguish fires without directly entering the fire scene, thus greatly reducing safety threats. Because the spraying device can be integrated with building facade accessories or support systems using an AB-type combination, it can spray high-pressure, large-diameter water jets, eliminating the recoil problem associated with water spraying directly from aircraft. Compared to aircraft that directly spray water from the air, the aircraft used in this invention has a smaller payload and lower cost. In addition to fire-fighting water sources, tap water can also be manually drawn from higher floors of adjacent fire compartments for firefighting. Since water flows from high to low, there will be no problem of insufficient water pressure; at the same time, tap water is available under normal circumstances, and there will be no problem like finding no water or low water pressure when water is needed, as is the case with fire hydrants; firefighters can use the passenger elevators of unburned building units, without having to carry heavy fire-fighting equipment upstairs.

[0107] The technical solution of this invention can be used not only for firefighting but also for aerial transportation and operations. For example, in addition to firefighting equipment, the aircraft system of this invention can also transport other objects to building exteriors, high altitudes, cliffs, etc. Furthermore, currently, when firefighters are attacking fires in old buildings without elevators, they rely on manually carrying hoses upstairs. Using the technical solution of this invention, drones can be used to transport hoses, breathing apparatus, and other items from the air to firefighters upstairs, thus saving firefighters' energy, extending operational time, and enhancing logistical support capabilities.

[0108] In a twenty-eighth aspect, the present invention provides an aircraft transportation method. Its purpose is to load an object X onto the aircraft or aircraft system, then control the aircraft or aircraft system to fly to a destination location, and move the object X to a predetermined location via a rod-like object. The aircraft transportation method includes, but is not limited to, the following steps: (1) using the aircraft system containing the transportation system, attaching the object X to be transported to the transportation component of the transportation system using the AB-type mechanism or the ABA-type mechanism. (2) controlling the aircraft system to fly to the destination Y, fixing, connecting, or attaching the end of the rod-like object of the transportation system to the destination Y using the AB-type connection method, while simultaneously controlling the aircraft body to hover. (3) controlling the transportation system to transport the object X to the end of the rod-like object, i.e., to the destination Y.

[0109] Preferably, the aircraft is a drone. Preferably, the aircraft system includes one or more of the following devices: the precision structure, the aircraft X structure, the AB-type mechanism, the ABA-type mechanism, the support system, the positioning / orientation system, and the aircraft control unit structure. The positioning / orientation system can be used to position or orient the object X. The object X can be combined with the transportation system via the ABA-type mechanism.

[0110] The aforementioned aircraft transportation method allows objects to be transported from an aircraft to other objects in the air, avoiding the need for personnel to carry heavy loads while climbing. Furthermore, this method can be used to transport objects to locations in the air that are difficult for personnel to reach.

[0111] In a twentieth aspect, the present invention provides a method for precise positioning / orientation between two platforms in relative motion (hereinafter referred to as the precise positioning / orientation method).

[0112] The precise positioning / orientation method is characterized by establishing a physical connection between two platforms, and then transferring an object from one platform (labeled Platform II) to the other platform (labeled Platform I), or to an object that remains relatively stationary with respect to Platform I, or to the vicinity of Platform I. Preferably, the object X is fixed or attached to Platform I using an AB-type connection. Preferably, the positioning / orientation system can be used to move or rotate the object X. In this way, the object X will remain stationary relative to Platform I, and the positioning / orientation system can be used to move the object X to a designated position on Platform I, or the relative motion between the two will be greatly reduced compared to the previous situation, and the orientation of the object X can be controlled. That is, relative to the original state (object X on Platform II), the above process achieves precise positioning / orientation of the object X on Platform I.

[0113] The precise positioning / orientation method includes the following steps: using the precise structure, the object X is coupled to the transport system of the precise structure of the platform II using the ABA-type coupling method; using the AB-type mechanism or the ABA-type mechanism, one end of the rod-shaped part of the connecting system of the precise structure is coupled to the platform I; and then the transport system is used to transport the object X to one end close to the platform I. Preferably, the precise positioning / orientation method I further includes one or more of the following steps: (1) using the AB-type structure to couple the object X to the platform I; (2) using the positioning / orientation system to move or rotate the object X; (3) installing the object X on the sub-platform; after positioning / orientation is completed, controlling the sub-platform to detach from the transport system or the platform II and couple to the platform I; (4) detaching the object X from the transport system; and (5) transporting the object X along the rod-shaped part.

[0114] Preferably, the object X is mounted on the positioning / orientation system. Alternatively, the object X is mounted on a sub-platform, the sub-platform is moved using the transport system, and then the sub-platform is attached to the platform I using the AB-type connection method.

[0115] When the platform II is an aircraft, the precise positioning / orientation method is referred to as the aircraft X method.

[0116] In a thirtieth aspect, the present invention provides a method for breaking glass (hereinafter referred to as a glass breaking method), comprising the following steps: using the glass breaking device, driving the glass breaking body to break the glass through the glass breaking power device.

[0117] Preferably, the glass-breaking method further includes one or more of the following methods: the aircraft transportation method, the aircraft X method, and the precise positioning / orientation method. These methods allow the glass-breaking device IV to be moved and integrated into a target location. The target location includes, but is not limited to, building exterior walls, windows, balconies, or attachments to building exterior walls, windows, balconies, and the support system.

[0118] Preferably, the glass breaking method further includes one or more of the following steps: (1) using the blocking device to prevent the glass from falling outside the building; (2) after breaking the glass, when necessary, using the blocking component of the blocking device to block the window frame and block airflow; (3) using the spraying device to spray water to cool down during the operation.

[0119] The glass-breaking method described above can not only break the glass, but also prevent the glass from falling outside the building. Furthermore, it can prevent air circulation caused by the broken window frame after the glass is broken, thus reducing the risk of reignition.

[0120] In a thirty-first aspect, the present invention provides a method for manipulating the pipe holding system to open a valve (hereinafter referred to as a valve opening method), comprising the following methods:

[0121] (1) Rotary valve opening method: A method of controlling the rotary valve mechanically by means of rotational operation, such as opening the valve, closing the valve, and adjusting the water flow. It includes the following steps: placing the pipe holding system III, or engaging it with an AB-type mechanism, to the target position; then controlling the rotary drive to engage with the driven rotating component on the rotary valve or the rotary ball valve; controlling the rotary drive to rotate the driven rotating component of the rotary valve or the rotary ball valve, thereby controlling the water circuit of the rotary valve or the rotary ball valve.

[0122] (2) Method for opening the pull valve: A method of opening the pull valve mechanically by pulling. This includes: (i) engaging the holding system I to a target position. For example, engaging the bracket system with the pull rod system installed to the support system below the pull valve via the latch. (ii) hooking the hook or loop of the holding system I onto the handle of the pull valve, methods including but not limited to: hooking the hook onto the loop or hook on the pull valve, or fitting the loop of the pull rod system onto the hook on the pull valve. (ii) pulling the pull rod of the pull valve via the linear motion component, thereby opening the pull valve.

[0123] Preferably, the valve opening method further includes one or more of the following steps or methods: the aircraft transportation method, the aircraft X method, the precise positioning / orientation method, moving the hook or ring through the positioning / orientation system, the rotary drive, or adjusting the angle of the rotary drive.

[0124] In a thirty-second aspect, the present invention provides a method for manipulating the holding system to open the rotary plug (hereinafter referred to as the plug opening method), the steps of which are the same as those of the rotary valve opening method, except that "the rotary valve or the rotary ball valve" in the steps of the rotary valve opening method is replaced with "the rotary plug".

[0125] In a thirty-third aspect, the present invention provides a connector connection method. The connector connection method is a method of connecting one water pipe connector (hereinafter referred to as water pipe connector II) to another water pipe connector (hereinafter referred to as water pipe connector I) by mechanical means, by insertion or rotation. Wherein water pipe connector II and water pipe connector I are connectors that can be connected by rotation or insertion. Rotation can be performed using the pipe holding system III to complete the connector connection, and insertion can be performed using the pipe holding system II to complete the connector connection. The method is as follows: (1) using the pipe holding system including water pipe connector II; (2) aligning the axes of water pipe connector II and water pipe connector I, and positioning their pipe openings opposite each other. This can be achieved in various ways, for example, by using the positioning / orientation system to move or rotate water pipe connector II, or by pre-setting the AB-type mechanism of the pipe holding system so that when the AB-type mechanism clamps or engages with water pipe connector I, the axis of water pipe connector II coincides with that of water pipe connector I. (3) Insert the water pipe connector II into the water pipe connector I through the linear motion component to complete the connector connection; or move the water pipe connector II through the linear motion component until it abuts against the water pipe connector I, and then drive the driven rotating component of the water pipe connector II to rotate through the rotary drive component, thereby connecting the water pipe connector II and the water pipe connector I.

[0126] In a thirty-fourth aspect, the present invention provides a method for connecting a water pipe connector II on platform II to a water pipe connector I on platform I (hereinafter referred to as the cross-platform connection method), wherein platform II is in a state of relative motion with respect to platform I. The purpose of the cross-platform connection method is to connect two water pipe connectors on two platforms in a state of relative motion. It includes: (1) using the cross-platform connection structure, installing the water pipe connector II to the pipe holding system, and using the precise positioning / orientation method to connect the water pipe connector II to platform I. (2) using the connector connection method to connect the water pipe connector II to the water pipe connector I.

[0127] In a thirty-fifth aspect, the present invention provides a method for connecting a water pipe connector V on an aircraft system to a water pipe connector VI outside the aircraft system (hereinafter referred to as the aircraft connector method). The purpose of the aircraft connector method is to connect a water pipe connector V on an aircraft system to a water pipe connector VI outside the aircraft system. It includes: (1) using an aircraft connector structure, installing the water pipe connector V to the insert-type pipe connection structure or the screw-in pipe connection structure, and installing it on the aircraft system, and using the aircraft transport method or the aircraft X method to connect the water pipe connector V to the water pipe connector VI or an object near the water pipe connector VI. Preferably, the water pipe connector V is connected to the support system. (2) using the connector connection method to connect the water pipe connector V to the water pipe connector VI. Preferably, the aircraft used is an unmanned aerial vehicle (UAV).

[0128] In a thirty-sixth aspect, the present invention provides a method for manually connecting a water pipe. The purpose of this method is to connect a water pipe connector transported from an aircraft to a water pipe connector located at the location of the person using manual means. The location of the person includes, but is not limited to, ground, air, and building locations. The method includes the following steps:

[0129] (1) Connect water pipe connector VI to one end of the rod using an AB-type mechanism, and fix the other end of the rod to the aircraft system. Water pipe connector VI is connected to the nozzle on the aircraft system via a water pipe or hose. (2) Control the aircraft to fly towards the receiving personnel and bring water pipe connector VI within the control range of the receiving personnel. (3) The receiving personnel remove water pipe connector VI from the rod and connect it to water pipe connector VII, which is connected to equipment containing the planned spray material, such as a fire hydrant, water pump, or foam tanker. Preferably, the manual connection method further includes: connecting the nozzle to the target location using an AB-type connection. Preferably, the aircraft system includes the ABA-type mechanism, a support body, or the support system, and the nozzle is installed on the support or the support system. Preferably, the aircraft is an unmanned aerial vehicle (UAV). Using the manual water pipe connection method, water can be sprayed onto the burning room using an aircraft without people entering the fire scene.

[0130] By employing the technical solution of this invention, a fire extinguishing device can be transported from an aircraft to a building via the transport system, and the fire extinguishing device can be detached from the aircraft and integrated with the building. Therefore, when the fire extinguishing device sprays the extinguishing agent, the resulting recoil force will not directly affect the aircraft's flight. Thus, the fire extinguishing device can spray high-pressure extinguishing agents for fire suppression. This invention was initially developed to address the problem of fire suppression in buildings, especially high-rise buildings. To solve this problem, this invention provides a series of technical solutions. These include methods for transporting objects by aircraft in the air, methods for docking water pipes in the air, methods for preventing glass shards from falling outdoors while breaking glass, methods for blocking window frames after glass breakage to prevent fresh air from entering and reigniting fires, how to solve the recoil problem of current drones spraying water, and how to solve the problem of insufficient extinguishing agent dosage in current drone fire suppression, etc. Thanks to the combination of these technical solutions, it is finally possible to use aircraft to spray high-flow-rate, high-pressure water and other extinguishing agents for fire suppression operations on high-rise and super high-rise buildings. It must be noted that whether and how to use the technical solutions proposed in this invention in a specific fire suppression operation requires comprehensive analysis based on the specific problem. Although the technical solutions of this invention are described using the field of building fire extinguishing, these technical solutions can be applied not only to fire protection but also to other technical fields. These applications are also within the scope of protection of this invention. For example, they can be applied to aerial operations, the transportation, positioning, orientation, connection, combination, and fixation of aerial objects, etc. Attached Figure Description

[0131] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0132] Figure 1 This is a schematic diagram and an exploded view of the structure of the pull valve 10 provided in an embodiment of the present invention.

[0133] Figure 2 This is a schematic diagram of the structure of the plug 106 provided in an embodiment of the present invention.

[0134] Figure 3 a is Figure 2 A schematic diagram of the exploded structure of the plug 106 (3a), Figure 3 b is a schematic diagram of the piston 1061. Figure 3 c is an exploded view of the spring system 1064.

[0135] Figure 4 a is Figure 1 A schematic diagram of the assembly structure of the first plug 106 and the bend 105. Figure 4 b is Figure 4 A schematic diagram of the cross-sectional structure of surface AA in section a.

[0136] Figure 5 This is a schematic diagram and an exploded view of the plug 108 provided in an embodiment of the present invention.

[0137] Figure 6 a is a schematic diagram of the assembly structure of the plug 108, valve plug 107 and three-way valve body 103 provided in an embodiment of the present invention. Figure 6 b is Figure 6 A schematic diagram of the cross-sectional structure of plane BB in section a. Figure 6 c is Figure 6 Schematic diagram of the structure of the three-way valve body 103 in b.

[0138] Figure 7 This is a schematic diagram of the structure of the latch 42 provided in an embodiment of the present invention.

[0139] Figure 8 This is an exploded structural diagram of the latch 42 provided in an embodiment of the present invention.

[0140] Figure 9 This is a schematic diagram of the structure of each component of the connector tube 80 provided in an embodiment of the present invention.

[0141] Figure 10 for Figure 9Schematic diagram of the cross-sectional structure of the CC and DD planes.

[0142] Figure 11 This is an exploded structural diagram of the female head 801 provided in an embodiment of the present invention.

[0143] Figure 12 This is a schematic diagram of the structure of a connector tube 9600 provided in an embodiment of the present invention. Figure 12 b is Figure 12 A schematic diagram of the cross-sectional structure of the EE surface in section a.

[0144] Figure 13 a is a schematic diagram of the structure of a rotary ball valve 1070 provided in an embodiment of the present invention. Figure 13 b is a schematic diagram of the structure of a pipe holding system 9697 provided in an embodiment of the present invention.

[0145] Figure 14 a is a schematic diagram of the structure of a pipe holding system 9699 provided in an embodiment of the present invention. Figure 14 b is Figure 14 A schematic diagram showing the structural relationship between the middle support plate 9611, the U-shaped plate 9621, and the elastic gasket 9631. Figure 14 c is a schematic diagram of the screw-in tube connection structure 9698 provided in an embodiment of the present invention.

[0146] Figure 15 The diagram shows the structure and exploded view of the fisheye bearing 55 provided in an embodiment of the present invention.

[0147] Figure 16 This is a schematic diagram of the structure of a pipe holding system 61 provided in an embodiment of the present invention.

[0148] Figure 17 This is a schematic diagram of the structure of the connector tube 43 provided in an embodiment of the present invention.

[0149] Figure 18 This is a schematic diagram and an exploded view of the pipe holding system 44 provided in an embodiment of the present invention.

[0150] Figure 19 a and 19b are schematic diagrams of the glass-breaking device 53 provided in an embodiment of the present invention, exploded structural diagrams, and 19c is... Figure 19 A schematic diagram of the cross-sectional structure of the FF surface in a, and schematic diagrams of the structure of the cylindrical cam 534 and the outer cylinder 530 in 19d and 19e.

[0151] Figure 20 This is a schematic diagram of the structure of a glass-breaking device 54 provided in an embodiment of the present invention.

[0152] Figure 21 This is a schematic diagram of the structure of a spraying system 51 provided in an embodiment of the present invention.

[0153] Figure 22 a is a schematic diagram of the structure of the electric gripper 56 provided in an embodiment of the present invention. Figure 22 b is Figure 22 a. Enlarged view of the structure within the dashed box on the right. Figure 22 c and 22d are schematic diagrams of the structure and exploded structure of the gripper head 561.

[0154] Figure 23 This is a schematic diagram of the structure of a spraying device 95 provided in an embodiment of the present invention.

[0155] Figure 24 This is a schematic diagram of the structure of the support body 820 and the support system 82 provided in an embodiment of the present invention.

[0156] Figure 25 for Figure 24 A schematic diagram of the right end of the support system 82 in b.

[0157] Figure 26 This is a schematic diagram of the structure of an aircraft system 71 provided in an embodiment of the present invention.

[0158] Figure 27 a and 27b are schematic diagrams of the structure of the transport component 93 provided in an embodiment of the present invention. Figure 27 c is Figure 27 A magnified structural diagram of the structure within the dashed box in section a.

[0159] Figure 28 a is a schematic diagram of the structure of a transportation system 57 provided in an embodiment of the present invention. Figure 28 b, 28c are Figure 28 a. Enlarged structural diagrams within the dashed boxes on the left and right ends Figure 28 Schematic diagram of the winding mechanism 573.

[0160] Figure 29 This is a schematic diagram of the support system 83 provided in an embodiment of the present invention.

[0161] Figure 30 This is a schematic diagram of the structure of an unmanned aerial vehicle system 63 provided in an embodiment of the present invention.

[0162] Figure 31 a is a structural schematic diagram of a fire protection system 84 provided in an embodiment of the present invention. Figure 31 b is a schematic diagram of the connection relationship between the fire riser 2012, the fire horizontal pipe 2013, and the pull valve 10 provided in an embodiment of the present invention.

[0163] Figure 32 a is a structural schematic diagram of building 8 provided in an embodiment of the present invention. Figure 32 b is Figure 32 A magnified structural diagram within the white box in Figure a.

[0164] Figure 33 a schematic diagram of the structure of the support system 67 provided in an embodiment of the present invention. Figure 33 b is a partial structural diagram of building 22 provided in an embodiment of the present invention.

[0165] Figure 34 The partial structural relationship of the connector pipe 43, support system 58, bracket system 83, and electric gripper 56 at the joint is shown in the figure for an embodiment of the present invention.

[0166] Figure 35 A side view of a partial structure at the joint of the connector pipe 43, support system 58, bracket system 83, and electric gripper 56 provided in an embodiment of the present invention.

[0167] Figure 36 This is a schematic diagram and an exploded view of the glass breaking device 72 provided in an embodiment of the present invention.

[0168] Figure 37 This is a schematic diagram and an exploded view of the glass breaking device 73 provided in an embodiment of the present invention. Detailed Implementation

[0169] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. It should be noted that the term "embodiment" mentioned herein means that a specific feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments of the present invention and the features within them can be combined with each other without conflict. These combinations are also within the scope of protection of the technical solutions of the present invention. Unless otherwise defined in the present invention, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terminology used in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0170] In one embodiment of the present invention (Embodiment 1), a pull valve 10, a three-way valve body 103, a plug 106, a plug 108, a piston 1061, and a spring system 1064 are provided.

[0171] The structural schematic diagram and exploded view of the pull valve 10 are as follows: Figure 1 As shown, it includes: a straight pipe 101, a bend 102, a three-way valve body 103, a connector 104, a bend 105, a plug 106, a valve plug 107, a plug 108, and a rubber ring 109.

[0172] The structural diagram of plug 106 is as follows Figure 2 As shown, its exploded structure diagram is as follows: Figure 3 As shown in Figure a, it includes: piston 1061, positioning plate 1062, fixing plate 1063, spring system 1064, and handle 1067.

[0173] The structure of piston 1061 is as follows Figure 3 As shown in b, 1061 has a groove 10611, a through hole 10612, and a square groove 10613.

[0174] An exploded view of the spring system 1064 is shown below. Figure 3 As shown in c. Includes: tie rod 10641, tie rod 10642, spring 10643, movable short rod 10644, movable short rod 10645, pins 10646, 10647, and 10648.

[0175] The movable short rod 10644 has a groove, into which the diagonal tie rod 10641 is inserted, and the two are fixed together by a pin 10647 to form a hinge connection. The diagonal tie rod 10641 can rotate around the pin 10647. The diagonal tie rod 10642 is inserted into a groove in the movable short rod 10645, and the two are fixed together by a pin 10648 to form a hinge connection. The diagonal tie rod 10642 can rotate around the pin 10648. The pin 10646 passes through a hole at the lower end of the diagonal tie rods 10641 and 10642, forming a hinge connection, and the diagonal tie rods 10641 and 10642 can rotate around the pin 10646.

[0176] The assembly relationship between the spring system 1064 and the piston 1061 is as follows: the spring 10643, movable short rod 10644, and movable short rod 10645 in the spring system 1064 are placed in the through hole 10612 of the piston 1061. The diagonal tie rod 10641 and diagonal tie rod 10642 pass through the groove 10611. The positioning plate 1062 is inserted into the square groove 10613 in the middle of the piston 1061 with an interference fit, thereby fixing the middle part of the spring 10643. The bottom middle position of the piston 1061 is reinforced by the fixing plate 1063 with fixing bolts. The pin 10646 passes through the hole at the upper end of the handle 1067. Pulling the handle 1067 can pull the diagonal tie rods 10641 and 10642, thereby controlling the movable short rods 10644 and 10645 to retract and extend from the through hole 10612 of the piston 1061.

[0177] Figure 4 a is a schematic diagram of the assembly structure of the first plug 106 and the bend 105. Figure 4 b is Figure 4 A cross-sectional view of surface AA in section a. The outlet of the bend 105 is a flared structure with an annular groove 1051 inside. When the plug is pushed into the bend 105 from below, the movable short rods 10644 and 10645 are compressed by the inner wall of the bend 105, compressing the spring 10643. The movable short rods 10644 and 10645 gradually retract towards the center within the through hole 10612. When the lower edges of the movable short rods 10644 and 10645 enter the annular groove 1051, they are ejected by the spring 10643, thereby connecting the plug 106 to the bend 105, which can prevent external objects from entering the pull valve 10.

[0178] When the handle 1067 is pulled down, the diagonal rods 10641 and 10642 drive the movable short rods 10644 and 10645 to compress the spring 10643 in the middle. The movable short rods 10644 and 10645 retract inward, which can pull the plug 106 away from the bend 105.

[0179] The structural schematic diagram and exploded structural schematic diagram of plug 108 are as follows: Figure 5 As shown. The structure of plug 108 is similar to that of plug 106, the difference being the addition of a rubber sheet 1089 for sealing and a connecting rod 1086. Plug 108 includes a piston 1081, a positioning plate 1082, a fixing plate 1083, a spring system 1084, a connecting rod 1086, a handle 1087, and a rubber sheet 1089. The rubber sheet 1089 is fixed to the piston 1081.

[0180] The piston 1081, positioning plate 1082, fixing plate 1083, and spring system 1084 have the same structure as the piston 1061, positioning plate 1062, fixing plate 1063, and spring system 1064.

[0181] The assembly relationship between plug 108, valve plug 107 and three-way valve body 103 is as follows: Figure 6 As shown in a, Figure 6 A schematic diagram of the cross-sectional structure of plane BB in a is shown below. Figure 6 As shown in b. The valve plug 107 is connected to the lower end (port C) of the three-way valve body 103. Figure 1 b、 Figure 6 c) The connection between them is made by threads. The pull rod 1086 of the plug 108 passes through the through hole in the valve plug 107 with clearance fit. The rubber ring 109 is used for sealing. The movable short rods 10844 and 10845 are stuck in the annular groove 1032. The rubber sheet 1089 is pressed on the plane 1033, which plays a sealing role. When it is necessary to open the valve, pull the handle 1087 down. The diagonal pull rods 10841 and 10842 drive the movable short rods 10844 and 10845 to compress the spring 10843 in the middle. At the same time, the movable short rods 10844 and 10845 retract in the middle. This allows the plug 108 to be pulled out of the inner tube 1031. Water can flow from the upper end (end A) of the three-way valve body 103 to the left end (end B) (see...). Figure 6 c), finally it can flow into bend 105 ( Figure 1 b).

[0182] The connection relationships of the components of the pull valve 10 are as follows: Figure 1 As shown, the left end of the straight pipe 101 is threaded to the right end of the bent pipe 102, and the lower end of the bent pipe 102 is threaded to the upper end of the three-way valve body 103. The threads at both ends of the connector 104 are respectively connected to the right end of the bent pipe 105 and the left end of the three-way valve body 103. The lower end of the bent pipe 105 is connected to the plug 106. The valve plug 107 is threaded to the lower end interface of the three-way valve body 103. The connecting rod 1086 on the plug 108 passes through the through hole provided on the valve plug 107, and a rubber ring 109 is provided in the through hole on the valve plug 107 for sealing. Figure 6 b).

[0183] In one embodiment (Embodiment 2) of the present invention, a latch 42 is provided, the structural schematic diagram and exploded schematic diagram of which are shown below. Figure 8As shown. The U-shaped locking plate 420 has a flared structure, with locking holes 4201 and 4202 on its upper and lower bottom surfaces. A positioning plate 427 is mounted on the mounting plate 421, which is fixed to the U-shaped locking plate 420 by bolts. The motor 422 is fixed to the mounting plate 421 via the U-shaped plate 423. A long nut 425 is fitted onto the lead screw 424 of the motor 423. The square block 426 at the end of the long nut 425 contacts the surface of the mounting plate 421, restricting the rotation of the long nut 425. The long nut 425 and the hole on the positioning plate 427 are clearance-fitted. The hole on the nut seat 427 has the same diameter as the two locking holes on the U-shaped locking plate 420 and is coaxially mounted. By controlling the rotation of the lead screw 424, the long nut 425 can be inserted into or removed from the locking groove between the two locking holes of the U-shaped locking plate 420, thus achieving the locking and unlocking functions.

[0184] In one embodiment of the present invention, a connector tube 80 is provided, including a female connector 801, a male connector 802, and a plug 106, the structure of each component as follows: Figure 9 As shown. The cross-sectional structural diagrams of the female connector 801 and the male connector 802 are shown below. Figure 10 As shown. The male connector 802 consists of a male connector tube 8021, a retaining tube 8022, and a spring retaining ring 8023. The spring retaining ring 8023 is a notched steel wire ring that is fitted into the concave ring of the male connector tube 8021. The retaining tube 8022 has a clearance fit with the male connector tube 8021 and can slide on the male connector tube 8021. Its range of motion is limited by the annular protrusion 80210 at the left end of the male connector tube 8021 and the spring retaining ring 8023. The outer diameter of the annular protrusion 80210 is the same as the outer diameter of the straight section of the retaining tube 8022. The structure of the plug 106 has been described in detail above.

[0185] The female connector 801 includes a pipe section 8011, a connector section 8012, three spring clips 8013, and a rubber ring 8014, such as... Figure 9 , 10 As shown, its exploded diagram is as follows: Figure 11 As shown. A rubber ring 8014 is fixed inside pipe section 8011 for sealing. A spring clip 8013, comprising a spring clip and a clip, is placed within a notch in connector section 8012. After assembly, pipe section 8011 restricts the movement of spring clip 8013 along the axial direction of the female connector 801. For clarity, Figure 11The spring clip 8013 on the left side has been removed from its installation position. The pipe section 8011 and the connector section 8012 are threaded together and locked in place by bolts 803. The connector section 8012 has a flared structure and contains a groove 80121 for connecting the plug 106. The annular protrusion 80210 at the left end of the male connector 802 has a clearance fit with the inner cavity of the connector section 8012 of the female connector 801. When the male connector 802 is inserted into the female connector 801, the annular protrusion 80210 presses against the spring clip 8013, causing the spring clip 8013 to retract and exit the inner cavity of the connector section 8012. When the male connector 802 is fully inserted, the annular protrusion 80210 has already passed the position of the spring clip 8013, and the spring clip 8013 pops out and locks onto the right end of the annular protrusion 80210. Therefore, the male connector pipe 8021 cannot be directly withdrawn. When it is necessary to remove the male connector 802, push the insertion tube 8022 towards the female connector 801. The insertion tube 8022 compresses the spring clip 8013 inward. When the left end face of the insertion tube 8022 contacts the right end face of the annular protrusion 80210, the spring clip 8013 is embedded in the tube wall of the connector section 8012 and no longer holds the annular protrusion 80210. At this time, pull the male connector tube 8021 outward, and the male connector 802 can be pulled out of the female connector 801. The operation method of inserting and removing the plug 106 from the female connector 801 is the same as in Example 1.

[0186] In one embodiment of the present invention, a connector tube 9600 is provided, such as... Figure 12 As shown in a, Figure 12 A schematic diagram of the cross-sectional structure of the EE surface in a is shown below. Figure 12 As shown in b, it includes: a water pipe 9650, a movable nut 9670 fitted on the water pipe 9650, a gear 9680 fixed on the nut 9670, and a square block 9660 fixedly connected to the water pipe 9650. The nut 9670 can rotate around the water pipe 9650, and its range of motion is limited by the square block 9660 and a ring of protrusions 96501 above the water pipe 9650. When other gears mesh with the gear 9680 and drive it to rotate, the nut 9670 also rotates, which can be used to connect the connector pipe 9600 to its matching water pipe connector.

[0187] In one embodiment of the present invention, a rotary ball valve 1070 is provided, the structural schematic diagram of which is shown below. Figure 13 As shown in Figure a, its characteristic is that a grooved wheel 1079 is installed on the valve stem of the ball valve, and the opening and closing of the ball valve can be realized by the rotation of the grooved wheel 1079. The structure of the ball valve is well-known technology and will not be described in detail here.

[0188] In one embodiment of the present invention, a holding system 9697 is provided, such as Figure 13As shown in b, its structure consists of cross-shaped slides 611 and 612, and an electric lifting platform 613 fixed to the slider of slide 612. Motor 96971 is fixed to L-plate 96973 via motor mount 96972, and L-plate 96973 is fixed to electric lifting platform 613. The drive dial 96974 of the Geneva mechanism is mounted on the output shaft of motor 96971 via a coupling. Thus, after the drive dial 96974 is engaged with the Geneva wheel 1079 of rotary ball valve 1070 via the holding system 9697, motor 96971 can drive the drive dial 96974 to rotate, thereby controlling the opening and closing of rotary ball valve 1070.

[0189] In one embodiment of the present invention, a pipe holding system 9699 is provided, the structural schematic diagram of which is shown below. Figure 14 As shown in Figure a. The pipe holding system 9699 includes: a support plate 9611, a U-shaped plate 9621 fixed on the support plate 9611, an elastic gasket 9631 lining the U-shaped plate 9621, a connector pipe 9600, a gear 9691, a motor 9641, a motor base 9651, and an L-plate 9661. Figure 14 As shown in Figure b, the tray 9611 has a U-shaped notch, which consists of a semi-circular notch and a rectangular notch. The outer diameter of the semi-circular notch is larger than the outer diameter of the water pipe connected to the water pipe 9650. The U-shaped plate 9621 has a U-shaped notch, which consists of a square notch and a rectangular notch. An elastic gasket 9631 is fixed to the inner wall of the square notch of the U-shaped plate 9621. The inner side length of the elastic gasket 9631 is slightly smaller than the side length of the square cross-section of the square block 9660. The center of the semi-circular notch in the U-shaped notch on the tray 9611 and the center of the square notch on the U-shaped plate 9621 are on the axis of the water pipe 9650. When the connector tube 9600 is assembled with the support plate 9611 and the U-shaped plate 9621, there is compression between the elastic gasket 9631 and the square block 9660, thus clamping the square block 9660 onto the pipe holding system 9699. Therefore, when the pipe holding system 9699 shakes, the connector tube 9600 will not detach from the U-shaped plate 9621. However, when a certain external force pulls on the connector tube 9600, it can be pulled away from the U-shaped plate 9621. The gear 9691 is mounted on the output shaft of the motor 9641, which is fixed to the L-plate 9661 via the motor base 9651. The L-plate 9661 is fixed to the support plate 9611. The gear 9691 meshes with the gear 9680. In this way, the nut 9670 can be driven to rotate by the motor 9641, which can be used to connect water pipe connectors.

[0190] In one embodiment of the present invention, a screw-in tube connection structure 9698 is provided, such as... Figure 14 As shown in Figure c, it includes: cross-shaped slides 611 and 612, and a lifting platform 613 fixed on the slider of slide 612. A hook 6130 and a two-degree-of-freedom rotary platform 9799 are fixed on the lifting platform 613. The two-degree-of-freedom rotary platform 9799 is controlled to rotate in two directions by motors 97992 and 97993. A pipe holding system 9699 is fixed on the rotary platform 9799. Thus, the slides 611 and 612 and the lifting platform can precisely position the hook 6130 and the connector pipe 9600 in space, and the hook 6130 can be used to pull down the plug or open the valve; combined with the two-degree-of-freedom rotary platform 9799, the axis of the connector pipe 9600 can be aligned with the axis of the water pipe connector to be connected; and by adjusting the height of the electric lifting platform 613 and controlling the rotation of motor 9691, which in turn drives gear 9680 to rotate, the water pipe connector can be connected.

[0191] In one embodiment (Embodiment 3) of the present invention, a fisheye bearing 55 is provided, such as Figure 15 As shown in Figure a, its decomposition diagram is as follows: Figure 15 As shown in b, it includes: an outer sleeve 551, a core 552, and a bushing 554. The bushing 554 is fixed to the outer sleeve 551, and four support legs 553 are fixed to the outer sleeve 551. The core 552 contains bearing balls 5520, an annular protrusion 5521, and a connecting part 5522. The inner cavity of the bushing 554 is a spherical surface that matches the outer surface of the bearing balls 5520, and the bearing balls 5520 can rotate freely within the bushing 554 without falling off. The annular protrusion 5521 is used to limit the maximum angle of rotation of the bearing balls 5520, and the connecting part 5522 is used to fix the fisheye bearing 55 to an external object.

[0192] In one embodiment of the present invention, a holding system 61 is provided, such as Figure 16 As shown. Includes: cross-shaped slides 611 and 612, a fisheye bearing 55 fixed to the slider of slide 612, and an electric lifting platform 613 fixed to the fisheye bearing 55 (refer to embodiment 3). An L-plate 615 is fixed to the lifting platform 613. Male connector 802 (refer to embodiment 3). Figure 9 The male connector 802 is fixed to the L-plate 615 by clamp 814, and the male connector section 8021 passes through the hole in the top plate of the lifting platform 613. The fisheye bearing 55 is configured to ensure that the axis of the male connector 802 remains vertical when there is no external force. The horizontal position of the male connector 802 can be moved by slides 611 and 612, and the lifting and lowering of the male connector 802 can be controlled by the electric lifting platform 613. Thus, when the male connector 802 is to be connected to the female connector 801 (reference...) Figure 9-11When the axis of the male connector 802 is vertically downward, the connector can be joined using the holding system 61. When the axis of the female connector to be inserted is slightly off-center, after the upper end of the male connector 802 is inserted into the flared structure of the female connector 801, the core 552 of the fisheye bearing 55 can be passively rotated. That is, the core 552 can adjust the surface normal of the electric lifting platform 613 and the angle of the axis of the male connector 802. Therefore, by controlling the movement of the slides 611 and 612 and the raising and lowering of the lifting platform 613, the fisheye bearing 55 can be rotated, thereby aligning the axes of the male connector 802 and the female connector 801. At this time, raising the height of the electric lifting platform 613 allows the male connector 802 to be inserted into the female connector 801, completing the connection of the connector. Using this relatively simple structure, it is possible to achieve... Figure 14 This function can only be achieved using a two-degree-of-freedom rotating platform.

[0193] In one embodiment of the present invention, a connector tube 43 is provided, such as... Figure 17 As shown. It includes: a straight pipe 101, a three-way valve body 103, a connector 104, a bend 432, a bend 435, a plug 106 (inserted inside the female connector 801), a valve plug 107, a plug 108 (inserted inside the three-way valve body 103), a rubber ring 109 (inserted inside the valve plug 107), the female connector 801, and a wire rope 436. The plug 106 is connected to the bottom of the female connector 801. The structures of the straight pipe 101, three-way valve body 103, connector 104, plug 106, valve plug 107, plug 108, and rubber ring 109 are the same as the corresponding components in valve 10.

[0194] The connector pipe 43 is similar in structure to the valve 10, but the difference lies in the length of the vertical pipe section 4321 at the lower end of the bend 432 of the connector pipe 43. This allows it to be connected in an AB-type mechanism using an AB-type connection method, providing positioning and support. The bend 435 of the connector pipe 43 contains a T-shaped support rod 4351 and a hanging ring 4352, and the lower end of the bend 435 contains an annular protrusion 4353. The T-shaped support rod 4351 and the annular protrusion 4353 provide support. The lower part of the bend 435 is threaded to a female connector 801 (its structure is shown in...). Figure 9-11 The plug 106 is connected to the hanging ring 4352 via a steel wire rope 436. This way, when the plug 106 is pulled out, it can be caught by the steel wire rope 436, preventing objects from being thrown from a height. The connector pipe 43 is purely mechanical, facilitating quick connection to other water pipe connectors and allowing for easy opening of the valve by pulling.

[0195] In one embodiment of the present invention, a holding system 44 is provided, such as Figure 18As shown. The mechanical gripper 441 is fixed to the Z-shaped base plate of the slide table 442 via the mounting plate 440, and the male head 802 is fixed to the slider 4421 of the slide table 442 via the clamp 443. The structure and assembly relationship of the mechanical gripper 441 are as follows: The four gripping surfaces of the mechanical gripper 441 include the outer cylindrical surface of the vertical pipe section 4354 of the bent pipe 435. When the mechanical gripper 441 grips the vertical pipe section 4354, the mating relationship between the gripping surfaces and the outer cylindrical surface of the vertical pipe section 4354 ensures that the axis of the vertical pipe section 4354 coincides with the axis of the male head 802.

[0196] The axis of male connector 802 and the axis of lead screw of slide 442 are both perpendicular to the base plate of slide 444. The lower horizontal plate segment 4424 of slide 442 is fitted into the square groove 44411 of slider 4441 of slide 4444 with clearance. Slide 444 is placed horizontally. The axes of lead screws of slides 442, 444, and 445 are in the same vertical plane. Motor lock 446 is fixed to slider 4441 of slide 444. The structure of motor, lead screw, and nut of motor lock 446 is related to buckle 42 (…). Figure 8 The corresponding structure is the same as that in the slide 4441. The cylindrical part of the long nut 4461 is inserted into the round hole 44410 of the slider 4441 with clearance fit. By controlling the motor lock 446, the long nut 4461 can be controlled to enter and exit the hole 44240 of the horizontal plate section 4424 of the base plate of the slide 442, thereby realizing the locking and releasing of the slider 4441 on the slide 442. The slide 445 is fixed on the slider 4442 of the slide 444, and its lead screw axis is perpendicular to the base plate of the slide 444. The hook 4451 is fixed on the slider 4452 of the slide 445. The slide 445 can control the up and down movement of the hook 4451; the slide 444 can control the horizontal movement of the hook 4451, the mechanical gripper 441, and the male head 802; the slide 442 can control the vertical movement of the male head 802; the motor lock 446 can lock or release the slide 442 and the slider 4441 together. When the long nut 4461 of the motor lock 446 is disengaged from the hole 44240, the slider 4441 of the control slide 444 moves a certain distance to the left, which can completely separate the slide 442 from the slider 4441. The pipe holding system 44 can be used to perform operations such as pulling open the plug of the water pipe, opening the pull valve, and inserting the male connector 802 into the female connector 801. Because the installation of the mechanical gripper 441 meets the following requirements: when the mechanical gripper 441 grips the bend 435 of the connector pipe 43 ( Figure 17When the vertical pipe section 4354 of the bend 435 is connected, its axis coincides with the axis of the male connector 802. Therefore, when the male connector 802 of the holding system 44 needs to be connected to the female connector 801 of the connector pipe 43, even if their axes are not completely aligned before connection, as long as the mechanical gripper 441 grips the vertical pipe section 4354 of the bend 435, the axis of the male connector 802 of the holding system 44 and the female connector 801 of the connector pipe 43 can be ensured to coincide. At this point, controlling the movement of the slide table 442 can complete the connection. Before gripping, the base plate of the slide table 442 can be separated from the slider 4441.

[0197] In one embodiment of the present invention, a glass-breaking device 53 is provided, the structure of which and its exploded schematic diagram are shown below. Figure 19 As shown in a and 19b Figure 19 A schematic diagram of the cross-sectional structure of the FF surface in a is shown below. Figure 19 As shown in Figure c. The outer cylinder 530 contains a base 5301 for fixing; the right end of the outer cylinder 530 has a hole 5302 through which the power supply line of the motor passes. The cam 534 and the transmission cylinder 536 are fitted into the inner hole of the outer cylinder 530 with a clearance fit. The motor 531 is fixed to the bottom right side of the inner side of the outer cylinder 530 by bolts. The left end of the motor shaft 532 is threadedly connected to the push rod 533. The motor shaft 532 passes through the center hole of the cylindrical cam 534 with a clearance fit. The cylindrical cam 534 contains two symmetrically arranged limiting ridges 5340 (…). Figure 19 d) During assembly, the limiting rib 5340 is placed in the groove 5303 on the inner surface of the outer cylinder 530. Figure 19 In step e), the cylindrical cam 534 cannot rotate, but can only move along its axis. The left end of the spring 535 abuts against the right end face of the cylindrical cam 534, and the right end abuts against the left end face of the motor 531. The spring is always in a compressed state. The rotation of the motor shaft 532 drives the push rod 533 to rotate, which in turn pushes the cylindrical cam 534 to move axially. The transmission cylinder 536 is connected to the cylindrical cam 534 by a thread, and the glass-breaking rod 537 is connected to the transmission cylinder 536 by a thread. The tip of the glass-breaking rod 537 is made of tungsten carbide. Thus, when push rod 533 rotates from the lower to the higher position of cylindrical cam 534, it compresses cylindrical cam 534 to move to the right, simultaneously compressing spring 535. After push rod 533 rotates past the leftmost end of cylindrical cam 534 (the highest point of the cylindrical cam profile), push rod 533 disengages from the profile of cylindrical cam 534. At this point, under the elastic force of spring 535, cylindrical cam 534 drives transmission cylinder 536 and glass-breaking rod 537 to be ejected to the left. When the lower point of the cylindrical cam profile touches push rod 533, the leftward ejection of cylindrical cam 534 is hindered. Push rod 533 continues to rotate, compressing spring 535 again, thus entering the next cycle. In this way, as motor shaft 532 rotates continuously, glass-breaking rod 537 is periodically ejected, which can be used to break glass.

[0198] In one embodiment of the present invention, a glass-breaking device 54 is provided, such as... Figure 20 As shown. Motor 540 is fixed to L-plate 545 via mounting base 541. The front end of the telescopic rod 591 of electric actuator 59 is fixed to mounting plate 593. The structure of the electric actuator is conventional. L-plate 545 is fixed to mounting plate 593 with bolts. The output shaft of motor 540 drives connecting rod 544 to rotate via coupling. Hammer heads 542 and 543 are threadedly connected to both ends of connecting rod 544. Each hammer head 542 and 543 contains three sharp protrusions made of tungsten carbide. When motor 540 drives hammer heads 542 and 543 to rotate at high speed, it can be used to break glass. The position of motor 540 can be moved via electric actuator 59.

[0199] In one embodiment of the present invention, a spraying system 51 is provided, such as... Figure 21 As shown. The base 5190 of the tee connector 519 is fixed to the water tank 512. The inlet pipe 510 is connected to the tee connector 519 and the water tank 512. The inlet pipe 510 contains a one-way valve 511, which ensures that water can only flow from the tee connector 519 to the water tank 512. The outlet pipe 513 of the water tank 512 is connected to the water pump 514. The atomizing nozzle 515 is fixed to the water tank 512. The atomizing nozzle 516 is connected to the outlet of the water pump 514 through the water pipe 518. Water can be drawn from the water tank 512 by the water pump 514 and sprayed out from the atomizing nozzle 516 for cooling. When the tee connector 519 is connected to a water source such as a fire hydrant, water can be supplied to the water tank 512 through the one-way valve 511 and sprayed out from the atomizing nozzle 515. When there is no external water source, the spraying system 51 can use the water in its own water tank 512 to spray and cool. When an external water source is connected, it can use the atomizing nozzle 515 to spray and cool. At this time, the water pump 514 can continue to work or stop working as needed.

[0200] In one embodiment of the present invention, an electric gripper 56 is provided, such as... Figure 22 As shown in a, Figure 22 b is Figure 22 a. Enlarged view of the structure within the dashed box on the right. It includes a gripper head 561, a slide bar 31, a power unit 563, and a steel wire rope 564. The slide bar 31 includes a round tube 3101 and a T-shaped guide rod 3102, with a mounting plate 3103 on the T-shaped guide rod 3102. The power unit 563 has the following structure: a winding wheel 5631 is fixedly mounted on the output shaft of the motor 5630, and one end of the steel wire rope 564 is wound around the winding wheel 5631. The motor 5630 is fixed to the L-plate 5633 via the mounting plate 5632, and the L-plate 5633 is fixed to the T-shaped guide rod 3102.

[0201] The structure of the grab head 561 is as follows Figure 22 As shown in c, its exploded structure diagram is as follows: Figure 22As shown in diagram d. The four grippers 5610 are hinged to the base 5611. Four wire rope loops 5612 are interference-fitted with the bottom grooves 56101 of each of the four grippers 5610, then pass through springs 5613. The four wire rope loops 5612 are then connected to a single wire rope 564. The wire rope 564 passes through a round tube 3101 and is wound around a winding reel 5631. Figure 22 (b) One end of spring 5613 is supported by the bottom of base 5611, and the other end is subjected to the pressure of four strands of wire rope 5612. When the control motor 5630 rotates the winding wheel 5631 to pull the wire rope 564 to the right (retracting the line), spring 5613 is compressed inward by the four strands of wire rope 5612, and at the same time, the four strands of wire rope 5612 pull the four grippers 5610 to rotate inward, and the electric gripper 56 gradually closes. Thus, when the winding wheel 5631 continues to retract the line, the electric gripper 56 continuously tightens. At this time, if the control wheel 5631 is rotated in the opposite direction, the pressure of the wire rope 5612 on spring 5613 decreases, spring 5613 extends, spring 5613 pushes the wire rope 5612 outward, the four grippers 5610 will rotate outward, and the electric gripper 56 gradually opens. The gripper head 561 is connected to the slide rod 31 through the thread of tube 5614. During manufacturing and assembly, the electric gripper 56 is designed so that when it grips round bars of different diameters, the axis of the round bar intersects perpendicularly with the axis of 5614. This allows the clamping and releasing operation of the electric gripper 56 to be controlled by the motor 5630.

[0202] In one embodiment of the present invention, a spraying device 95 is provided, such as... Figure 23 As shown, the nozzle's spray angle is controlled by two servo motors, and the use of servo motors or motors to control rotation is a well-known technology.

[0203] In one embodiment of the present invention, a support body 820 is provided, such as... Figure 24 As shown in Figure a, its structure consists of titanium alloy rods and plates, with each edge of the rectangular frame welded together from square tubing of the same cross-section.

[0204] In one embodiment of the present invention, a support system 82 is provided, such as... Figure 24 As shown in b.25. The slide table 821 uses the plate 8207 of the bracket body 820 as its base plate. Four latches 42 (Example 2), latches 8208 and 8209, and three cameras 991, 991, and 993 are fixed to the bracket body 820. The three cameras 991, 991, and 993 are used to monitor the operation from different angles. The connecting plate 822 is fixed to the sliders 8210 and 8211 of the slide table 821 by bolts. The thermal imager 817 is fixed to the base 8171. Spraying device 95 ( Figure 23 ), glass breaking device 53 ( Figure 19 ), base 8171, spraying system 51 ( Figure 21 The water tank 512, motor 514, and nozzle 516 are fixed to the connecting plate 822. The hose connector 826, mechanical gripper 827, and control box 828 are fixed to the bottom of the support body 820. By controlling the movement of the sliding table 821, all objects fixed to the connecting plate 822 can be moved. The support system 82 can be used for breaking glass, spraying water for fire extinguishing, and cooling via the spray system 51 during operation.

[0205] In one embodiment of the present invention, an aircraft system 71, an unmanned aerial vehicle system 71, a transport component 93, and a transport system 57 are provided. Figure 26 As shown. The unmanned aerial vehicle system 71 includes the unmanned aerial vehicle body 222, the support system 82, the transportation system 57, the water hose 710, and the male connector 802 of the quick connector.

[0206] The structural schematic diagram of transport component 93 is as follows: Figure 27 As shown in a and 27b, the U-shaped plate 932 is fixed on the base plate 931. The mounting plates 9331 and 9332 of the linear bearing slider 933 are fixed together with the two side plates of the U-shaped plate 932. The wire lugs 937 and 9370 are symmetrically installed on the two side plates of the U-shaped plate 932.

[0207] L-plates 934 and 9340 are fixed to the base plate 931. Servo locks 935 and 9350 are fixed to L-plates 934 and 9340 respectively via mounting brackets 938 and 9380. The base plate 931 contains U-shaped plates 936 and 9360. The grooves under U-shaped plates 936 and 9360 allow the locking tongues 8208 and 8209 of the bracket body 820 to pass through, respectively.

[0208] The lower surface of the base plate 931 contains positioning blocks 9311 and 9312, which are used to limit the lateral movement of the base plate 931 on the bracket body 820. Positioning blocks 9311 and 9312 are the same size, and the axis of the linear bearing slider 933 lies in the plane of symmetry of positioning blocks 9311 and 9312.

[0209] Servo lock 935 and servo lock 9350 have the same structure, which is a structure known to those skilled in the art. Figure 27 The structure within the dashed box in a, when magnified, is as follows: Figure 27 As shown in Figure c, one end of the connecting rod 9351 is connected to the output shaft of the servo motor 9355, and the other end is hinged to the connecting piece 9352. The connecting piece 9352 is hinged to the locking rod 9353. Thus, controlling the rotation of the servo motor 9355 controls the locking rod 9353 to insert into or disengage from the locking groove between the locking plates 9356 and 9357. Furthermore, the two locking grooves are of the same size, and the axis of the linear bearing slider 933 lies within the plane of symmetry of these two locking grooves.

[0210] The structure of transportation system 57 is as follows Figure 28 As shown in a, Figure 28 The enlarged views of the structures within the dashed boxes on the left and right are shown below. Figure 28 As shown in b and 28c. Includes an electric gripper 56 ( Figure 22 ), fixed pulley 5713, transport component 93, retaining ring 575, linear bearing slider 572, winding mechanism 573, spring 574, wire rope 576, 577. Transport component 93 is connected to linear bearing slider 933 ( Figure 27 It is mounted on the round tube 3101 of the electric gripper 56 and can move, but cannot rotate.

[0211] The fixed pulley 5713 is fixed to the electric gripper 56 via the base 5711. The structure of the winding mechanism 573 is as follows: Figure 28 As shown in Figure d, motor 5731 is fixed to L-plate 5735 via motor mount 5734. L-plate 5735 is fixed to vertical plate 5733. Double-grooved wheel 5730 is supported by two symmetrical bearings within the through holes of vertical plates 5732 and 5733. The output shaft of motor 5731 drives double-grooved wheel 5730 to rotate. Winding mechanism 573 is fixed to linear bearing slider 572 by bolts. Linear bearing slider 572 is fitted onto the round tube 3101 of slide rod 31 and can slide on slide rod 31. T-shaped guide rod 3102 restricts the rotation of linear bearing slider 572.

[0212] One end of the spring 574 is fixed to the L plate 5633 of the electric gripper 56, and the other end is fixed to the linear bearing slider 572.

[0213] The retaining ring 575 is fixed to the slide bar 31 to limit the leftward movement of the linear bearing slider 572. One end of the wire rope 576 is fixed to the left end of the linear bearing slider 933 of the transport component 93, and the other end passes through the fixed pulley 5713 and then through the U-shaped plate 932 of the transport component 93. Figure 27 The wire rope 577 passes through the hole in section b) and is finally wound around one groove of the double-grooved wheel 5730. One end of the wire rope 577 is fixed to the right end of the linear bearing slider 933 of the transport component 93, and the other end is wound around the other groove of the double-grooved wheel 5730, with its winding direction opposite to that of the wire rope 576 on the double-grooved wheel 5730. Thus, when the double-grooved wheel 5730 is driven to rotate, one of the wire ropes 576 and 577 is unloaded, and the other is retracted, which pulls the linear bearing slider 933 to move along the slide bar 31. The spring 574 is used to tension the wire ropes 576 and 577.

[0214] The assembly steps of the UAV system 71 are as follows: Secure the mounting plate 3103 of the electric gripper 56 of the transport system 57 to the UAV body 222 using bolts. Then assemble the transport system 57 with the support system 82 as follows: Insert the locking tongues 8208 and 8209 on the support body 820 into the locking slots of the servo locks 935 and 9350 of the transport component 93, respectively, and lock them with locking rods. At this time, the lower surface of the base plate 931 of the transport component 93 contacts the upper surface of the three-dimensional frame of the support body 820. The limiting blocks 9311 and 9312 are in contact with the edges N1 and N2 of the support body 820. Figure 24 b) With clearance fit, limit blocks 9311 and 9312 restrict the lateral movement between the transport component 93 and the support body 820. This assembles the support system 82 and the transport system 57 together. Then, the male connector 802 is tied to the pipe 5614 with a thin rope. One end of the hose 710 is connected to the male connector 802, and the other end is connected to the hose connector 826. Figure 26 Thus, the assembly of the unmanned aerial vehicle system 71 was completed.

[0215] In this way, the support system 82 can be controlled to move on the slide bar 31 by the control winding mechanism 573 of the transport system 57, and external objects can be clamped by the electric gripper 56 of the transport system 57.

[0216] In one embodiment of the present invention, a support system 83 is provided, such as... Figure 29 As shown. Four latches 42, a control box 818 (for housing components such as the motor controller), latches 8108 and 8109 are fixed to the bracket body 810. The slide table 812 is fixed to the bottom of the bracket body 810. The outer cylinder 592 of the electric push rod 59 of the glass-breaking device 54 is fixed to the slider 8120 of the slide table 812. The spray device 95 and the thermal imager 817 are fixed to the mounting plate 593. The latches 42, the glass-breaking device 54, and the spray device 95 have been described in detail above. The motor 8121 controlling the slide table 812 rotates, which drives the lead screw 8122 to rotate, thereby driving the slider 8120 to move along the guide rods 8123 and 8124, thus controlling the movement of the electric push rod 59. The electric push rod 59 controls the movement of the hammers 512 and 513, the spray device 95, and the thermal imager 817. Bearing seats 8125 and 8126 are fixed to the bracket body 810, providing support for the rotation of the lead screw 8122 and also fixing the guide rods 8123 and 8124. Cameras 819, 820, 8391, and 8392 can provide multi-angle observation during operation. (Reference: Pipe holding system 44) Figure 18The base plate of the slide table 444 is fixed on the bracket body 810, and the axis of the lead screw of the slide table 444 is perpendicular to the edge 8305 of the bracket body 810; during assembly, the axis of the male connector 802 of the pipe holding system 44 is located within the plane of symmetry of edges 8301 and 8302. Edges 8303, 8304, and 8305 are made of titanium alloy square tubing with the same cross-sectional dimensions. Using the bracket system 83, operations such as water pipe connection, glass breaking, and water spraying for fire extinguishing can be performed.

[0217] In one embodiment of the present invention, an unmanned aerial vehicle (UAV) system 63 is provided, such as... Figure 30 As shown. It includes a transport system 571, a drone body 222, and a support system 83. The transport system 571 has the same structure as the transport system 57, the only difference being the height of the U-shaped plate 932 of the transport component 93. The assembly of the drone system 63 is the same as that of the drone system 71. After assembly, the axis of the round tube 3101 of the slide rod 31 and the axis of the male connector 802 of the support system 83 are in the same vertical plane.

[0218] In one embodiment of the present invention, a fire protection system 84 is provided. Figure 31 a) and buildings 84 equipped with fire protection systems. Figure 32 a). The fire protection system 84 includes a fire water tank 2001, a one-way valve 2002, a roof fire hydrant 2003, an indoor fire hydrant 2004, an outdoor fire hydrant 2005, an inlet pipe 2006, a municipal pipe network 2007, a fire pump 2008, a pump coupling 2009, a valve 2010, a fire water tank 2011, and a fire riser 2012. On each floor of the building, a horizontal fire pipe 2013 is connected between the fire risers 2012, and then a connector pipe 43 ( Figure 17 It is connected to the fire-fighting horizontal pipe 2013. For clarity, Figure 31 Only one horizontal pipe 2013 and its connecting pipe 43 are shown in section a. The connection relationship between the fire riser 2012, the fire horizontal pipe 2013, and the connecting pipe 43 is as follows: Figure 31 As shown in b, inspection valves 2014 are located at both ends of the fire-fighting horizontal pipe 2013. Connector pipe 43 is installed on the exterior wall of the building, with the outlet of connector pipe 43 aligned vertically and its opening facing downwards. This fire-fighting system allows for connection to connector pipe 43 from outside the building via a water pipe connector. Figure 32 The enlarged image within the white box in a is as follows: Figure 32 As shown in b. Building 8 includes walls and windows, and building 8 is equipped with a fire protection system 84 (such as...). Figure 31 a) With support system 58. Support system 58 is installed on the lower side of the window frame. The installation position of the connector pipe 43 between support system 58 and fire protection system 84 is as follows: Figure 32As shown in b, the support system 58 is a symmetrical bracket consisting of four horizontal bars 581, two short horizontal bars 582, vertical bars 583 and 584, and two horizontal bars 585 at the bottom. It is constructed from welded stainless steel square tubing, with right angles between the bars. The upper surface of the horizontal bars 581 is parallel to the horizontal plane and vertically fixed to the exterior wall 5801. The entire support system 58 is fixed to the lower right side of the window frame 5802. Tempered glass is installed on the window frame 5802.

[0219] The short horizontal bar 582, vertical bars 583, 584 and the edge 8303 of the support body 810 of the unmanned aerial vehicle system 63 Figure 29 a) The cross-sectional dimensions are the same, and the distance between the vertical bars 583 and 584 is equal to the distance between the edges 8303 and 8304 of the support body 810. The lengths of the vertical bars 583 and 584 are equal to the lengths of the edges 8303 and 8304. During installation, the distance between the outer surface of the horizontal bar 582 and the wall is 10 cm greater than the distance between the vertex p of the base plate of the slide table 444 and the plane xyz, where xyz is the vertex of the support body 810 of the support system 83 ( Figure 29 a) This prevents the bracket system 83 from hitting the wall when it is combined with the support system 58. The purpose of the above dimensional design is to ensure that the bracket system 83 and the support system 58 are dimensionally matched so that they can be smoothly combined when needed.

[0220] The main body of the connector pipe 43 is installed above the support system 58. The axis of the vertical pipe section 4321 and the axis of the female connector 801 are both located within the plane of symmetry of the support system 58 and are perpendicular to the horizontal plane. During installation, the distance between the upper surface of the T-shaped support rod 4351 and the upper surface of the horizontal rod 581 is equal to the distance between the upper surface of the bracket body 810 of the UAV system 63 and the pipe 5614 ( Figure 30 The shortest distance between the outer cylindrical surfaces of the tube 5614 and the horizontal rod 581 is to ensure that when the tube 5614 is placed horizontally and supported on the T-shaped support rod 4351, the upper surface of the support body 810 of the support system 83 and the upper surface of the horizontal rod 581 are in the same plane.

[0221] In one embodiment of the present invention, a support system 67 is provided, such as... Figure 33 As shown in Figure a. The round rod 6700 is installed vertically, and the support rod 6701 is placed horizontally. The cross-sections of the three rods 6702, 6703, and 6704 are the same as the support body 820 of the support system 82. Figure 24 (b) The edges 8202 are the same, and the horizontal rod 6702 has the same length as edge 8202. The distance between 6703 and 6704 is the same as the distance between 8203 and 8204. The lengths of 6703 and 6704 are 20 cm greater than that of 8203. The lengths of horizontal rods 6705 and 6706 are greater than... Figure 24The distance between points A and B in b is greater than 15 cm. Point A is the apex of the base plate of slide table 821, and point B is the intersection of the base plate of slide table 821 and the support body 820. The entire support system 67 is welded from stainless steel. The dimensions and installation position of the support system 67 are designed to ensure that it can be smoothly connected with the support system 82 without affecting the normal operation of the device on the support system 82.

[0222] In one embodiment of the present invention, a building 22 is provided, such as Figure 33 As shown in b. The building is characterized by a support system 67 fixedly installed on the exterior wall below the window frame, without support system 58 and connector pipe 43. Otherwise, building 22 is identical to building 8. The vertical rods 6707 and 6708 of the support system 67 are fixed to the exterior wall using expansion bolts. The upper surfaces of the horizontal rods 6705 and 6706 are 10 centimeters from the lower surface of the window glass. This arrangement is intended to allow for smooth glass breaking operations when the bracket system 82 is engaged with the support system 67 via the locking buckle 42.

[0223] In one embodiment of the present invention, a fire extinguishing method is provided. This method employs an unmanned aerial vehicle (UAV) system 63 ( Figure 30 ), Building 8 ( Figure 32 (Contains a support system 58). Includes the following steps:

[0224] 1. With all the latches 42 of the support system 83 in the open position, open the gripper of the electric gripper 56, and connect the lower end of the male connector 802 to the nozzle 95 with a water hose, leaving a margin in the length of the water hose so that the subsequent movement of the nozzle system 95 will not be affected.

[0225] 2. The pipe 5614 or slide bar 31 of the control drone system 63 is perpendicular to the wall surface of the exterior wall 5801 of building 8. Figure 32b) The drone flies to the support system 58 and pipe connector 43. The control drone system 63 places the vertical pipe section 4321 of the pipe connector 43 within the grasping range of the electric gripper 56, gradually retracting the gripper head 561 so that the vertical pipe section 4321 cannot detach from the gripper head 561, but does not grip the vertical pipe section 4321 tightly. At the same time, the drone body 222 is adjusted so that the pipe 5614 of the gripper head 561 of the electric gripper 56 is supported on the T-shaped support rod 4351. The drone is hovered so that the axis of the slide rod 31 is in a horizontal state. At this time, the control gripper head 561 grips the vertical pipe section 4321 tightly. Then, the control transport system 57's winding mechanism 573 pulls the support system 83 towards the support system 58 through the steel wire ropes 576 and 577. Based on the structural relationship established when installing the connector pipe 43 and the support system 58 as described above, when the bracket system 83 contacts the support system 58, the upper surface of the bracket body 810 of the bracket system 83 is horizontal and coplanar with the upper surface of the horizontal bar 581 of the support system 58, and the edges 8303 and 8304 are aligned with the vertical bars 583 and 584 of the support system 58. Therefore, when the bracket system 83 is pulled, the locking slots of the four latches 42 can be fitted onto the vertical bars 583 and 584 and the two horizontal bars 582. That is, at this time, the vertical bars 583 and 584 and the two horizontal bars 582 have entered the four latches 42 of the bracket system 83, and the support system 58 and the bracket body 810 of the bracket system 83 are in close contact. The local structural relationship of the connector pipe 43, the support system 58, the bracket system 83, and the electric gripper 56 at the joint is as follows: Figure 34 As shown, the side view is as follows Figure 35 As shown. The motor controlling the rotation of the four latches 42 rotates, causing the long nut 425 to pass through the two locking holes 4202 and 4202( on the U-shaped locking plate 420). Figure 8 Then, the support system 83 and the support system 58 are locked together, after which the support system 58 can provide support for the support system 83. The U-shaped locking plate 420 adopts a flared structure, which allows the vertical rods 583, 584 and the two horizontal rods 582 to easily enter the range of the U-shaped locking plate 420 even if there are errors in the operation of the UAV system 63. Even if the vertical rods 583, 584 and the horizontal rods 582 are not completely aligned with the locking groove, the high-tension winding mechanism 573 can pull the support system 83 and the support system 58 together and align them through the steel wire ropes 576 and 577, thereby pulling the vertical rods 583, 584 and the two horizontal rods 582 into the locking groove of the lock 42. In addition, the locking groove size can be increased to make the connection between the support system 83 and the support system 58 easier. In fact, as long as the sliding rod 31 is perpendicular to the wall, and the drone is hovering, supporting the tube 5614 on the T-shaped support rod 4351, the positions of the bracket system 83 and the support system 58 can be aligned. The camera 8392 ( Figure 29a) The center of the lens is placed on the symmetrical plane of the edges 8301 and 8302, and the observation direction is towards the direction of movement of the support on the slide rod 31. Then, the symmetry of the support system 58 in the field of view of the camera 8392 can be used to determine whether the slide rod 31 is perpendicular to the wall. Based on this, the flight attitude of the drone body 222 can be adjusted until the slide rod 31 is perpendicular to the wall.

[0226] When the slide rod 31 is perpendicular to the wall, the axes of the vertical pipe section 4321, the female connector 801, the male connector 802, the lead screw of the slide table 444, and the round pipe 3101 are all in the same plane. By controlling the slide table 444, the male connector 802 can be moved until its axis coincides with the axis of the female connector 801. Of course, the position can be pre-adjusted so that the axes of the male connector 802 and the female connector 801 coincide exactly when the bracket system 83 and the support system 58 are in contact. When there is no plug in the female connector 801, the male connector 802 can be directly inserted into the female connector 801 through the slide table 442 to complete the connection of the water pipe joint. When there is a plug 106 in the female connector 801, the slide tables 444 and 445 are controlled to pull the hook 4451 (refer to...). Figure 18 , 31 a) The hook moves into the handle 1067 of the plug 106 (reference) Figure 17 , 36 Inside, control the slide 445 to pull down the handle 1067 until the plug 106 falls out of the female head 801 and is then pulled by the wire rope 436. Then move the male head 802 through the slide 444 until the axes of the male head 802 and the female head 801 are aligned. At this time, move the male head 802 upward through the slide 442 to insert the male head 802 into the female head 801. If, due to some error, moving the male head 802 cannot make it completely aligned with the axis of the female head 801, then the mechanical gripper 441 can be moved through the slide 444 to put it on the vertical pipe section 4354 of the bend 435. Close the gripper 441 but do not completely grip the bend 435, so that the mechanical gripper 441 can be supported on the annular protrusion 4353. Then, the long nut 4461 of the control motor lock 446 moves upward to exit the hole 44240 of the horizontal plate segment 4424 of the base plate of the slide table 442. The slide table 444 moves the slider 4441, completely separating it from the slide table 442 and maintaining a distance to avoid affecting the movement of 442. Then, the mechanical gripper 441 grips the vertical pipe segment 4354 of the bent pipe 435. Due to the assembly setup of the pipe holding system 44 described above, the axis of the male connector 802 coincides with the axis of the female connector 801. The slider 4421 of the control slide table 442 moves upward, allowing the male connector 802 to be inserted into the female connector 801. This method of connecting joints uses a mechanical gripper instead of an operation requiring a two-degree-of-freedom rotating platform, and the docking speed is faster. Joint connections can still be completed even with assembly errors.

[0227] After the water pipe connection is completed and the slider 4441 and slide table 442 are completely separated, the hook of the pull hook 4451 is inserted into the hole of the handle 1087 of the plug 108 by controlling slide tables 444 and 445. Multiple cameras of the support system 83 can be used for multi-angle observation and monitoring of the operation process.

[0228] The locking levers of servo locks 935 and 9350 controlling the transport component 93 disengage from their locking slots, and the winding mechanism 573 moves the transport component 93 under the UAV body 222. At this time, the support system 83 disengages from the transport component 93. The support system 83 is then fully supported by the support system 58.

[0229] Release the electric gripper 56 to control the drone body 222 to fly upwards or to the upper right, detach from the connector tube 43, and then land or perform other tasks. Move the electric push rod 59 via the slide table 812 so that the electric push rod 59 is facing the window frame 5802, control the moving rod 591 of the electric push rod 59 to move towards the window frame 5802, and at the same time control the hammer heads 512 and 513 to rotate at high speed via the glass breaking device 54, so that the glass is broken by the hammer heads 512 and 513.

[0230] The sliding table 445 controls the hook 4451 to move downwards, opening the three-way valve on the connector pipe 43. Water then flows through the female connector 801, male connector 802, and water hose, finally spraying out from the nozzle 951. The spraying device 95 allows adjustment of the spray angle, directing water towards indoor or exterior walls. The electric push rod 59 adjusts the distance between the nozzle 591 and the wall, and can also advance the nozzle 591 into the room for spraying. The thermal imager 517 locates high-temperature areas or fire ignition points, allowing for targeted water spraying, improving water usage efficiency and fire extinguishing efficiency.

[0231] In this embodiment, the precise structure, the precise positioning / orientation method, the X method, the aircraft control structure, the aircraft control method, the cross-platform control method, the valve opening / closing method, the plug pulling method, the insert-type pipe connection structure, the insert-type pipe connection method, and the aircraft transportation method are also provided.

[0232] In one embodiment of the present invention, a fire extinguishing method II is provided. When building 22 ( Figure 33 (b) If a fire breaks out in room 2207, and only that room is on fire while room 2208 is not significantly affected, the following methods may be used to extinguish the fire:

[0233] 1. Firefighter A used a hose and connector to remove the drone system 71 ( Figure 26 The hose connector 826 is connected to the connector 517 of the three-way valve 51. Figure 24b) Connect the connector 516 of the three-way valve 51 to the connector 9520 of the spray device 95 using a water hose and connector. Figure 25 (The text is incomplete and contains several grammatical errors. A more accurate translation would require the full context.) The following is a separate section: Firefighters B and C, carrying scissors and hoses, proceed to the adjacent unit 2208 on the floor above 2207. Upon arrival at 2208, firefighter B connects one end of the hose to the indoor fire hydrant outlet, while the other end is connected to a female connector 801 that matches the male connector 802. Firefighter C lays the hose and holds the female connector 801 to the window to await the male connector 802 from the drone system 71, ensuring sufficient hose length is reserved for the next step. Firefighter B, holding scissors, also approaches the window.

[0234] 2. Firefighter A controls the drone system 71 to take off and fly towards the location of firefighter B in room 2208, so that the head 802 is within the reach of firefighter B and hovers the drone system 71.

[0235] 3. Firefighter B grabs the male connector 802, cuts the binding rope, and then hands the male connector 802 to firefighter C. Firefighter B then returns to the fire hydrant position to stand by. Firefighter C connects the female connector 801 to the male connector 802 and releases the hose.

[0236] 4. Firefighter A controls the drone system 71 to fly away from room 2208, while firefighter C releases the hose and controls the drone to fly towards the support system 67 outside the window of room 2207; then, using a method similar to that described in the previous embodiment, the electric gripper grabs the round rod 6700, supports the pipe 5614 on the support rod 6701, and combines the bracket system 82 with the support system 67, and then controls the drone body 222 to detach from the support system 67. 5. Firefighter A can perform the following operations: (1) control the slide table 821 to move the glass-breaking device 53, and break the glass by controlling the motor of the glass-breaking device 53; (2) spray water to cool the bracket system 82 by controlling the water pump 514 of the motor spraying system 51; (3) notify firefighter B to open the fire hydrant valve and spray water to extinguish the fire through the spray device 95; at this time, the nozzle 515 also begins to spray water to cool down.

[0237] When water spraying is not needed, firefighter B can turn off the water valve.

[0238] Using Fire Extinguishing Method II, firefighters can manually draw water from an adjacent fire compartment to extinguish the fire, even when there are no valves on the building's exterior walls. This method is simple and flexible. Firefighters do not need to directly enter the fire scene, significantly reducing personal danger. Furthermore, in older buildings without fire hydrants or where the hydrants are not functioning properly, Fire Extinguishing Method II can also utilize tap water for firefighting. Currently, firefighters typically draw water from fire hydrants on the floor below or two floors below the burning building. However, reports indicate that sometimes the water pressure is insufficient, affecting firefighting efforts. Fire Extinguishing Method II, using tap water flowing downwards from higher floors, avoids this problem.

[0239] In one embodiment of the present invention, a fire extinguishing method III is provided. The difference between fire extinguishing method III and fire extinguishing method II is that: 1. One end of a 10-meter-long water hose is connected to a male connector 802, and the other end is connected to a hose connector 826. Then, the hose is folded and clamped onto a mechanical gripper 827; instead of binding the male connector 802 to the pipe 5614 as in the previous embodiment.

[0240] 2. The drone system 71 is flown directly to room 2207, and the bracket system 82 is then attached to the support system 67 outside the window of room 2207 via the latch 42. Then, the mechanical grab is controlled to release the hose and male connector 802, which are suspended below the bracket system; instead of flying to room 2203 as in the previous embodiment.

[0241] 3. Firefighters B and C carried hoses and long-handled hooks to the window of room 2205, two floors below 2207. They used the long-handled hooks to hook the hoses and brought the male connector 802 into the room to connect it to the female connector 801.

[0242] Other operations should be carried out in accordance with Firefighting Method II. Firefighters can also conduct firefighting operations without entering the fire scene.

[0243] In one embodiment of the present invention, a glass-breaking device 72 is provided, the structural schematic diagram and exploded schematic diagram of which are shown below. Figure 36As shown. It includes an electric actuator 721, a glass-breaking device 53 fixed to the electric actuator 721, and a screw 722 that passes through a hole 7210 in the mounting plate 7213 of the electric actuator 721 with a clearance fit, and is supported on the electric actuator 721 by the annular protrusion of the screw 722. A baffle 723 includes a lower plate 7231 and an upper plate 7232, made of TC4 alloy. The lower plate 7231 and the upper plate 7232 are respectively threaded to the lower and upper parts of the screw 722. Bolts 725 further tighten the lower plate 7231 and the upper plate 7232 together. The upper end of a fireproof cloth 726 is fixed to the upper plate 724, and gravity blocks the gap between the lower plate 723 and the upper plate 724. The two ends of the electric actuator 727 are hinged to the screw 7211 on the electric actuator and the screw 7241 on the upper plate, respectively. Thus, the angle of the baffle 723 can be adjusted via the electric push rod 727. When the glass is broken using the glass-breaking device 53, the surface of the baffle 723 is pressed tightly against the glass plane. After the glass is broken, the electric push rod 721 is extended, pushing the glass fragments into the building through the baffle 723, thus preventing glass from falling outside the building and causing high-altitude littering. Afterwards, the electric push rod 727 is shortened, and the baffle 723 rotates around the bolt 722 until it is perpendicular to its original direction. When the fireproof cloth 726 touches the electric push rod, its lower end will be lifted without affecting the rotation of the lower plate 7231 and the upper plate 7232. This minimizes the impact of the baffle 723 on subsequent water spraying. After the fire is extinguished, if it is necessary to reduce the airflow between indoors and outdoors, the length of the electric push rod 727 can be extended again until the baffle 723 returns to its original angle. Simultaneously, the baffle 723 is placed inside the window frame via the electric push rod 721, thus obstructing the airflow between indoors and outdoors. This embodiment provides the aforementioned blocking device.

[0244] In one embodiment of the present invention, a baffle 7230 is provided, comprising a baffle 723 and a 3mm thick rubber sheet. The rubber sheet is fixed to the baffle 723 by bolts and extends 2cm beyond the titanium alloy plate in all directions. When the baffles are of the same size, even if the baffle with this structure makes slight contact with the window frame, it may be pushed into the sub-frame, thereby better pushing glass fragments into the inner side of the curtain wall and minimizing the risk of glass fragments falling outside the curtain wall.

[0245] In one embodiment of the present invention, a glass-breaking device 73 is provided, the structure of which and its exploded schematic diagram are shown below. Figure 37 As shown. Includes electric push rod 59, glass breaker 53, baffle 731, and motor lock 446 (structure see...). Figure 18(b) The hole in the baffle 731 allows the glass breaker 53 to pass through. The horizontal plate 7310 on the baffle 731 is clearance-fitted with the groove 5930 of the electric push rod 59, and the axes of the holes on both are coincident. The motor lock 446 is fixed to the electric push rod 59, controlling the long nut 4461 to move in and out of the hole in the horizontal plate 7310, locking or unlocking the baffle 731 and the electric push rod 59. Using the glass-breaking device 73, the glass breaker 53 can be controlled to break the glass, and then the push rod 59 can be controlled to push the baffle 731 into the room, thereby pushing the glass fragments into the room and preventing objects from being thrown from a height. Afterwards, the long nut 4461 of the motor lock 446 is removed from the hole in the horizontal plate 7310, and then water is sprayed using the spray device 95 to spray the baffle 731 off and let it fall into the room, thus not affecting subsequent water spraying operations.

[0246] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above embodiments are merely some embodiments of the present invention. The above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it. The technical solutions of the present invention also include any combination of the various embodiments.

[0247] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or the described technical solutions can be combined, or some of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, so these modifications or replacements are still within the protection scope of the present invention.

Claims

1. A transportation system for moving an object X from an aircraft or aircraft system to an external location, the transportation system comprising a transportation component and a transportation power mechanism; the transportation power mechanism being capable of providing power to the transportation component to drive the transportation component to move; the transportation system further comprising an AB-type mechanism or an ABA-type mechanism for connecting an object on an aircraft, an aircraft system, or an object on an aircraft or an aircraft system to an external object; defining "a way in which object A is connected to object B so that object A can provide support for object B" as an AB-type connection method; the device used to implement the AB-type connection method is abbreviated as the AB-type mechanism; if the AB-type mechanism can be connected to other objects and can also be detached from those objects, then the AB-type mechanism is called the ABA-type mechanism.

2. A transportation system according to claim 1, characterized in that, The transportation components of the transportation system include one or more of the following components: linear motion components, movable blocks of linear motion components, linear bearings, and overhead cranes.

3. A transportation system according to claim 1 or 2, characterized in that, The transport system includes one or more of the following components: a rod-shaped structure, an ABA-type mechanism, a connecting system, an electric gripper, a guide rail, a guide rod, a winding mechanism for a double-grooved wheel, a fixed pulley, a spring and winding mechanism, and a motor with a self-locking function.

4. An aircraft system, characterized in that, The aircraft system includes: (1) an aircraft body, and (2) any of the transportation systems according to claims 1-3, wherein the transportation system is installed on the aircraft body.

5. The aircraft system according to claim 4, characterized in that: It also includes one or more of the following objects: support body, support system, connection system, glass breaking device, positioning / orientation system, spraying device, connector tube, precision structure, electric valve, rotary valve, rotary ball valve, winding mechanism, cross-platform pipe structure, pipe holding system, pipe holding mechanism, electric gripper, ABA mechanism, spraying system, barrier component, passive component, barrier device, RTK module, Global Navigation Satellite System module, camera, thermal imaging camera, distance sensor, ultrasonic detector, rod or other objects.

6. A precise structure, characterized in that, The precise structure is a structure that precisely positions / orients an object X on platform II on platform I, wherein platform II is in a state of relative motion with respect to platform I. The precise structure includes: the platform II, and any of the transportation systems according to claims 1-3.

7. A cross-platform takeover structure, characterized in that, The cross-platform pipe connection structure is a structure that connects water pipe connector II on platform II to water pipe connector I on platform I, wherein platform II is in a state of relative motion with respect to platform I. The cross-platform takeover structure includes: (1) the precise structure according to claim 6; (2) A tube holding mechanism, which refers to a mechanism capable of clamping, releasing, fixing, moving, tilting or rotating a tubular object.

8. An aircraft control structure, comprising: According to claim 7, the cross-platform takeover structure, wherein the platform II in the cross-platform takeover structure is an aircraft.

9. A fire extinguishing method, characterized in that, Firefighting can be carried out using any of the aircraft systems described in claims 4-5.

10. A method for transporting goods by aircraft, characterized in that, The aircraft transportation method includes the following steps: (1) using any of the aircraft systems according to claims 4-5 containing rods, the object X to be transported is combined to the transportation component of the aircraft system using an AB-type mechanism or an ABA-type mechanism; (2) controlling the aircraft system to fly to the transportation destination Y, fixing, connecting, or combining the end of the rod of the transportation system to the destination Y using the AB-type combination method, while controlling the aircraft body to hover; (3) controlling the transportation system to transport the object X to the end of the rod, i.e., to the destination Y.

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