An amphibious land-air high-rise building mooring reconnaissance and fire-fighting robot and its operation method

Abstract

The present invention belongs to the technical field of fire-fighting robots, and relates to an amphibious land-air high-rise building mooring reconnaissance and fire-fighting robot and an operation method. The robot includes a mobile platform, an electric control energy module, a reconnaissance module, a fire-fighting system, a heavy-load rescue operation system installed on the mobile platform, a drone storage and release device installed under the mobile platform, and an aerial mooring drone system arranged on the drone storage and release device. The reconnaissance module, the fire-fighting system, the heavy-load rescue operation system, the drone storage and release device are electrically connected to the electric control energy module, and the electric control energy module and the aerial mooring drone system are wirelessly connected to a console. The robot can stably and automatically release the aerial mooring drone system. The aerial mooring drone system can adsorb to the wall of the object to be reconnoitered and conduct close-range reconnaissance on the interior of the object to be reconnoitered. The heavy-load slewing base realizes the high-load stable support of the heavy-load rescue operation system, improving the rescue ability of the robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire-fighting robots, and particularly relates to an amphibious land-air high-rise building mooring reconnaissance and fire-extinguishing robot and an operation method thereof. Background Art

[0002] As a kind of special robot, fire-fighting robots play an increasingly important role in fire extinguishing and emergency rescue. On-site commanders can use them for preliminary reconnaissance and suppression, and based on the feedback results, make scientific judgments on the disaster situation in a timely manner, so as to make correct and reasonable decisions on the work at the disaster accident site. Fire-fighting robots put into use at home and abroad generally use a powered all-terrain chassis as the driving and load-bearing base, and on which reconnaissance equipment, fire-extinguishing equipment, rescue equipment, etc. are installed to carry out various special rescue operations, significantly improving the ability to handle serious accidents and greatly reducing casualties.

[0003] Nowadays, there are more and more high-rise buildings. Due to the characteristics of high-rise buildings, after a fire occurs in a high-rise building, drones are usually used for high-altitude reconnaissance. Restricted by the problems of load and flight stability, traditional drones cannot get too close to the building to be reconnoitered, and can only conduct long-distance video reconnaissance, unable to see the internal situation of the building clearly, resulting in a significant reduction in the reconnaissance effect and affecting the rescue judgment of the fire scene.

[0004] For example, the invention patent with the authorization announcement number CN110180112B discloses a cooperative reconnaissance and fire-extinguishing operation method for a drone and a fire-fighting robot, including the release step of the unmanned reconnaissance aircraft, the space positioning step of the unmanned reconnaissance aircraft, the robot console, and the drone console for the fire-extinguishing reconnaissance robot, and the cooperative reconnaissance and fire-extinguishing steps of the fire-extinguishing reconnaissance robot, the unmanned reconnaissance aircraft, the robot console, and the drone console. The unmanned reconnaissance aircraft and the fire-extinguishing reconnaissance robot are independently set, and the unmanned reconnaissance aircraft cannot approach the fire source site to conduct real-time reconnaissance on the interior of high-rise buildings.

[0005] The invention patent with the application publication number CN113681577A discloses a split-type reconnaissance and detection robot and method. The stacked-wing drone is installed in a launch tube, and a gas ejection device for launching the stacked-wing drone is arranged in the launch tube; the quadruped robot enables the carried stacked-wing drone to conduct aerial reconnaissance and detection on the area to be detected, and the quadruped robot conducts land detection, capable of realizing two detection modes of land and air, and being able to adapt to various complex working environments. In this scheme, the drone takes off by means of ejection, and the take-off method has poor stability, and the unmanned reconnaissance aircraft cannot approach the fire source site to conduct real-time reconnaissance on the interior of high-rise buildings. Summary of the Invention

[0006] The object of the present invention is to provide an amphibious high-rise building mooring reconnaissance and fire extinguishing robot and an operation method, realizing the stable release of the unmanned aerial vehicle (UAV) by the robot and the stable adsorption of the UAV on the wall surface of the object to be reconnoitered, improving the reconnaissance ability and data accuracy of the robot, and enhancing the rescue ability of the robot.

[0007] The technical solution adopted by the present invention to solve its technical problems is: an amphibious high-rise building mooring reconnaissance and fire extinguishing robot, comprising:

[0008] A mobile platform, which is used to carry and install various components of the robot and drive the robot to move;

[0009] An electric control energy module installed on the mobile platform, which is used to provide energy for various components of the robot and drive and control the operation of each component;

[0010] A reconnaissance module installed on the mobile platform, which is used to conduct all-round reconnaissance and monitoring in front of, behind and above the robot. The reconnaissance module is electrically connected to the electric control energy module;

[0011] A fire extinguishing system installed at the front part of the mobile platform. The fire extinguishing system is electrically connected to the electric control energy module, and the fire extinguishing system is used for the robot to perform fire extinguishing operations on the fire source;

[0012] A heavy-load rescue operation system installed at the rear part of the mobile platform, which is used for the rescue operation of the robot. The heavy-load rescue operation system is electrically connected to the electric control energy module;

[0013] A UAV storage and release device installed at the lower part of the mobile platform. The UAV storage and release device is electrically connected to the electric control energy module;

[0014] A high-altitude mooring UAV system arranged on the UAV storage and release device. The high-altitude mooring UAV system can take off after being released from the UAV storage and release device to realize high-altitude reconnaissance operations;

[0015] A console, which is wirelessly connected to the electric control energy module and the high-altitude mooring UAV system, and is used for remotely controlling the robot and the high-altitude mooring UAV system.

[0016] Furthermore, the mobile platform includes a crawler module, a column, a main body, a bearing substrate, and a load plate. A bearing substrate is installed on the top of the main body. A number of columns are fixedly connected to the upper surface of the bearing substrate. The top of the column is fixedly connected to the load plate. The bearing substrate and the load plate are used to install the electric control energy module. The fire extinguishing system is installed at the front of the upper surface of the load plate, and the heavy-duty rescue operation system is installed at the rear of the upper surface of the load plate. The UAV storage and release device is fixedly connected to the bottom of the bearing substrate. There are two groups of crawler modules, symmetrically installed on both sides of the main body. Each group of crawler modules includes at least a crawler, a driving wheel, a load-bearing wheel, a suspension assembly, and a guiding driven wheel. A number of load-bearing wheels are connected below the suspension assembly. The crawler is arranged and envelopes the outside of the driving wheel, the load-bearing wheel, and the guiding driven wheel. The driving wheel is connected to the driving component in the electric control energy module and is driven by the driving component to rotate, driving the crawler to roll, and then driving the guiding driven wheel to rotate, so as to realize the common support of the crawler rolling movement with the driving wheel and the load-bearing wheel.

[0017] Furthermore, the electric control energy module includes a lidar, a control component, a driving component, an energy component, and a wireless communication component. The lidar, the control component, and the wireless communication component are all arranged on the bearing substrate. The driving component and the energy component are arranged on the load plate. The lidar, the driving component, the energy component, and the wireless communication component are all electrically connected to the control component. The lidar is used to realize the modeling of the on-site environment, motion obstacle avoidance, and path planning. The control component is used to realize the motion control of each component of the robot. The driving component is used to drive the mobile platform to move forward, backward, and turn. The energy component is used to provide energy for each component of the robot. The wireless communication component is used to realize the wireless communication connection with the console.

[0018] Furthermore, the reconnaissance module includes a front reconnaissance component, an omnidirectional reconnaissance and detection component, a high-altitude reconnaissance component I, a high-altitude reconnaissance component II, and a rescue reconnaissance component. The front reconnaissance component is arranged on the front side of the bearing substrate of the mobile platform. The omnidirectional reconnaissance and detection component includes a detection sensing module, a first omnidirectional pan-tilt, and a detection component base. The detection component base is fixedly installed on the load plate of the mobile platform. The detection sensing module is connected to the detection component base through the first omnidirectional pan-tilt. The high-altitude reconnaissance component I includes a reconnaissance module and a second omnidirectional pan-tilt. The reconnaissance module is installed on the top of the high-altitude mooring UAV system through the second omnidirectional pan-tilt. The rescue reconnaissance component includes a laser ranging component, an upper vision module, and a lower vision module. The laser ranging component and the upper vision module are fixedly installed on the upper side of the front end of the heavy-duty rescue operation system, and the lower vision module is fixedly installed on the lower side of the front end of the heavy-duty rescue operation system.

[0019] Further, the fire extinguishing system includes a fire extinguishing cannon, a slewing turret, a base of the fire extinguishing cannon, a medium tank, and a pumping assembly. The base of the fire extinguishing cannon is fixedly installed at the front of the load plate of the mobile platform. The fire extinguishing cannon is installed on the base of the fire extinguishing cannon through the slewing turret. The medium tank and the pumping assembly are installed on the bearing substrate of the mobile platform. The fire extinguishing cannon is connected to the pumping assembly through a pipeline. The pumping assembly is connected to the medium tank. The medium tank is used for containing fire extinguishing media, including but not limited to water, dry powder, or foam fire extinguishing agent. The slewing turret and the pumping assembly are electrically connected to the control component in the electric control energy module.

[0020] Further, the heavy-duty rescue operation system includes an operating robotic gripper, a multi-degree-of-freedom robotic arm, and a heavy-duty slewing base. The heavy-duty slewing base is fixedly installed at the rear of the load plate of the mobile platform. One end of the multi-degree-of-freedom robotic arm is connected to the heavy-duty slewing base. The other end of the multi-degree-of-freedom robotic arm is connected to the operating robotic gripper. The rescue and reconnaissance component is installed on the operating robotic gripper. The operating robotic gripper is electrically connected to the control component of the electric control energy module.

[0021] Further, the heavy-duty slewing base includes an upper support frame, a support column, a slewing support ring, a slewing support body, support ribs, a fixed base, a fixed sleeve, a guide rail module, and a heavy-duty slewing motor. The operating robotic gripper and the heavy-duty slewing motor are electrically connected to the control component in the electric control energy module. The fixed base is fixedly installed on the upper surface of the load plate. One side of the fixed base is fixedly connected to the slewing support body. A slewing support ring is provided directly above the slewing support body. The slewing support ring and the slewing support body are connected and fixed through a plurality of support ribs. Both ends of the slewing support ring are respectively fixedly installed on the upper surface of the fixed base through fixed sleeves. The bottom of the heavy-duty slewing motor is fixedly installed on the upper surface of the fixed base. The upper support frame is arranged on the top of the heavy-duty slewing motor. The output shaft of the heavy-duty slewing motor is connected to the upper support frame. The upper surface of the upper support frame is connected and fixed to the bottom of the multi-degree-of-freedom robotic arm. The outer bottom of the upper support frame is connected and fixed to the upper end of the support column. A guide rail module is provided at the lower end of the support column. The support column is slidably connected to the slewing support ring through the guide rail module. When the heavy-duty slewing motor operates, it can drive the upper support frame and the multi-degree-of-freedom robotic arm to rotate along the slewing support ring.

[0022] Further, the guide rail module includes balls, a first elastic element, a second elastic element, a guide hole, a locking bolt, and a guide groove. The guide groove is provided at the bottom of the support column. The guide groove is used for clamping the upper part of the slewing support ring, and the guide groove is adapted to the slewing support ring. Guide holes are respectively opened on both sides of the guide groove. A locking bolt is arranged in the guide hole. A second elastic element is sleeved on the locking bolt. A first elastic element is sleeved outside the second elastic element. A ball is arranged at the inner end of the locking bolt. One end of the ball contacts the slewing support ring, and the other end contacts the first elastic element and the second elastic element.

[0023] Furthermore, the high-altitude mooring UAV system includes a UAV, a payload landing gear, a rotary detection component, and an adaptive wall mooring component. The payload landing gear is connected to the UAV storage and release device. The UAV is fixedly connected to the payload landing gear. A rotary detection component is connected to the bottom of the UAV. The adaptive wall mooring component is connected to the rear end of the rotary detection component. The UAV, the rotary detection component, and the adaptive wall mooring component are all wirelessly connected to the console.

[0024] Furthermore, the UAV storage and release device includes a fixed bracket, a slide table system, synchronous propulsion struts, sliding guide blocks, a guiding release cap, and a release top seat. The fixed bracket is fixedly installed at the bottom of the moving platform bearing substrate. The front end of the slide table system is fixedly installed at the bottom of the fixed bracket. The slide table system is parallel to the advancing direction of the robot, and the rear end of the slide table system extends to the outer side of the rear of the moving platform. A limit stop block is provided at the rear end of the slide table system. An even number of synchronous propulsion struts are provided, with two as a group. Each group of synchronous propulsion struts is arranged along the front and rear of the slide table system, and the two synchronous propulsion struts in each group are symmetrically arranged on both sides of the slide table system respectively. The two synchronous propulsion struts in each group can move along the slide table system. The group of synchronous propulsion struts close to the fixed bracket is electrically connected to the control component in the electric control energy module. Sliding guide blocks are provided at the tops of the synchronous propulsion struts. The sliding guide blocks are used to support and fix the high-altitude mooring UAV system. A release top seat is connected between the group of synchronous propulsion struts close to the fixed bracket. A guiding release cap is fixedly connected to the sliding guide blocks at the tops of the group of synchronous propulsion struts close to the fixed bracket. The guiding release cap is conical, with the opening facing away from the fixed bracket. The guiding release cap cooperates with the payload landing gear of the high-altitude mooring UAV system to realize the storage, propulsion, and release of the high-altitude mooring UAV system.

[0025] Furthermore, the UAV includes a frame, a power component, a propeller, and an electric control energy component. The electric control energy component is arranged inside the center of the frame. The outer end of the frame is fixedly connected with the power component. The propeller is connected to the power component and driven by the power component to operate. The power component is wirelessly connected to the console.

[0026] Furthermore, the payload landing gear includes a first support rod, a connecting hanging piece, and a landing and takeoff support rod. Two landing and takeoff support rods are provided, symmetrically arranged below both sides of the UAV. The landing and takeoff support rods are used to support and contact the sliding guide blocks of the UAV storage and release device, and the landing and takeoff support rods can slide on the sliding guide blocks. The landing and takeoff support rods are connected to one end of the first support rod through the connecting hanging piece. The other end of the first support rod is fixedly connected to the side wall of the UAV frame.

[0027] Further, the slewing detection assembly includes a turntable, an annular gear, a driving gear, a base, a slewing motor, a sliding table body, a synchronous belt, a synchronous slider, a displacement detection module, and a displacement motor. The slewing motor and the displacement motor are respectively wirelessly connected to the console. The displacement detection module is fixedly installed at one end of the sliding table body, and the displacement motor is fixed at the other end of the sliding table body. The output shaft of the displacement motor is connected to the synchronous belt, and the synchronous belt is sleeved outside the sliding table body. The synchronous slider is fixedly connected to the synchronous belt and can slide along the sliding table body. The displacement motor drives the synchronous belt to rotate, thereby driving the synchronous slider to move back and forth. The top of the synchronous slider is fixedly connected to the bottom of the base, and the bottom of the base is also fixedly connected with a slewing motor. An annular gear and a driving gear that are meshed with each other are arranged on the upper surface of the base. The output shaft of the slewing motor passes through the base and is connected to the driving gear. The annular gear is fixedly connected to the bottom of the turntable, and the top of the turntable is fixedly connected to the bottom of the frame of the unmanned aerial vehicle. The slewing motor rotates, drives the driving gear to rotate, and then drives the annular gear and the sequentially connected frame to rotate, realizing the turning of the unmanned aerial vehicle.

[0028] Further, the adaptive wall mooring assembly includes an active swing angle adjustment assembly, a mooring main body, a vacuum adsorption module, and an electromagnetic adsorption module. The vacuum adsorption module is fixedly installed at one end of the mooring main body, and the electromagnetic adsorption module is fixedly connected below the vacuum adsorption module. The other end of the mooring main body is connected to one end of the active swing angle adjustment assembly, and the other end of the active swing angle adjustment assembly is fixedly connected to the end of the sliding table body where the displacement detection module is installed. The active swing angle adjustment assembly is wirelessly connected to the console.

[0029] Further, the connecting hanging part includes a first horizontal hanging plate, a second longitudinal connecting plate, and a third vertical hanging plate. The take-off and landing support rod includes a support rod main body and a guiding and separating head. The first horizontal hanging plate is fixedly connected to the end of the first support rod. Both ends of the first horizontal hanging plate are respectively connected to the top of the third vertical hanging plate through the second longitudinal connecting plate. The bottom of the third vertical hanging plate is fixedly connected to the support rod main body. A guiding and separating head is arranged at the front end of the support rod main body, and the guiding and separating head is adapted to and cooperates with the guiding and releasing cap of the unmanned aerial vehicle storage and release device.

[0030] Further, the active swing angle adjustment assembly includes a first hinge, a second hinge, a hinge shaft, a swing motor, an elastic support seat, a spring, and a guide boss. The first hinge is fixedly connected to the end of the sliding table body, and the second hinge is fixedly connected to the mooring body. The first hinge and the second hinge are hinged together through the hinge shaft. The swing motor is fixedly installed at the bottom of the second hinge and is wirelessly connected to the console. The output shaft of the swing motor is connected to the second hinge. When the swing motor rotates, it drives the second hinge and the mooring body to swing around the hinge shaft. Elastic support seats are respectively fixedly installed on the sliding table body on both sides of the first hinge, and guide bosses are respectively fixedly installed on the mooring body on both sides of the second hinge. The elastic support seats and the corresponding guide bosses are connected by springs.

[0031] Further, the vacuum adsorption module includes suction cups, a main body frame, a flow guiding device, a guiding support spring, an array ranging module, a guiding spring fixing seat, an air pipeline, a pipeline support seat, an air pump, a fixing seat, a swing shaft, and a swing bearing. There are multiple suction cups. Each suction cup is provided with several array ranging modules at the front end, and each suction cup is provided with a flow guiding device at the top. The flow guiding device is connected to the air pump through the air pipeline. The air pump is installed on the base and is wirelessly connected to the console. The pipeline support seat is fixedly installed at the bottom of the sliding table body and is used to support and fix the air pipeline. The main body frame is fixedly connected to the mooring body. The rear end of each suction cup is connected to the top and bottom of the main body frame through a swing shaft and a swing bearing. The suction cup can swing left and right around the swing shaft. Guide spring fixing seats are respectively fixedly installed on both sides of each suction cup, and the guide spring fixing seats of two adjacent suction cups are connected by a guiding support spring. The outermost suction cup is connected to the side wall of the main body frame through a guiding support spring.

[0032] Further, the electromagnetic adsorption module includes an array of electromagnetic adsorption units, a flexible pad, a synchronous support, an electromagnetic adsorption base, and a flexible rib. The number of the array of electromagnetic adsorption units, the electromagnetic adsorption bases is the same as that of the suction cups and they correspond one by one. Each array of electromagnetic adsorption units is provided with a flexible pad on the end face, and the rear parts of each array of electromagnetic adsorption units are respectively fixedly connected to the corresponding electromagnetic adsorption bases. The electromagnetic adsorption bases are fixedly connected to the bottom of the corresponding suction cups through the synchronous support, and the adjacent electromagnetic adsorption bases are connected by flexible ribs.

[0033] The working method of the land-air amphibious high-rise building mooring reconnaissance and fire extinguishing robot includes the following steps:

[0034] (1) Steps of the robot's movement, fire extinguishing, and rescue:

[0035] 1) Robot movement: The console controls the drive components in the electric control energy module to drive the drive wheels to rotate, the crawlers to roll, and drive the robot to reach the designated working area. During the movement of the robot, the control component controls the lidar to work, scans and searches the environment in front of the robot, constructs a regional map, determines its own position in the map, and at the same time, the robot also memorizes its own movement route; when encountering an obstacle, the robot stops moving forward and cooperates with the modeled map to avoid it, and marks it in the map to provide guidance for the return journey or other robots entering the site.

[0036] 2) Robot fire extinguishing: The reconnaissance module conducts image and video reconnaissance on the surrounding site environment of the robot. When the fire source position is detected, the control component controls the slewing pan-tilt to adjust the angle, starts the pumping component, and provides the fire extinguishing medium for the fire extinguishing gun to achieve fire extinguishing.

[0037] 3) Robot rescue: The reconnaissance module conducts image and video reconnaissance on the surrounding site environment of the robot. When a person or object to be rescued or moving is detected, the control component controls the heavy-duty slewing motor to operate, drives the working mechanical claw to adjust the angle, and further controls the working mechanical claw to grab and move the person or object to be rescued or moving to a safe position.

[0038] (2) Release and reconnaissance steps of the high-altitude moored unmanned aerial vehicle system:

[0039] 1) Release of the high-altitude moored unmanned aerial vehicle system:

[0040] a. The control component controls the synchronous propulsion strut to move backward along the sliding table system. The guiding release cap at the top of the synchronous propulsion strut drives the high-altitude moored unmanned aerial vehicle system to move backward through the guiding separation head. The synchronous propulsion strut far from the fixed bracket moves to the rear end of the sliding table system and stops moving under the action of the limit stop block. The group of synchronous propulsion struts close to the fixed bracket continues to move backward, driving the high-altitude moored unmanned aerial vehicle system to continue sliding backward. The rear end of the high-altitude moored unmanned aerial vehicle system has a downward trend under the influence of gravity. The guiding separation head is limited in the guiding release cap to prevent the high-altitude moored unmanned aerial vehicle system from falling. The console controls the power component of the unmanned aerial vehicle to operate, the propellers rotate, and the conical guiding separation head can be disengaged from the conical guiding release cap, thereby driving the high-altitude moored unmanned aerial vehicle system to take off from the unmanned aerial vehicle storage and release device.

[0041] b. The control component controls the synchronous propulsion rod to move backward along the sliding table system. The guiding release cap at the top of the synchronous propulsion rod drives the high-altitude moored unmanned aerial vehicle system to move backward through the guiding separation head. The synchronous propulsion rod away from the fixed bracket moves to the rear end of the sliding table system and stops moving under the action of the limit stop block. At this time, the console controls the displacement motor to rotate, and the displacement motor drives the synchronous belt to rotate, which in turn drives the synchronous slider to move back and forth. Since the synchronous slider is connected to the base, the unmanned aerial vehicle, and the load landing gear in sequence, and the load landing gear is also connected to the synchronous propulsion rod of the unmanned aerial vehicle storage and release device, the sliding table body moves forward relative to the unmanned aerial vehicle. When the sliding table body moves to the release top seat, the unmanned aerial vehicle moves backward along the sliding table body. The console controls the operation of the power component of the unmanned aerial vehicle, and the propeller rotates. The conical guiding separation head can be disengaged from the conical guiding release cap, thereby driving the high-altitude moored unmanned aerial vehicle system to take off from the unmanned aerial vehicle storage and release device.

[0042] 2) High-altitude reconnaissance of the high-altitude moored unmanned aerial vehicle system:

[0043] a. During the high-altitude flight of the high-altitude moored unmanned aerial vehicle system, the high-altitude reconnaissance component one conducts reconnaissance on the flight environment and the target object. The console controls the rotation of the slewing motor, which drives the driving gear to rotate, and then drives the ring gear and the sequentially connected frame to rotate, realizing the turning of the unmanned aerial vehicle.

[0044] b. When the high-altitude moored unmanned aerial vehicle system flies close to the wall surface of the object to be reconnoitered, vacuum adsorption or electromagnetic adsorption is selected according to the material of the wall surface of the object to be reconnoitered. The array ranging module monitors the distance between the suction cup and the wall surface of the object to be reconnoitered in real time. The console controls the air pump to operate, and the suction cup adsorbs on the wall surface of the object to be reconnoitered. The console also controls the swing motor to rotate, driving the second hinge and the vacuum adsorption module to swing left and right, realizing the active adjustment of the adsorption angle between the suction cup and the wall surface of the object to be reconnoitered. The guiding support springs between adjacent suction cups can realize the passive auxiliary adjustment of the adsorption angle between the suction cup and the wall surface of the object to be reconnoitered, and finally realize the stable fitting and attachment of the high-altitude moored unmanned aerial vehicle system to the wall surface of the object to be reconnoitered, which is conducive to the stable reconnaissance of the interior of the wall surface of the object to be reconnoitered by the high-altitude reconnaissance component two.

[0045] c. When the wall surface of the object to be reconnoitered is a ferromagnetic wall surface, the array electromagnetic adsorption unit adsorbs on the wall surface of the object to be reconnoitered. The flexible pad prevents the high-altitude moored unmanned aerial vehicle system from being damaged. The flexible ribs can realize the independent adjustment of the array electromagnetic adsorption unit along with the wall surface of the object to be reconnoitered, realizing the stable fitting and attachment of the high-altitude moored unmanned aerial vehicle system to the wall surface of the object to be reconnoitered, which is conducive to the stable reconnaissance of the interior of the wall surface of the object to be reconnoitered by the high-altitude reconnaissance component two.

[0046] The present invention has the following beneficial effects: The land-air amphibious high-rise building mooring reconnaissance and fire extinguishing robot of the present invention realizes the stable and automatic release of the robot to the high-altitude mooring UAV system through the UAV storage and release device. The high-altitude mooring UAV system can adsorb on the wall of the object to be reconnoitered and conduct close-range reconnaissance on the inside of the object to be reconnoitered, and can select vacuum adsorption or electromagnetic adsorption according to the material of the wall of the object to be reconnoitered; in addition, a heavy-duty slewing base is adopted to realize the high-load stable support of the heavy-duty rescue operation system, improving the rescue ability of the robot; the electric control energy module, reconnaissance module, and fire extinguishing system are used to complete the land-air fully autonomous intelligent reconnaissance and fire extinguishing, improving the on-site disaster handling efficiency and intelligence level, and does not require manual close-range operation, improving the safety of fire fighting and extinguishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 FIG. is an overall three-dimensional structural schematic diagram of the land-air amphibious high-rise building mooring reconnaissance and fire extinguishing robot and console of the present invention.

[0048] Figure 2 FIG. is a front view of the land-air amphibious high-rise building mooring reconnaissance and fire extinguishing robot of the present invention.

[0049] Figure 3 FIG. Figure 2 is an enlarged view of the partial structure at A in FIG.

[0050] Figure 4 FIG. is a bottom view of the internal structure of the guide rail module of the present invention.

[0051] Figure 5 FIG. Figure 4 is an enlarged view of the partial structure at B in FIG.

[0052] Figure 6 FIG. is a rear view of the land-air amphibious high-rise building mooring reconnaissance and fire extinguishing robot of the present invention.

[0053] Figure 7 FIG. is an overall three-dimensional structural schematic diagram of the high-altitude mooring UAV system of the present invention.

[0054] Figure 8 FIG. Figure 7 is an enlarged view of the partial structure at C in FIG.

[0055] Figure 9 FIG. is a front view of the high-altitude mooring UAV system of the present invention.

[0056] Figure 10 FIG. Figure 9 is a sectional view taken along the G-G direction in FIG.

[0057] Figure 11 FIG. is a rear view of the high-altitude mooring UAV system of the present invention.

[0058] Figure 12 FIG.Figure 11 Enlarged view of the local structure at position D in [the figure].

[0059] Figure 13 It is Figure 11 Enlarged view of the local structure at position E in [the figure].

[0060] Figure 14 Right view of the high-altitude mooring UAV system of the present invention.

[0061] Figure 15 It is a schematic structural diagram of the UAV storage and release device of the present invention.

[0062] Figure 16 It is a schematic diagram after the high-altitude mooring UAV system of the present invention slides out from the UAV storage and release device.

[0063] Figure 17 It is Figure 16 Enlarged view of the local structure at position F in [the figure].

[0064] Figure 18 It is a schematic diagram after the high-altitude mooring UAV system of the present invention continues to slide forward from the UAV storage and release device.

[0065] Figure 19 It is a schematic diagram after the high-altitude mooring UAV system of the present invention is released and takes off from the UAV storage and release device.

[0066] Figure 20 It is a schematic diagram of the use effect of the land-air amphibious high-rise building mooring reconnaissance and fire-fighting robot of the present invention.

[0067] In the figure, 1. Mobile platform, 2. Electric control energy module, 3. Reconnaissance module, 4. Fire extinguishing system, 5. Heavy-duty rescue operation system, 6. High-altitude mooring UAV system, 7. UAV storage and release device, 8. Console, 9. Wall surface of the object to be reconnoitered, 1-1. Crawler, 1-2. Driving wheel, 1-3. Load-bearing wheel, 1-4. Suspension assembly, 1-5. Guide follower wheel, 1-6. Column, 1-7. Main body, 1-8. Load-bearing substrate, 1-9. Load plate, 2-1. LiDAR, 2-2. Control component, 2-3. Driving component, 2-4. Energy component, 2-5. Wireless communication component, 3-1. Front reconnaissance component, 3-2. Omnidirectional reconnaissance and detection component, 3-3. High-altitude reconnaissance component I, 3-4. High-altitude reconnaissance component II, 3-5. Rescue reconnaissance component, 3-2-1. Detection and sensing module, 3-2-2. First omnidirectional pan-tilt, 3-2-3. Detection component base, 3-3-1. Reconnaissance module, 3-3-2. Second omnidirectional pan-tilt, 3-5-1. Laser ranging component, 3-5-2. Upper vision module, 3-5-3. Lower vision module, 4-1. Fire extinguishing gun, 4-2. Slewing pan-tilt, 4-3. Fire extinguishing gun base, 4-4. Medium tank, 4-5. Pumping component, 5-1. Operating robotic claw, 5-2. Multi-degree-of-freedom robotic arm, 5-3. Heavy-duty slewing base, 5-3-1. Upper support frame, 5-3-2. Support column, 5-3-3. Slewing support ring, 5-3-4. Slewing support body, 5-3-5. Support rib, 5-3-6. Fixed base, 5-3-7. Fixed sleeve, 5-3-8. Guide rail module, 5-3-9. Heavy-duty slewing motor, 5-3-8a. Ball, 5-3-8b. First elastic element, 5-3-8c. Second elastic element, 5-3-8d. Guide hole, 5-3-8e. Locking bolt, 5-3-8f. Guide groove, 6-1. UAV, 6-2. Load landing gear, 6-3. Slewing detection component, 6-4. Adaptive wall mooring component, 6-1-1. Frame, 6-1-2. Power component, 6-1-3. Propeller, 6-1-4. Electric control energy component, 6-2-1. First support rod, 6-2-2. Connecting hanging part, 6-2-3. Takeoff and landing support rod, 6-2-2a. First horizontal hanging plate, 6-2-2b. Second longitudinal connecting plate, 6-2-2c. Third vertical hanging plate, 6-2-3a. Support rod main body, 6-2-3b. Guide separation head, 6-3-1. Turntable, 6-3-2. Ring gear, 6-3-3. Driving gear, 6-3-4. Base, 6-3-5. Slewing motor, 6-3-6. Slide body, 6-3-7. Synchronous belt, 6-3-8. Synchronous slider, 6-3-9. Displacement detection module, 6-3-10. Displacement motor, 6-4-1. Active swing angle adjustment component, 6-4-2. Mooring main body, 6-4-3. Vacuum adsorption module, 6-4-4. Electromagnetic adsorption module, 6-4-1a. First hinge, 6-4-1b. Second hinge, 6-4-1c. Hinge shaft,6-4-1d. Swing motor, 6-4-1e. Elastic support seat, 6-4-1f. Spring, 6-4-1g. Guide boss, 6-4-3a. Suction cup, 6-4-3b. Main body frame, 6-4-3c. Flow guiding device, 6-4-3d. Guide support spring, 6-4-3e. Array ranging module, 6-4-3f. Guide spring fixing seat, 6-4-3g. Gas pipeline, 6-4-3h. Pipeline support seat, 6-4-3i. Air pump, 6-4-3j. Fixing seat, 6-4-3k. Swing shaft, 6-4-3l. Swing bearing, 6-4-4a. Array electromagnetic adsorption unit, 6-4-4b. Flexible pad, 6-4-4c. Synchronous support, 6-4-4d. Electromagnetic adsorption base, 6-4-4e. Flexible rib, 7-1. Fixing bracket, 7-2. Slide table system, 7-3. Synchronous propulsion strut, 7-4. Sliding guide block, 7-5. Guide release cap, 7-6. Release top seat., Detailed implementation manners

[0068] The following are specific embodiments of the present invention, which further describe the technical solutions of the present invention. However, the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0069] As Figure 1 shown, an amphibious high-rise building mooring reconnaissance and fire-fighting robot includes:

[0070] A mobile platform 1 for carrying and installing various components of the robot and driving the robot to move;

[0071] An electric control energy module 2 installed on the mobile platform 1 for providing energy for various components of the robot and driving and controlling the operation of various components;

[0072] A reconnaissance module 3 installed on the mobile platform 1 for performing all-round reconnaissance and monitoring in front of, behind and in the air of the robot. The reconnaissance module 3 is electrically connected to the electric control energy module 2;

[0073] A fire-fighting system 4 installed at the front of the mobile platform 1. The fire-fighting system 4 is electrically connected to the electric control energy module 2, and the fire-fighting system 4 is used for the robot to perform fire-fighting operations on the fire source;

[0074] A heavy-load rescue operation system 5 installed at the rear of the mobile platform 1 for the rescue operation of the robot. The heavy-load rescue operation system 5 is electrically connected to the electric control energy module 2;

[0075] An unmanned aerial vehicle storage and release device 7 installed at the lower part of the mobile platform 1. The unmanned aerial vehicle storage and release device 7 is electrically connected to the electric control energy module 2;

[0076] The high-altitude mooring UAV system 6 installed on the UAV storage and release device 7 can take off from the UAV storage and release device 7 to achieve high-altitude reconnaissance operations;

[0077] The console 8 is wirelessly connected to the electric control energy module 2 and the high-altitude mooring UAV system 6, and is used for remotely controlling the robot and the high-altitude mooring UAV system 6.

[0078] As Figure 2 As shown in the figure, the mobile platform 1 includes a crawler module, a column 1-6, a main body 1-7, a load-bearing substrate 1-8, and a load plate 1-9. A load-bearing substrate 1-8 is installed on the top of the main body 1-7. A plurality of columns 1-6 are fixedly connected to the upper surface of the load-bearing substrate 1-8. The top of the column 1-6 is fixedly connected to the load plate 1-9. The load-bearing substrate 1-8 and the load plate 1-9 are used to install the electric control energy module 2. The fire extinguishing system 4 is installed on the front part of the upper surface of the load plate 1-9, and the heavy-duty rescue operation system 5 is installed on the rear part of the upper surface of the load plate 1-9. The UAV storage and release device 7 is fixedly connected to the bottom of the load-bearing substrate 1-8. There are two groups of crawler modules, symmetrically installed on both sides of the main body 1-7. Each group of crawler modules includes at least a crawler 1-1, a driving wheel 1-2, a load-bearing wheel 1-3, a suspension assembly 1-4, and a guiding idler wheel 1-5. A number of load-bearing wheels 1-3 are connected below the suspension assembly 1-4. The crawler 1-1 is arranged and envelopes the outside of the driving wheel 1-2, the load-bearing wheel 1-3, and the guiding idler wheel 1-5. The driving wheel 1-2 is connected to the driving component 2-3 in the electric control energy module 2 and is driven by the driving component 2-3 to rotate, driving the crawler 1-1 to roll, and then driving the guiding idler wheel 1-5 to rotate, realizing the rolling movement of the crawler 1-1 supported jointly with the driving wheel 1-2 and the load-bearing wheel 1-3.

[0079] The electric control energy module 2 includes a lidar 2-1, a control component 2-2, a driving component 2-3, an energy component 2-4, and a wireless communication component 2-5. The lidar 2-1, the control component 2-2, and the wireless communication component 2-5 are all arranged on the load-bearing substrate 1-8. The driving component 2-3 and the energy component 2-4 are arranged on the load plate 1-9. The lidar 2-1, the driving component 2-3, the energy component 2-4, and the wireless communication component 2-5 are all electrically connected to the control component 2-2. The lidar 2-1 is used to realize the modeling of the on-site environment, motion obstacle avoidance, and path planning. The control component 2-2 is used to realize the motion control of each component of the robot. The driving component 2-3 is used to drive the mobile platform 1 to move forward, backward, and turn. The energy component 2-4 is used to provide energy for each component of the robot. The wireless communication component 2-5 is used to realize the wireless communication connection with the console 8.

[0080] As Figure 2 、 Figure 7As shown in the figure, the reconnaissance module 3 includes a front reconnaissance component 3-1, an omnidirectional reconnaissance and detection component 3-2, a high-altitude reconnaissance component 1 3-3, a high-altitude reconnaissance component 2 3-4, and a rescue reconnaissance component 3-5. The front reconnaissance component 3-1, the omnidirectional reconnaissance and detection component 3-2, the high-altitude reconnaissance component 1 3-3, the high-altitude reconnaissance component 2 3-4, and the rescue reconnaissance component 3-5 are all wirelessly connected to the console 8. The front reconnaissance component 3-1 is arranged on the front side of the bearing substrate 1-8 of the mobile platform 1. The omnidirectional reconnaissance and detection component 3-2 includes a detection and sensing module 3-2-1, a first omnidirectional pan-tilt 3-2-2, and a detection component base 3-2-3. The detection component base 3-2-3 is fixedly installed on the load plate 1-9 of the mobile platform 1. The detection and sensing module 3-2-1 is connected to the detection component base 3-2-3 through the first omnidirectional pan-tilt 3-2-2. The detection and sensing module 3-2-1 includes, but is not limited to, modules such as cameras, infrared, and laser rangefinders. The high-altitude reconnaissance component 1 3-3 includes a reconnaissance module 3-3-1 and a second omnidirectional pan-tilt 3-3-2. The reconnaissance module 3-3-1 is installed on the top of the unmanned aerial vehicle 6-1 of the high-altitude mooring unmanned aerial vehicle system 6 through the second omnidirectional pan-tilt 3-3-2, and is used for reconnaissance of the surrounding environment and targets during the flight of the unmanned aerial vehicle 6-1. The rescue reconnaissance component 3-5 includes a laser rangefinder component 3-5-1, an upper vision module 3-5-2, and a lower vision module 3-5-3. The laser rangefinder component 3-5-1 and the upper vision module 3-5-2 are fixedly installed on the upper side of the front end of the heavy-duty rescue operation system 5, and the lower vision module 3-5-3 is fixedly installed on the lower side of the front end of the heavy-duty rescue operation system 5, and is used for ranging and reconnaissance of the person or object to be rescued.

[0081] As Figure 2 , Figure 6 shown in the figure, the fire extinguishing system 4 includes a fire extinguishing cannon 4-1, a slewing pan-tilt 4-2, a fire extinguishing cannon base 4-3, a medium tank 4-4, and a pumping component 4-5. The fire extinguishing cannon base 4-3 is fixedly installed at the front part of the load plate 1-9 of the mobile platform 1. The fire extinguishing cannon 4-1 is installed on the fire extinguishing cannon base 4-3 through the slewing pan-tilt 4-2. The medium tank 4-4 and the pumping component 4-5 are installed on the bearing substrate 1-8 of the mobile platform 1. The fire extinguishing cannon 4-1 is connected to the pumping component 4-5 through a pipeline. The pumping component 4-5 is connected to the medium tank 4-4. The medium tank 4-4 is used for storing fire extinguishing media, including but not limited to water, dry powder, or foam fire extinguishing agents. The slewing pan-tilt 4-2 and the pumping component 4-5 are electrically connected to the control component 2-2 in the electric control energy module 2.

[0082] As Figure 6As shown in the figure, the heavy-duty rescue operation system 5 includes an operation mechanical claw 5-1, a multi-degree-of-freedom robotic arm 5-2, and a heavy-duty slewing base 5-3. The heavy-duty slewing base 5-3 is fixedly installed at the rear of the load plate 1-9 of the mobile platform 1. One end of the multi-degree-of-freedom robotic arm 5-2 is connected to the heavy-duty slewing base 5-3, and the other end of the multi-degree-of-freedom robotic arm 5-2 is connected to the operation mechanical claw 5-1. The rescue reconnaissance component 3-5 is installed on the operation mechanical claw 5-1, and the operation mechanical claw 5-1 is electrically connected to the control component 2-2 of the electric control energy module 2. A storage box can also be provided at the rear end of the bearing substrate 1-8 for storing rescue tools or rescued objects.

[0083] As Figure 3 , Figure 4 shown in the figure, the heavy-duty slewing base 5-3 is used to improve the load-bearing capacity of the heavy-duty rescue operation system 5. The heavy-duty slewing base 5-3 includes an upper support frame 5-3-1, a support column 5-3-2, a slewing support ring 5-3-3, a slewing support body 5-3-4, support ribs 5-3-5, a fixed base 5-3-6, a fixed sleeve 5-3-7, a guide rail module 5-3-8, and a heavy-duty slewing motor 5-3-9. The operation mechanical claw 5-1 and the heavy-duty slewing motor 5-3-9 are electrically connected to the control component 2-2 in the electric control energy module 2. The fixed base 5-3-6 is fixedly installed on the upper surface of the load plate 1-9. One side of the fixed base 5-3-6 is fixedly connected to the slewing support body 5-3-4. A slewing support ring 5-3-3 is provided directly above the slewing support body 5-3-4. The slewing support ring 5-3-3 and the slewing support body 5-3-4 are connected and fixed by a number of support ribs 5-3-5. Both ends of the slewing support ring 5-3-3 are fixedly installed on the upper surface of the fixed base 5-3-6 through the fixed sleeve 5-3-7. The bottom of the heavy-duty slewing motor 5-3-9 is fixedly installed on the upper surface of the fixed base 5-3-6. The upper support frame 5-3-1 is arranged on the top of the heavy-duty slewing motor 5-3-9. The output shaft of the heavy-duty slewing motor 5-3-9 is connected to the upper support frame 5-3-1. The upper surface of the upper support frame 5-3-1 is fixedly connected to the bottom of the multi-degree-of-freedom robotic arm 5-2. The outer bottom of the upper support frame 5-3-1 is fixedly connected to the upper end of the support column 5-3-2. A guide rail module 5-3-8 is provided at the lower end of the support column 5-3-2. The support column 5-3-2 is slidably connected to the slewing support ring 5-3-3 through the guide rail module 5-3-8. When the heavy-duty slewing motor 5-3-9 operates, it can drive the upper support frame 5-3-1 and the multi-degree-of-freedom robotic arm 5-2 to rotate along the slewing support ring 5-3-3.

[0084] As Figure 3 , 5As shown in Fig. 17, the guide rail module 5-3-8 includes balls 5-3-8a, a first elastic element 5-3-8b, a second elastic element 5-3-8c, guide holes 5-3-8d, locking bolts 5-3-8e, and guide grooves 5-3-8f. The guide grooves 5-3-8f are provided at the bottom of the support column 5-3-2. The guide grooves 5-3-8f are used to be clamped to the upper part of the slewing support ring 5-3-3, and the guide grooves 5-3-8f are adapted to the slewing support ring 5-3-3. Guide holes 5-3-8d are respectively formed on both sides of the guide grooves 5-3-8f. Locking bolts 5-3-8e are provided in the guide holes 5-3-8d. A second elastic element 5-3-8c is sleeved on the locking bolts 5-3-8e. A first elastic element 5-3-8b is sleeved outside the second elastic element 5-3-8c. The inner end of the locking bolt 5-3-8e is provided with a ball 5-3-8a. One end of the ball 5-3-8a contacts the slewing support ring 5-3-3. A groove adapted to the ball 5-3-8a is provided on the slewing support ring 5-3-3. The other end contacts the first elastic element 5-3-8b and the second elastic element 5-3-8c. The first elastic element 5-3-8b is a soft spring, and the second elastic element 5-3-8c is a hard spring. The pressing contact sliding of the ball 5-3-8a against the slewing support ring 5-3-3 is realized through the first elastic element 5-3-8b and the second elastic element 5-3-8c.

[0085] As Figure 7 shown, the high-altitude mooring unmanned aerial vehicle system 6 includes an unmanned aerial vehicle 6-1, a payload landing gear 6-2, a slewing detection assembly 6-3, and an adaptive wall mooring assembly 6-4. The payload landing gear 6-2 is connected to the unmanned aerial vehicle storage and release device 7. The unmanned aerial vehicle 6-1 is fixedly connected to the payload landing gear 6-2. A slewing detection assembly 6-3 is connected to the bottom of the unmanned aerial vehicle 6-1. The adaptive wall mooring assembly 6-4 is connected to the rear end of the slewing detection assembly 6-3. The unmanned aerial vehicle 6-1, the slewing detection assembly 6-3, and the adaptive wall mooring assembly 6-4 are all wirelessly connected to the console 8.

[0086] The unmanned aerial vehicle 6-1 includes a frame 6-1-1, a power assembly 6-1-2, a propeller 6-1-3, and an electric control energy assembly 6-1-4. The electric control energy assembly 6-1-4 is arranged inside the center of the frame 6-1-1. The outer end of the frame 6-1-1 is fixedly connected with the power assembly 6-1-2. The propeller 6-1-3 is connected to the power assembly 6-1-2 and is driven by the power assembly 6-1-2 to operate. The power assembly 6-1-2 is wirelessly connected to the console 8. The high-altitude reconnaissance assembly 3-3 is arranged on the top of the center of the frame 6-1-1.

[0087] The load landing gear 6-2 includes a first support rod 6-2-1, a connecting hanging part 6-2-2, and a landing and takeoff support rod 6-2-3. There are two landing and takeoff support rods 6-2-3, which are symmetrically arranged below both sides of the UAV 6-1. The landing and takeoff support rod 6-2-3 is used to support and contact the sliding guide block 7-4 of the UAV storage and release device 7, and the landing and takeoff support rod 6-2-3 can slide on the sliding guide block 7-4. The landing and takeoff support rod 6-2-3 is connected to one end of the first support rod 6-2-1 through the connecting hanging part 6-2-2, and the other end of the first support rod 6-2-1 is fixedly connected to the side wall of the frame 6-1-1 of the UAV 6-1.

[0088] The connecting hanging part 6-2-2 includes a first horizontal hanging plate 6-2-2a, a second longitudinal connecting plate 6-2-2b, and a third vertical hanging plate 6-2-2c. The landing and takeoff support rod 6-2-3 includes a support rod main body 6-2-3a and a guiding and separating head 6-2-3b. The first horizontal hanging plate 6-2-2a is fixedly connected to the end of the first support rod 6-2-1. Both ends of the first horizontal hanging plate 6-2-2a are respectively connected to the top of the third vertical hanging plate 6-2-2c through the second longitudinal connecting plate 6-2-2b. The bottom of the third vertical hanging plate 6-2-2c is fixedly connected to the support rod main body 6-2-3a. The guiding and separating head 6-2-3b is provided at the front end of the support rod main body 6-2-3a, and the guiding and separating head 6-2-3b is adapted to and cooperates with the guiding and releasing cap 7-5 of the UAV storage and release device 7.

[0089] Such as Figure 10 , 11As shown in FIGS. 13, the rotary detection assembly 6-3 includes a turntable 6-3-1, an annular gear 6-3-2, a driving gear 6-3-3, a base 6-3-4, a rotary motor 6-3-5, a slide body 6-3-6, a synchronous belt 6-3-7, a synchronous slider 6-3-8, a displacement detection module 6-3-9, and a displacement motor 6-3-10. The rotary motor 6-3-5 and the displacement motor 6-3-10 are respectively wirelessly connected to the console 8. The displacement detection module 6-3-9 is fixedly installed at one end of the slide body 6-3-6, and the displacement motor 6-3-10 is fixed at the other end of the slide body 6-3-6. The output shaft of the displacement motor 6-3-10 is connected to the synchronous belt 6-3-7. The synchronous belt 6-3-7 is sleeved outside the slide body 6-3-6. The synchronous slider 6-3-8 is fixedly connected to the synchronous belt 6-3-7 and can slide along the slide body 6-3-6. The displacement motor 6-3-10 drives the synchronous belt 6-3-7 to rotate, thereby driving the synchronous slider 6-3-8 to move back and forth. The top of the synchronous slider 6-3-8 is fixedly connected to the bottom of the base 6-3-4. The bottom of the base 6-3-4 is also fixedly connected with a rotary motor 6-3-5. The upper surface of the base 6-3-4 is provided with an annular gear 6-3-2 and a driving gear 6-3-3 that are meshed with each other. The output shaft of the rotary motor 6-3-5 passes through the base 6-3-4 and is connected to the driving gear 6-3-3. The annular gear 6-3-2 is fixedly connected to the bottom of the turntable 6-3-1. The top of the turntable 6-3-1 is fixedly connected to the bottom of the frame 6-1-1 of the unmanned aerial vehicle 6-1. The rotary motor 6-3-5 rotates, driving the driving gear 6-3-3 to rotate, thereby driving the annular gear 6-3-2 and the sequentially connected frame 6-1-1 to rotate, realizing the turning of the unmanned aerial vehicle 6-1.

[0090] As Figure 8 shown, the adaptive wall mooring assembly 6-4 includes an active swing angle adjustment assembly 6-4-1, a mooring main body 6-4-2, a vacuum adsorption module 6-4-3, and an electromagnetic adsorption module 6-4-4. The vacuum adsorption module is fixedly installed at one end of the mooring main body 6-4-2. The electromagnetic adsorption module 6-4-4 is fixedly connected below the vacuum adsorption module 6-4-3. The other end of the mooring main body 6-4-2 is connected to one end of the active swing angle adjustment assembly 6-4-1. The other end of the active swing angle adjustment assembly 6-4-1 is fixedly connected to the end of the slide body 6-3-6 where the displacement detection module 6-3-9 is installed. The active swing angle adjustment assembly 6-4-1 is wirelessly connected to the console 8.

[0091] As Figure 12As shown, the active swing angle adjustment assembly 6-4-1 includes a first hinge 6-4-1a, a second hinge 6-4-1b, a hinge shaft 6-4-1c, a swing motor 6-4-1d, an elastic support seat 6-4-1e, a spring 6-4-1f, and a guide boss 6-4-1g. The first hinge 6-4-1a is fixedly connected to the end of the slide body 6-3-6, and the second hinge 6-4-1b is fixedly connected to the mooring body 6-4-2. The first hinge 6-4-1a and the second hinge 6-4-1b are hinged together through the hinge shaft 6-4-1c. The swing motor 6-4-1d is fixedly installed at the bottom of the second hinge 6-4-1b and is wirelessly connected to the console 8. The output shaft of the swing motor 6-4-1d is connected to the second hinge 6-4-1b. When the swing motor 6-4-1d rotates, it drives the second hinge 6-4-1b and the mooring body 6-4-2 to swing around the hinge shaft 6-4-1c. Elastic support seats 6-4-1e are symmetrically and fixedly installed on the slide body 6-3-6 on both sides of the first hinge 6-4-1a, and guide bosses 6-4-1g are symmetrically and fixedly installed on the mooring body 6-4-2 on both sides of the second hinge 6-4-1b. The elastic support seat 6-4-1e and the corresponding guide boss 6-4-1g are connected by a spring 6-4-1f, and the soft support between the mooring body 6-4-2 and the slide body 6-3-6 is realized through the spring 6-4-1f.

[0092] As Figure 8 - 10As shown in the figure, the vacuum adsorption module 6-4-3 includes suction cups 6-4-3a, a main body frame 6-4-3b, a flow guiding device 6-4-3c, a guiding support spring 6-4-3d, an array ranging module 6-4-3e, a guiding spring fixing seat 6-4-3f, an air pipeline 6-4-3g, a pipeline support seat 6-4-3h, an air pump 6-4-3i, a fixing seat 6-4-3j, a swing shaft 6-4-3k, and a swing bearing 6-4-3l. There are multiple suction cups 6-4-3a, and several array ranging modules 6-4-3e are provided at the front end of each suction cup 6-4-3a. A flow guiding device 6-4-3c is provided at the top of each suction cup 6-4-3a. The flow guiding device 6-4-3c is connected to the air pump 6-4-3i through the air pipeline 6-4-3g. The air pump 6-4-3i is installed on the base 6-3-4, and the air pump 6-4-3i is wirelessly connected to the console 8. The pipeline support seat 6-4-3h is fixedly installed at the bottom of the sliding table body 6-3-6, and the pipeline support seat 6-4-3h is used to support and fix the air pipeline 6-4-3g. The main body frame 6-4-3b is fixedly connected to the mooring main body 6-4-2. The rear end of each suction cup 6-4-3a is connected to the top and bottom of the main body frame 6-4-3b through the swing shaft 6-4-3k and the swing bearing 6-4-3l. The suction cup 6-4-3a can swing left and right around the swing shaft 6-4-3k. Guiding spring fixing seats 6-4-3f are fixedly installed on both sides of each suction cup 6-4-3a, and the guiding spring fixing seats 6-4-3f between two adjacent suction cups 6-4-3a are connected through the guiding support spring 6-4-3d. The outermost suction cup 6-4-3a is connected to the side wall of the main body frame 6-4-3b through the guiding support spring 6-4-3d. The suction cup 6-4-3a is used to adsorb the high-altitude mooring unmanned aerial vehicle system 6 on the wall surface 9 of the object to be reconnoitered. The wall surface 9 of the object to be reconnoitered can be the surface of the glass of a high-rise building, a chemical oil tank, or a magnetic structure.

[0093] As Figure 8 , 14As shown in the figure, the electromagnetic adsorption module 6-4-4 includes an array electromagnetic adsorption unit 6-4-4a, a flexible pad 6-4-4b, a synchronous support 6-4-4c, an electromagnetic adsorption base 6-4-4d, and a flexible rib 6-4-4e. The array electromagnetic adsorption unit 6-4-4a, the electromagnetic adsorption base 6-4-4d, and the suction cup 6-4-3a are the same in number and correspond one by one. A flexible pad 6-4-4b is provided on the end face of each array electromagnetic adsorption unit 6-4-4a. The rear parts of each array electromagnetic adsorption unit 6-4-4a are respectively fixedly connected to the corresponding electromagnetic adsorption base 6-4-4d. The electromagnetic adsorption base 6-4-4d is fixedly connected to the bottom of the corresponding suction cup 6-4-3a through the synchronous support 6-4-4c. Adjacent electromagnetic adsorption bases 6-4-4d are connected by the flexible rib 6-4-4e. The electromagnetic adsorption base 6-4-4d is used to magnetically adsorb the high-altitude mooring unmanned aerial vehicle system 6 to the wall surface 9 of the object to be reconnoitered.

[0094] As Figure 15 shown, the unmanned aerial vehicle storage and release device 7 includes a fixed support 7-1, a slide table system 7-2, a synchronous propulsion rod 7-3, a sliding guide block 7-4, a guiding release cap 7-5, and a release top seat 7-6. The fixed support 7-1 is fixedly installed at the bottom of the bearing substrate 1-8 of the mobile platform 1. The front end of the slide table system 7-2 is fixedly installed at the bottom of the fixed support 7-1. The slide table system 7-2 is parallel to the advancing direction of the robot, and the rear end of the slide table system 7-2 extends to the outer side behind the mobile platform 1. A limit stop is provided at the rear end of the slide table system 7-2. The synchronous propulsion rods 7-3 are provided in an even number, two in a group. Each group of synchronous propulsion rods 7-3 is arranged along the front and rear of the slide table system 7-2, and the two synchronous propulsion rods 7-3 in each group are symmetrically arranged on both sides of the slide table system 7-2. The two synchronous propulsion rods 7-3 in each group can move along the slide table system 7-2. In an embodiment of the present invention, four synchronous propulsion rods 7-3 are provided. The group of synchronous propulsion rods 7-3 close to the fixed support 7-1 is electrically connected to the control component 2-2 in the electric control energy module 2. Sliding guide blocks 7-4 are provided at the tops of the synchronous propulsion rods 7-3. The sliding guide blocks 7-4 are used to support and fix the high-altitude mooring unmanned aerial vehicle system 6. A release top seat 7-6 is connected between the group of synchronous propulsion rods 7-3 close to the fixed support 7-1. A guiding release cap 7-5 is fixedly connected to the sliding guide block 7-4 at the top of the group of synchronous propulsion rods 7-3 close to the fixed support 7-1. The guiding release cap 7-5 is conical, and the opening faces away from the fixed support 7-1. The guiding release cap 7-5 cooperates with the load landing gear 6-2 of the high-altitude mooring unmanned aerial vehicle system 6 to realize the storage, propulsion, and release of the high-altitude mooring unmanned aerial vehicle system 6.

[0095] The working method of the land-air amphibious high-rise building mooring reconnaissance and fire extinguishing robot includes the following steps:

[0096] (1) Steps of robot movement, fire extinguishing, and rescue:

[0097] 1) Robot movement: The console 8 controls the drive assembly 2-3 in the electric control energy module 2 to drive the drive wheels 1-2 to rotate, and the crawler 1-1 rolls to drive the robot to the designated working area. During the movement of the robot, the control component 2-2 controls the lidar to work, scans and searches the environment in front of the robot, constructs a regional map, determines its own position in the map, and at the same time, the robot also memorizes its own movement route; when encountering an obstacle, the robot stops moving forward and avoids it in cooperation with the modeled map, and marks it in the map to provide guidance for the return journey or other robots to enter the scene.

[0098] 2) Robot fire extinguishing: The reconnaissance module 3 conducts image and video reconnaissance on the on-site environment around the robot. When the fire source position is detected, the control component 2-2 controls the slewing pan-tilt 4-2 to adjust the angle, and starts the pumping component 4-5 to provide the fire extinguishing medium for the fire extinguishing cannon 4-1 to achieve fire extinguishing.

[0099] 3) Robot rescue: The reconnaissance module 3 conducts image and video reconnaissance on the on-site environment around the robot. When a person or object to be rescued or moving is detected, the control component 2-2 controls the heavy-duty slewing motor 5-3-9 to operate, drives the working mechanical claw 5-1 to adjust the angle, and further controls the working mechanical claw 5-1 to grab the person or object to be rescued or moving and move it to a safe position.

[0100] (2) Release and reconnaissance steps of the high-altitude moored unmanned aerial vehicle system 6:

[0101] 1) Release of the high-altitude moored unmanned aerial vehicle system 6:

[0102] a. The control component 2-2 controls the synchronous propulsion strut 7-3 to move backward along the slide system 7-2. The guiding release cap 7-5 at the top of the synchronous propulsion strut 7-3 drives the high-altitude moored unmanned aerial vehicle system 6 to move backward through the guiding separation head 6-2-3b. The synchronous propulsion strut 7-3 away from the fixed bracket 7-1 moves to the rear end of the slide system 7-2 and stops moving under the action of the limit stop block (as shown in Figure 16 ), and the group of synchronous propulsion struts 7-3 close to the fixed bracket 7-1 continue to move backward (as shown in Figure 18 ), driving the high-altitude moored unmanned aerial vehicle system 6 to continue to slide backward. The rear end of the high-altitude moored unmanned aerial vehicle system 6 has a downward trend under the influence of gravity. The guiding separation head 6-2-3b is limited in the guiding release cap 7-5 to prevent the high-altitude moored unmanned aerial vehicle system 6 from falling. The console 8 controls the power component 6-1-2 of the unmanned aerial vehicle 6-1 to operate, and the propeller 6-1-3 rotates. The conical guiding separation head 6-2-3b can be disengaged from the conical guiding release cap 7-5, thereby driving the high-altitude moored unmanned aerial vehicle system 6 to take off from the unmanned aerial vehicle storage and release device 7 (as shown inFigure 19 as shown

[0103] b. The control component 2-2 controls the synchronous propulsion rod 7-3 to move backward along the sliding table system 7-2. The guiding release cap 7-5 at the top of the synchronous propulsion rod 7-3 drives the high-altitude mooring UAV system 6 to move backward through the guiding separation head 6-2-3b. The synchronous propulsion rod 7-3 away from the fixed bracket 7-1 moves to the rear end of the sliding table system 7-2 and stops moving under the action of the limit stop block. At this time, the console 8 controls the displacement motor 6-3-10 to rotate. The displacement motor 6-3-10 drives the synchronous belt 6-3-7 to rotate, and then drives the synchronous slider 6-3-8 to move back and forth. Since the synchronous slider 6-3-8 is sequentially connected to the base 6-3-4, the UAV 6-1, and the load landing gear 6-2, and the load landing gear 6-2 is also connected to the synchronous propulsion rod 7-3 of the UAV storage and release device 7, the sliding table body 6-3-6 moves forward relative to the UAV 6-1. When the sliding table body 6-3-6 moves to the release top seat 7-6, the UAV 6-1 moves backward along the sliding table body 6-3-6. The console 8 controls the power component 6-1-2 of the UAV 6-1 to operate, and the propeller 6-1-3 rotates. The conical guiding separation head 6-2-3b can be disengaged from the conical guiding release cap 7-5, thereby driving the high-altitude mooring UAV system 6 to take off from the UAV storage and release device 7.

[0104] 2) High-altitude reconnaissance of the high-altitude mooring UAV system 6:

[0105] a. During the high-altitude flight of the high-altitude mooring UAV system 6, the high-altitude reconnaissance component 1 3-3 conducts reconnaissance on the flight environment and the target object. The console 8 controls the rotation of the slewing motor 6-3-5, drives the driving gear 6-3-3 to rotate, and then drives the ring gear 6-3-2 and the sequentially connected frame 6-1-1 to rotate, realizing the turning of the UAV 6-1.

[0106] b. When the high-altitude mooring UAV system 6 flies close to the wall surface 9 of the object to be reconnoitered, vacuum adsorption or electromagnetic adsorption is selected according to the material of the wall surface 9 of the object to be reconnoitered. The array ranging module 6-4-3e monitors the distance between the suction cup 6-4-3a and the wall surface 9 of the object to be reconnoitered in real time. The console 8 controls the operation of the air pump 6-4-3i, and the suction cup 6-4-3a adsorbs on the wall surface 9 of the object to be reconnoitered. The console 8 also controls the swing motor 6-4-1d to rotate, driving the second hinge 6-4-1b and the vacuum adsorption module 6-4-3 to swing left and right, realizing the active adjustment of the adsorption angle between the suction cup 6-4-3a and the wall surface 9 of the object to be reconnoitered. The guiding support spring 6-4-3d between adjacent suction cups 6-4-3a can realize the passive auxiliary adjustment of the adsorption angle between the suction cup 6-4-3a and the wall surface 9 of the object to be reconnoitered, and finally realize the stable fitting and attachment of the high-altitude mooring UAV system 6 to the wall surface 9 of the object to be reconnoitered, so as to facilitate the stable reconnaissance of the interior of the wall surface 9 of the object to be reconnoitered by the high-altitude reconnaissance component two 3-4 (as Figure 20 shown).

[0107] c. When the wall surface 9 of the object to be reconnoitered is a ferromagnetic wall surface, the array electromagnetic adsorption unit 6-4-4a adsorbs on the wall surface 9 of the object to be reconnoitered. The flexible pad 6-4-4b prevents the high-altitude mooring UAV system 6 from being damaged. The flexible rib 6-4-4e can realize the independent adjustment of the array electromagnetic adsorption unit 6-4-4a along with the wall surface 9 of the object to be reconnoitered, realizing the stable fitting and attachment of the high-altitude mooring UAV system 6 to the wall surface 9 of the object to be reconnoitered, so as to facilitate the stable reconnaissance of the interior of the wall surface 9 of the object to be reconnoitered by the high-altitude reconnaissance component two 3-4.

[0108] The present invention is not limited to the above embodiments. Anyone should know that structural changes made under the inspiration of the present invention, as long as they have the same or similar technical solutions as the present invention, all fall within the protection scope of the present invention.

[0109] The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

Claims

1. An amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot, characterized in that, Comprising: A mobile platform for carrying each component of the installation robot and driving the robot to move; An electric control energy module installed on the mobile platform for providing energy for each component of the robot and driving and controlling the operation of each component; A reconnaissance module installed on the mobile platform for performing all-round reconnaissance and monitoring in front of, behind, and in the air of the robot. The reconnaissance module is electrically connected to the electric control energy module; A fire extinguishing system installed at the front of the mobile platform. The fire extinguishing system is electrically connected to the electric control energy module, and the fire extinguishing system is used for the robot to perform fire extinguishing operations on the fire source; A heavy-duty rescue operation system installed at the rear of the mobile platform for the rescue operations of the robot. The heavy-duty rescue operation system is electrically connected to the electric control energy module; An unmanned aerial vehicle storage and release device installed at the lower part of the mobile platform. The unmanned aerial vehicle storage and release device is electrically connected to the electric control energy module; An aerial mooring unmanned aerial vehicle system arranged on the unmanned aerial vehicle storage and release device. The aerial mooring unmanned aerial vehicle system can take off after being released from the unmanned aerial vehicle storage and release device to realize aerial reconnaissance operations; A console wirelessly connected to the electric control energy module and the aerial mooring unmanned aerial vehicle system for remotely controlling the robot and the aerial mooring unmanned aerial vehicle system; The aerial mooring unmanned aerial vehicle system includes an unmanned aerial vehicle, a load landing gear, and a rotary detection component. The load landing gear is connected to the unmanned aerial vehicle storage and release device, the unmanned aerial vehicle is fixedly connected to the load landing gear, and a rotary detection component is connected to the bottom of the unmanned aerial vehicle; The unmanned aerial vehicle storage and release device includes a fixed bracket, a slide table system, synchronous propulsion struts, sliding guide blocks, a guiding release cap, and a release top seat. The fixed bracket is fixedly installed at the bottom of the load-bearing substrate of the mobile platform. The front end of the slide table system is fixedly installed at the bottom of the fixed bracket. The slide table system is parallel to the advancing direction of the robot, and the rear end of the slide table system extends to the outer side of the rear of the mobile platform. A limit stop block is provided at the rear end of the slide table system. An even number of synchronous propulsion struts are provided, with two as a group. Each group of synchronous propulsion struts is arranged along the front and rear of the slide table system, and the two synchronous propulsion struts in each group are symmetrically arranged on both sides of the slide table system respectively. Each group of two synchronous propulsion struts can move along the slide table system. The group of synchronous propulsion struts close to the fixed bracket is electrically connected to the control component in the electric control energy module. Sliding guide blocks are provided at the tops of the synchronous propulsion struts. The sliding guide blocks are used to support and fix the aerial mooring unmanned aerial vehicle system. A release top seat is connected between the group of synchronous propulsion struts close to the fixed bracket. A guiding release cap is fixedly connected to the sliding guide blocks at the tops of the group of synchronous propulsion struts close to the fixed bracket. The guiding release cap is conical, with the opening facing away from the fixed bracket. The guiding release cap cooperates with the load landing gear of the aerial mooring unmanned aerial vehicle system to realize the storage, propulsion, and release of the aerial mooring unmanned aerial vehicle system; when the synchronous propulsion struts far from the fixed bracket move to the rear end of the slide table system and stop moving under the action of the limit stop block, the group of synchronous propulsion struts close to the fixed bracket can still continue to move backward.

2. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 1, characterized in that, The mobile platform includes a crawler module, a column, a main body, a bearing substrate, and a load plate. A bearing substrate is installed on the top of the main body. A plurality of columns are fixedly connected to the upper surface of the bearing substrate. The top of the column is fixedly connected to the load plate. The bearing substrate and the load plate are used to install the electric control energy module. The fire extinguishing system is installed at the front of the upper surface of the load plate, and the heavy-duty rescue operation system is installed at the rear of the upper surface of the load plate. The UAV storage and release device is fixedly connected to the bottom of the bearing substrate. There are two groups of crawler modules, symmetrically installed on both sides of the main body. Each group of crawler modules includes at least a crawler, a driving wheel, a load-bearing wheel, a suspension assembly, and a guiding driven wheel. A plurality of load-bearing wheels are connected below the suspension assembly. The crawler is arranged and envelopes the outside of the driving wheel, the load-bearing wheel, and the guiding driven wheel. The driving wheel is connected to the driving component in the electric control energy module and is driven to rotate by the driving component, driving the crawler to roll, and then driving the guiding driven wheel to rotate, so as to jointly support the crawler rolling movement with the driving wheel and the load-bearing wheel; The electric control energy module includes a lidar, a control component, a driving component, an energy component, and a wireless communication component. The lidar, the control component, and the wireless communication component are all arranged on the bearing substrate. The driving component and the energy component are arranged on the load plate. The lidar, the driving component, the energy component, and the wireless communication component are all electrically connected to the control component. The lidar is used to model the on-site environment, avoid obstacles during movement, and plan paths. The control component is used to control the movement of each component of the robot. The driving component is used to drive the mobile platform to move forward, backward, and turn. The energy component is used to provide energy for each component of the robot. The wireless communication component is used to establish a wireless communication connection with the console.

3. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 2, characterized in that, The reconnaissance module includes a front reconnaissance component, an omnidirectional reconnaissance and detection component, a high-altitude reconnaissance component I, a high-altitude reconnaissance component II, and a rescue reconnaissance component. The front reconnaissance component is arranged on the front side of the bearing substrate of the mobile platform. The omnidirectional reconnaissance and detection component includes a detection sensing module, a first omnidirectional pan-tilt, and a detection component base. The detection component base is fixedly installed on the load plate of the mobile platform. The detection sensing module is connected to the detection component base through the first omnidirectional pan-tilt; The high-altitude reconnaissance component I includes a reconnaissance module and a second omnidirectional pan-tilt. The reconnaissance module is installed on the top of the high-altitude mooring UAV system through the second omnidirectional pan-tilt; The rescue reconnaissance component includes a laser ranging component, an upper vision module, and a lower vision module. The laser ranging component and the upper vision module are fixedly installed on the upper side of the front end of the heavy-duty rescue operation system, and the lower vision module is fixedly installed on the lower side of the front end of the heavy-duty rescue operation system; The fire extinguishing system includes a fire extinguishing gun, a rotary pan-tilt, a fire extinguishing gun base, a medium tank, and a pumping component. The fire extinguishing gun base is fixedly installed at the front of the load plate of the mobile platform. The fire extinguishing gun is installed on the fire extinguishing gun base through the rotary pan-tilt. The medium tank and the pumping component are installed on the bearing substrate of the mobile platform. The fire extinguishing gun is connected to the pumping component through a pipeline. The pumping component is connected to the medium tank. The medium tank is used to store fire extinguishing media, including water, dry powder, or foam fire extinguishing agent; The rotary pan-tilt and the pumping component are electrically connected to the control component in the electric control energy module.

4. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 3, characterized in that, The overload rescue operation system includes an operating mechanical claw, a multi-degree-of-freedom robotic arm, and an overload slewing base. The overload slewing base is fixedly installed at the rear of the load plate of the mobile platform. One end of the multi-degree-of-freedom robotic arm is connected to the overload slewing base, and the other end of the multi-degree-of-freedom robotic arm is connected to the operating mechanical claw. The rescue reconnaissance component is installed on the operating mechanical claw, and the operating mechanical claw is electrically connected to the control component of the electric control energy module; The overload slewing base includes an upper support frame, a support column, a slewing support ring, a slewing support body, support ribs, a fixed base, a fixed sleeve, a guide rail module, and an overload slewing motor. The operating mechanical claw and the overload slewing motor are electrically connected to the control component in the electric control energy module. The fixed base is fixedly installed on the upper surface of the load plate. A slewing support body is fixedly connected to one side of the fixed base. A slewing support ring is provided directly above the slewing support body. The slewing support ring and the slewing support body are connected and fixed by a number of support ribs. Both ends of the slewing support ring are respectively fixedly installed on the upper surface of the fixed base through fixed sleeves. The bottom of the overload slewing motor is fixedly installed on the upper surface of the fixed base. The upper support frame is arranged on the top of the overload slewing motor. The output shaft of the overload slewing motor is connected to the upper support frame. The upper surface of the upper support frame is connected and fixed to the bottom of the multi-degree-of-freedom robotic arm. The outer bottom of the upper support frame is connected and fixed to the upper end of the support column. A guide rail module is provided at the lower end of the support column. The support column is slidably connected to the slewing support ring through the guide rail module. When the overload slewing motor operates, it can drive the upper support frame and the multi-degree-of-freedom robotic arm to rotate along the slewing support ring.

5. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 4, characterized in that, The guide rail module includes balls, a first elastic element, a second elastic element, guide holes, locking bolts, and guide grooves. The guide grooves are arranged at the bottom of the support column. The guide grooves are used for clamping the upper part of the slewing support ring, and the guide grooves are adapted to the slewing support ring. Guide holes are respectively opened on both sides of the guide grooves. Locking bolts are arranged in the guide holes. A second elastic element is sleeved on the locking bolts. A first elastic element is sleeved outside the second elastic element. The inner end of the locking bolt is provided with a ball. One end of the ball contacts the slewing support ring, and the other end contacts the first elastic element and the second elastic element.

6. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 4, characterized in that, The high-altitude mooring unmanned aerial vehicle system further includes an adaptive wall mooring component. The adaptive wall mooring component is connected to the rear end of the slewing detection component. The unmanned aerial vehicle, the slewing detection component, and the adaptive wall mooring component are all wirelessly connected to the console. The unmanned aerial vehicle includes a frame, a power component, propellers, and an electric control energy component. The electric control energy component is arranged inside the center of the frame. The outer end of the frame is fixedly connected with the power component. The propellers are connected to the power component and are driven by the power component to operate. The power component is wirelessly connected to the console; The load landing gear includes a first support rod, a connecting hanger, and a landing and takeoff support rod. There are two landing and takeoff support rods, which are symmetrically arranged below both sides of the unmanned aerial vehicle. The landing and takeoff support rods are used for supporting and contacting the sliding guide blocks of the unmanned aerial vehicle storage and release device, and the landing and takeoff support rods can slide on the sliding guide blocks. The landing and takeoff support rods are connected to one end of the first support rod through the connecting hanger. The other end of the first support rod is fixedly connected to the side wall of the unmanned aerial vehicle frame; The rotary detection assembly includes a turntable, a ring gear, a driving gear, a base, a rotary motor, a slide body, a synchronous belt, a synchronous slider, a displacement detection module, and a displacement motor. The rotary motor and the displacement motor are respectively wirelessly connected to the console. The displacement detection module is fixedly installed at one end of the slide body, and the displacement motor is fixed at the other end of the slide body. The output shaft of the displacement motor is connected to the synchronous belt. The synchronous belt is sleeved on the outside of the slide body. The synchronous slider is fixedly connected to the synchronous belt and can slide along the slide body. The displacement motor drives the synchronous belt to rotate, thereby driving the synchronous slider to move back and forth. The top of the synchronous slider is fixedly connected to the bottom of the base. The bottom of the base is also fixedly connected with a rotary motor. The upper surface of the base is provided with a ring gear and a driving gear that are meshed with each other. The output shaft of the rotary motor passes through the base and is connected to the driving gear. The ring gear is fixedly connected to the bottom of the turntable. The top of the turntable is fixedly connected to the bottom of the frame of the unmanned aerial vehicle. The rotary motor rotates, driving the driving gear to rotate, and then driving the ring gear and the sequentially connected frame to rotate, realizing the steering of the unmanned aerial vehicle; The adaptive wall mooring assembly includes an active swing angle adjustment assembly, a mooring main body, a vacuum adsorption module, and an electromagnetic adsorption module. The vacuum adsorption module is fixedly installed at one end of the mooring main body. The electromagnetic adsorption module is fixedly connected below the vacuum adsorption module. The other end of the mooring main body is connected to one end of the active swing angle adjustment assembly. The other end of the active swing angle adjustment assembly is fixedly connected to the end of the slide body where the displacement detection module is installed. The active swing angle adjustment assembly is wirelessly connected to the console.

7. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 6, characterized in that, The connecting hanging part includes a first horizontal hanging plate, a second longitudinal connecting plate, and a third vertical hanging plate. The takeoff and landing support rod includes a support rod main body and a guiding separation head. The first horizontal hanging plate is fixedly connected to the end of the first support rod. The two ends of the first horizontal hanging plate are respectively connected to the top of the third vertical hanging plate through the second longitudinal connecting plate. The bottom of the third vertical hanging plate is fixedly connected to the support rod main body. The front end of the support rod main body is provided with a guiding separation head. The guiding separation head is adapted to and cooperates with the guiding release cap of the unmanned aerial vehicle storage and release device.

8. The amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 7, characterized in that, The active swing angle adjustment assembly includes a first hinge, a second hinge, a hinge shaft, a swing motor, an elastic support seat, a spring, and a guiding boss. The first hinge is fixedly connected to the end of the slide body. The second hinge is fixedly connected to the mooring main body. The first hinge and the second hinge are hinged through the hinge shaft. The swing motor is fixedly installed at the bottom of the second hinge. The swing motor is wirelessly connected to the console. The output shaft of the swing motor is connected to the second hinge. The swing motor rotates to drive the second hinge and the mooring main body to swing around the hinge shaft. Elastic support seats are respectively fixedly installed on the slide body on both sides of the first hinge. Guiding bosses are respectively fixedly installed on the mooring main body on both sides of the second hinge. The elastic support seat and the corresponding guiding boss are connected by a spring; The vacuum adsorption module includes suction cups, a main body frame, a flow guiding device, guiding support springs, an array ranging module, guiding spring fixing seats, air ducts, duct support seats, an air pump, a fixing seat, a swing shaft, and a swing bearing. There are multiple suction cups. At the front end of each suction cup, there are several array ranging modules. At the top of each suction cup, there is a flow guiding device. The flow guiding device is connected to the air pump through an air duct. The air pump is installed on the base, and the air pump is wirelessly connected to the console. The duct support seat is fixedly installed at the bottom of the sliding table body, and the duct support seat is used to support and fix the air duct. The main body frame is fixedly connected to the mooring main body. The rear end of each suction cup is connected to the top and bottom of the main body frame through a swing shaft and a swing bearing. The suction cup can swing left and right around the swing shaft. On both sides of each suction cup, guiding spring fixing seats are fixedly installed respectively. Between the guiding spring fixing seats of two adjacent suction cups, they are connected through a guiding support spring. The outermost suction cup is connected to the side wall of the main body frame through a guiding support spring; The electromagnetic adsorption module includes an array of electromagnetic adsorption units, a flexible pad, a synchronous bracket, an electromagnetic adsorption base, and flexible ribs. The number of the array of electromagnetic adsorption units, electromagnetic adsorption bases is the same as that of the suction cups and they correspond one by one. On the end face of each array of electromagnetic adsorption units, there is a flexible pad. The rear parts of each array of electromagnetic adsorption units are respectively fixedly connected to the corresponding electromagnetic adsorption bases. The electromagnetic adsorption bases are fixedly connected to the bottom of the corresponding suction cups through synchronous brackets. Between adjacent electromagnetic adsorption bases, they are connected through flexible ribs.

9. The working method of the amphibious land and air high-rise building mooring reconnaissance and fire extinguishing robot according to claim 8, characterized in that,It includes the following steps: (1) Steps of the robot moving, extinguishing fire, and rescuing: 1) Robot movement: The console controls the drive components in the electric control energy module to drive the drive wheels to rotate, and the crawlers roll, driving the robot to reach the designated working area. During the movement of the robot, the control component controls the lidar to work, scans and searches the environment in front of the robot and constructs a regional map, determines its own position in the map. At the same time, the robot also memorizes its own movement route; when encountering an obstacle, the robot stops moving forward and avoids it in cooperation with the modeled map, and marks it in the map to provide guidance for the return journey or other robots to enter the scene; 2) Robot fire extinguishing: The reconnaissance module conducts image and video reconnaissance on the surrounding on-site environment of the robot. When the fire source position is detected, the control component controls the slewing pan-tilt to adjust the angle, and starts the pumping component to provide fire extinguishing medium for the fire extinguishing gun to achieve fire extinguishing; 3) Robot rescue: The reconnaissance module conducts image and video reconnaissance on the surrounding on-site environment of the robot. When a person or object to be rescued or moving is detected, the control component controls the heavy-duty slewing motor to rotate, drives the operating mechanical claw to adjust the angle, and further controls the operating mechanical claw to grab the person or object to be rescued or moving and move it to a safe position; (2) Steps of releasing and reconnaissance of the high-altitude mooring unmanned aerial vehicle system: 1) Release of the high-altitude mooring unmanned aerial vehicle system: a. The control component controls the synchronous propulsion rod to move backward along the sliding table system. The guiding release cap at the top of the synchronous propulsion rod drives the high-altitude moored unmanned aerial vehicle (UAV) system to move backward through the guiding separation head. The synchronous propulsion rod far from the fixed bracket moves to the rear end of the sliding table system and stops moving under the action of the limit stop block. The group of synchronous propulsion rods close to the fixed bracket continues to move backward, driving the high-altitude moored UAV system to continue sliding backward. Due to the influence of gravity, the rear end of the high-altitude moored UAV system has a downward trend. The guiding separation head being limited within the guiding release cap can prevent the high-altitude moored UAV system from falling. The console controls the operation of the power component of the UAV, the propeller rotates, and the conical guiding separation head can be disengaged from the conical guiding release cap, thereby driving the high-altitude moored UAV system to take off from the UAV storage and release device; b. The control component controls the synchronous propulsion rod to move backward along the sliding table system. The guiding release cap at the top of the synchronous propulsion rod drives the high-altitude moored UAV system to move backward through the guiding separation head. The synchronous propulsion rod far from the fixed bracket moves to the rear end of the sliding table system and stops moving under the action of the limit stop block. At this time, the console controls the displacement motor to rotate, the displacement motor drives the synchronous belt to rotate and then drives the synchronous slider to move back and forth. Since the synchronous slider is sequentially connected to the base, the UAV, and the load landing gear, and the load landing gear is also connected to the synchronous propulsion rod of the UAV storage and release device, the sliding table body moves forward relative to the UAV. When the sliding table body moves to the release top seat, the UAV moves backward along the sliding table body. The console controls the operation of the power component of the UAV, the propeller rotates, and the conical guiding separation head can be disengaged from the conical guiding release cap, thereby driving the high-altitude moored UAV system to take off from the UAV storage and release device; 2) High-altitude reconnaissance of the high-altitude moored UAV system: a. During the high-altitude flight of the high-altitude moored UAV system, the high-altitude reconnaissance component one conducts reconnaissance on the flight environment and the target. The console controls the rotary motor to rotate, driving the driving gear to rotate, and then driving the annular gear and the sequentially connected frame to rotate, realizing the turning of the UAV; b. When the high-altitude moored UAV system flies close to the wall surface of the object to be reconnoitered, vacuum adsorption or electromagnetic adsorption is selected according to the material of the wall surface of the object to be reconnoitered. The array ranging module monitors the distance between the suction cup and the wall surface of the object to be reconnoitered in real time. The console controls the air pump to operate, and the suction cup adsorbs on the wall surface of the object to be reconnoitered. The console also controls the swing motor to rotate, driving the second hinge and the vacuum adsorption module to swing left and right, realizing the active adjustment of the adsorption angle between the suction cup and the wall surface of the object to be reconnoitered. The guiding support springs between adjacent suction cups can realize the passive auxiliary adjustment of the adsorption angle between the suction cup and the wall surface of the object to be reconnoitered. Finally, the high-altitude moored UAV system is stably attached to the wall surface of the object to be reconnoitered, facilitating the high-altitude reconnaissance component two to conduct stable reconnaissance on the interior of the wall surface of the object to be reconnoitered; c. When the wall surface of the object to be reconnoitered is a ferromagnetic wall surface, the array electromagnetic adsorption unit is adsorbed on the wall surface of the object to be reconnoitered. The flexible pad prevents the high-altitude mooring unmanned aerial vehicle system from being damaged. The flexible ribs can realize the independent adjustment of the array electromagnetic adsorption unit along with the wall surface of the object to be reconnoitered, so as to achieve the stable fitting and attachment of the high-altitude mooring unmanned aerial vehicle system to the wall surface of the object to be reconnoitered, which is conducive to the stable reconnaissance of the interior of the wall surface of the object to be reconnoitered by the second high-altitude reconnaissance component.

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