Cluster type low-altitude robot inspection and fire extinguishing system and method

Abstract

The invention discloses a cluster type low-altitude robot inspection and fire extinguishing system and method, and the system comprises a low-altitude robot cluster network which is used for the cooperative work and information transmission of a low-altitude robot cluster; the distributed take-off and landing platform network is used for parking or taking off and landing of the low-altitude robot cluster; and the cluster formation inspection fire extinguishing system is used for identifying and controlling a fire source. The low-altitude robot cluster can conduct 24-hour uninterrupted patrol inspection on the low-altitude field, once smoke, flame and temperature abnormity is found, the multiple low-altitude robots in a certain area range are immediately dispatched to fly to the site, autonomously form and extinguish fire, automatically return to supplement energy and materials, circularly extinguish fire and rescue, and before ground fire fighting equipment arrives, the fire behavior is effectively controlled, and the fire fighting efficiency is improved. The power and efficiency of low-altitude fire prevention are greatly improved, the fire-fighting problems of high-rise building fire prevention, forest fire prevention, highway fire prevention and the like are solved, and the fire-fighting safety of people and properties in the low-altitude field is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of low-altitude robots, and particularly relates to a cluster-type low-altitude robot inspection and fire extinguishing system and method. Background Art

[0002] The low-altitude monitoring system of unmanned aerial vehicles has technical characteristics such as being mobile and fast, having low usage costs, and being simple in maintenance and operation. It has the ability to quickly and real-time inspect and monitor the ground, and is a new type of rapid acquisition system for real-time television imaging and infrared imaging in the low and middle altitudes. It can detect fires at an early stage in high-rise buildings or remote areas that cannot be covered by ground patrols, and accurately grasp and timely understand various dynamic information at major fire sites; it can also solve problems such as the inability of aircraft patrols to fly at night and the inability to fly due to reduced visibility caused by smoke; as a powerful supplement to existing fire monitoring means, it has its unique advantages in resource and environmental monitoring in areas inaccessible to vehicles and people, high-rise building, forest fire monitoring and rescue command, etc.; using aerial photography to achieve comprehensive and real-time monitoring of high-rise and super high-rise buildings, timely detecting fire hazards, real-time control of the fire situation at the fire site, building fire inspections or storing images of the fire situation at the scene, and can connect the aerial monitoring video to other security or fire monitoring systems.

[0003] From the perspective of current technology, when a fire-fighting unmanned aerial vehicle arrives at the fire site, it still needs to rely on ground transportation tools such as fire trucks and transport vehicles, which requires a long driving distance and time, delaying the best opportunity for fire extinguishing. Especially for urban high-rise buildings and forest fires, after missing the initial stage of small-scale fire sources, even if the fire-fighting unmanned aerial vehicle arrives, it will be a drop in the bucket. Therefore, how to be able to conduct 24-hour uninterrupted inspections in the low-altitude area, and once smoke or abnormal temperature is detected, immediately mobilize a cluster of unmanned aerial vehicles to effectively control the fire situation before the ground fire-fighting equipment arrives, "striking early and small", becomes particularly important. Summary of the Invention

[0004] The purpose of the present invention is to provide a cluster-type low-altitude robot inspection and fire extinguishing system and method to solve the problems of rapid aerial response to fires, effective aerial fire control and extinguishing in the initial stage of fires.

[0005] The technical solution adopted by the present invention is as follows: Provide a cluster-type low-altitude robot inspection and fire extinguishing system, including a low-altitude robot cluster network for the collaborative work and information transmission of the low-altitude robot cluster; a distributed takeoff and landing platform network for the parking or takeoff and landing of the low-altitude robot cluster; and a cluster formation inspection and fire extinguishing system for the cluster-type low-altitude robots to identify and control the fire source in a collaborative work mode.

[0006] Optionally, the low-altitude robot cluster network includes multiple low-altitude robot nodes for single / multi-robot operations; a cluster communication module for data transmission in the low-altitude robot cluster network; a cluster control module for control calculation and data transceiver in the low-altitude robot cluster network. The distributed takeoff and landing platform network includes multiple takeoff and landing platform nodes for supporting the parking or takeoff / landing of multiple low-altitude robot nodes; an automatic energy supply module for continuously supplying energy to the low-altitude robots; an automatic flame retardant assembly module for continuously supplying flame retardants to the low-altitude robots. The cluster formation inspection and fire extinguishing system includes a camera module for taking pictures; a thermal imaging module for detecting temperature; a decision-making module for collecting on-site information, data fusion, learning and judgment of single / multiple low-altitude robot nodes in the low-altitude robot cluster network, and then obtaining an evaluation result in real time and generating a decision; an execution module for executing the decision, automatically identifying and aiming at the fire source, and releasing flame retardants; a self-inspection module for detecting and identifying the state of the robot; an emergency buffer module for ensuring the safety of the robot body in case of abnormal / out-of-control state of the robot, or avoiding secondary damage to the surrounding environment. There is also provided a cluster-type low-altitude robot inspection and fire extinguishing method, including the following steps: S1. Set a single low-altitude robot node to park or take off / land on a single takeoff and landing platform node. S2. Set multiple low-altitude robot nodes and multiple takeoff and landing platform nodes. The multiple low-altitude robot nodes form a low-altitude robot cluster network, and the multiple takeoff and landing platform nodes form a distributed takeoff and landing platform network. S3. Single / multiple low-altitude robot nodes in the low-altitude robot cluster network inspect the nearby area. If an abnormality is found, an alarm signal is sent. S4. After multiple low-altitude robot nodes within a certain area receive the alarm signal, they take off and fly to the fire point. According to the on-site fire situation, the multiple low-altitude robot nodes are grouped and formed into formations in real time to deal with different fire situations in different formations, automatically identify and aim at the fire source, release flame retardants, monitor the fire scale in real time, and transmit the fire site data back. S5. The low-altitude robot nodes that have released the flame retardants or have insufficient energy automatically choose to fly to the nearby takeoff and landing platform nodes. After automatic energy replenishment / replacement and automatic filling of flame retardants, they fly to the fire point again to extinguish the fire. S6. The above S5 step can be omitted, or steps S4 and S5 can be run once or cyclically until the task ends.

[0007] Optionally, step S3 further includes that the low-altitude robot node can inspect the nearby area through the camera module and / or the thermal imaging module, take pictures and identify smoke and / or the fire source.

[0008] Optionally, step S3 further includes that after the low-altitude robot detects a fire source, it transmits information to the cluster control module and the decision-making module through the cluster communication module. The decision-making module analyzes and evaluates the scale level of the fire source. According to the evaluation result, the cluster control module sends an alarm signal to the nearby low-altitude robot nodes that can be called, so that multiple low-altitude robot nodes immediately rush to the fire point.

[0009] Optionally, step S4 further includes that after the multiple low-altitude robot nodes approach the fire source, they form a network and formation through the decision-making module and the cluster control module, form a fire extinguishing formation according to the real-time obtained fire source and environmental conditions, aim at the fire source through the camera module and / or the thermal imaging module, and release the flame retardant through the execution module.

[0010] Optionally, step S5 further includes that after the low-altitude robot node releases the flame retardant or runs out of energy, the decision-making module and the cluster control module instruct the low-altitude robot node to return to the designated takeoff and landing platform node, where the energy is replenished / replaced or the flame retardant is loaded. The decision-making module and the cluster control module instruct the low-altitude robot node to carry out cyclic fire extinguishing according to the real-time state of the fire source.

[0011] Optionally, step S1 further includes that the takeoff and landing platform node supports the low-altitude robot to fly, patrol, and extinguish fires cyclically and uninterruptedly, automatically replenishes / replaces energy, and automatically loads the flame retardant. The takeoff and landing platform node includes a standby energy source for cyclic replenishment and a continuously supplyable flame retardant.

[0012] Optionally, step S4 further includes that during the flight of the low-altitude robot, when the self-check module monitors that the device is abnormal or in an out-of-control state, it instructs the emergency buffer module to immediately start buffering to ensure the safety of the robot body or avoid secondary damage to the surrounding environment.

[0013] Optionally, step S3 further includes that during the fire extinguishing process of the low-altitude robot, the decision-making module continuously evaluates the scale of the fire source in real time, and adjusts the number and regional scope of the low-altitude robot nodes participating in the fire extinguishing according to the evaluation result, so as to realize the dynamic control of the fire extinguishing robot cluster.

[0014] After adopting the above technical solution, the beneficial effects of the present invention are as follows: The establishment of a cluster - type low - altitude robot inspection and fire - fighting system and method has achieved technological innovation and intelligent improvement in low - altitude fire protection. The low - altitude robot cluster can conduct 24 - hour uninterrupted inspections of the low - altitude area. Once smoke, flames, or abnormal temperature is detected, multiple low - altitude robots within a certain area are immediately mobilized to fly to the scene, form autonomous formations for fire - fighting, automatically return to base to replenish energy and materials, and cycle for fire - fighting. Before the arrival of ground fire - fighting equipment, the fire can be effectively controlled, "striking early and small", greatly enhancing the strength and efficiency of low - altitude fire prevention, solving fire - fighting problems such as high - rise building fire prevention, forest fire prevention, and highway fire prevention, and ensuring the safety of people and property in the low - altitude area. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 It is a schematic structural diagram of the cluster - type low - altitude robot inspection and fire - fighting system in Embodiment 1; Figure 2 It is a flow chart of the cluster - type low - altitude robot inspection and fire - fighting in Embodiment 2.

[0017] Description of the reference numerals in the drawings: 1. Low - altitude robot cluster network; 11. Low - altitude robot node; 12. Cluster communication module; 13. Cluster control module; 2. Distributed take - off and landing platform network; 21. Take - off and landing platform node; 22. Automatic energy supply module; 23. Automatic flame - retardant assembly module; 3. Cluster formation inspection and fire - fighting system; 31. Camera module; 32. Thermal imaging module; 33. Decision - making module; 34. Execution module; 35. Self - inspection module; 36. Emergency buffer module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following further elaborates on the present invention with reference to the drawings.

[0019] This specific embodiment is only an interpretation of the present invention and does not limit the present invention. Those skilled in the art can make non - creative modifications to this embodiment as needed after reading this specification, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

[0020] Embodiment 1: This embodiment provides a cluster - type low - altitude robot inspection and fire - fighting system, specifically as Figure 1-2As shown, it includes a low-altitude robot cluster network 1 for information transmission and collaborative working mode of low-altitude robot clusters; a distributed takeoff and landing platform network 2 for parking cluster-type low-altitude robots; a cluster formation inspection and fire extinguishing system 3 for controlling fire sources by cluster-type low-altitude robots using a collaborative working mode. The low-altitude robot cluster network 1 and the distributed takeoff and landing platform network 2 can achieve intelligent control and deployment of the low-altitude robots, and the cluster formation inspection and fire extinguishing system 3 can achieve intelligent collaborative inspection and fire extinguishing of low-altitude robots at the fire scene. In this embodiment, the low-altitude robot is a drone. Of course, in some other embodiments, the low-altitude robot can also be other low-altitude aircraft.

[0021] Further, the low-altitude robot cluster network 1 includes low-altitude robot nodes 11, a cluster communication module 12, and a cluster control module 13 to generate and transmit instructions between low-altitude robots within the low-altitude robot cluster network 1. In this embodiment, the cluster communication network module is a 5G communication unit or a 4G communication unit. The low-altitude robot cluster forms a network through the cluster communication module 12, and the low-altitude robot nodes are connected through a P2P distributed network. Through a decentralized network architecture, the low-altitude robot nodes directly communicate and cooperate without setting up a central server for control. Any low-altitude robot node can arbitrarily join or exit this distributed network system. The low-altitude robot nodes that join the distributed network are automatically subject to remote device monitoring, remote device control, remote device maintenance, and fire source big data management by the P2P distributed network. The low-altitude robot nodes that exit the distributed network automatically leave the network but can rejoin the network. In some other embodiments, the low-altitude robot nodes can also be connected through a centralized network architecture and a cluster control module 13 is set up to further improve the stability of the low-altitude robot cluster network 1.

[0022] Furthermore, the distributed takeoff and landing platform network 2 includes an automatic energy supply module 22 and an automatic flame retardant assembly module 23 provided on the takeoff and landing platform node 21, for continuously supplying energy and flame retardants for low-altitude robots. In this embodiment, the drone is powered by a battery, and the automatic energy supply module 22 can achieve cyclic replacement of the battery. Specifically, the automatic energy supply module 22 can adopt an alternating power-taking and replacing mechanism to automatically take out and replace the battery blocks inside the battery compartment, and can achieve alternating replacement of the taken-out battery blocks and spare battery blocks, while managing and charging the replaced battery blocks for standby. In some other embodiments, the drone can use energy such as fuel, and the automatic energy supply module 22 can achieve continuous supply of the corresponding energy, greatly improving the endurance of the drone. Optionally, in this embodiment, the flame retardant equipped with the drone is a fire extinguishing bomb, and the automatic flame retardant assembly module 23 can continuously load fire extinguishing bombs for the drone. The automatic flame retardant assembly module 23 can adopt a bomb filling device, and the bomb filling device includes a loading platform, and a conveyor belt for conveying fire extinguishing bombs and a fixture for installing fire extinguishing bombs are provided on the loading platform, which can realize full automation of the bomb replacement operation. In some other embodiments, the automatic flame retardant assembly module 23 can continuously load the corresponding flame retardants, further improving the adaptability of the drone for fire fighting and enabling adjustments for different fire fighting scenarios. Optionally, in some other embodiments, the automatic flame retardant assembly module 23 can also load some transport pieces to achieve the transportation of express delivery or goods.

[0023] Furthermore, the cluster formation inspection and fire extinguishing system 3 includes a camera module 31, a thermal imaging module 32, a decision-making module 33, an execution module 34, a self-inspection module 35, and an emergency buffer module 36, for monitoring and extinguishing the fire source. In this embodiment, the camera module 31 is used to take pictures to identify the fire source. Optionally, in some other embodiments, the camera module 31 can also be used for disaster monitoring, traffic monitoring, agricultural monitoring, etc. In this embodiment, the thermal imaging module 32 is used for the identification and detection of the fire source. The decision-making module 33 is used for the autonomous judgment and learning of low-altitude robots, greatly improving the intelligence level of low-altitude robots. The emergency buffer module 36 is used for emergencies in the case of drone out-of-control. The self-inspection module 35 is used for monitoring the out-of-control state of the drone, greatly improving the efficiency and safety of drone fire extinguishing. In this embodiment, the execution module 34 is used to release the fire extinguishing bomb, adopting a hook device, and the fire extinguishing bomb can be released by loosening the hook device. In some other implementations, the execution module 34 can also adopt an automatic throwing device to achieve precise delivery to the target.

[0024] Furthermore, in this embodiment, the takeoff and landing platform node 21 is powered by wired connection. Optionally, the takeoff and landing platform node 21 can also be powered by solar energy or wind energy, improving the environmental adaptability of the takeoff and landing platform node 21.

[0025] Optionally, in this embodiment, the takeoff and landing platform node 21 is arranged on the roof of a high-rise building. The UAV cluster can realize fire inspection and extinguishing of high-rise buildings. The takeoff and landing platform node 21 can also be arranged beside a road, in a forest area or an agricultural area to realize inspection and extinguishing.

[0026] Embodiment 2 This embodiment provides a method for cluster low-altitude robot inspection and fire extinguishing, which is applied to the cluster low-altitude robot inspection and fire extinguishing system in Embodiment 1, and includes the following steps: S1. Set a single low-altitude robot node 11 to park or take off and land on a single takeoff and landing platform node 21; S2. Set multiple low-altitude robot nodes 11 and multiple takeoff and landing platform nodes 21. The multiple low-altitude robot nodes 11 form a low-altitude robot cluster network 1, and the multiple takeoff and landing platform nodes 21 form a distributed takeoff and landing platform network 2; S3. One or more low-altitude robot nodes 11 in the low-altitude robot cluster network 1 inspect the nearby area, and when an abnormality is found, an alarm signal is sent; S4. After multiple low-altitude robot nodes 11 within a certain area receive the alarm signal, they take off and fly to the fire point. According to the on-site fire situation, the multiple low-altitude robot nodes 11 are grouped and formed into formations in real time to deal with different fire situations in different formations, automatically identify and aim at the fire source, release flame retardants, monitor the fire scale in real time, and transmit back the fire scene data; S5. The low-altitude robot node 11 that has released the flame retardant or has insufficient energy automatically selects to fly to a nearby takeoff and landing platform node 21. After automatically replenishing / replacing the energy and automatically loading the flame retardant, it flies to the fire point again to extinguish the fire; S6. The above S5 step can be omitted, or steps S4 and S5 can be run once or cyclically until the task ends.

[0027] Optionally, step S3 further includes that the low-altitude robot can inspect the nearby area through the camera module 31 and / or the thermal imaging module 32, take pictures and identify smoke and / or the fire source.

[0028] Optionally, step S3 further includes that after the low-altitude robot detects a fire source, it transmits information to the cluster control module 13 through the cluster communication module 12. The cluster control module 13 and the decision-making module 33 analyze and evaluate the scale level of the fire source, and send an alarm signal to the nearby low-altitude robot nodes that can be called according to the evaluation result, so that multiple low-altitude robot nodes rush to the fire point immediately.

[0029] Furthermore, the decision-making module 33 classifies the fire source according to the range and temperature of the fire source, and different fire extinguishing strategies and instructions can be generated by the decision-making component according to the fire source level.

[0030] Optionally, step S4 further includes that after the multiple low-altitude robots approach the fire source, they form a network and formation through the decision-making module 33 and the cluster control module 13, form a fire extinguishing formation according to the real-time obtained fire source and environmental conditions, aim at the fire source through the camera module 31 and / or the thermal imaging module 32, and release flame retardants through the execution module 34.

[0031] Furthermore, the decision-making module 33 can form a formation queuing in sequence or a formation surrounding the fire source in a ring, and can judge and transform into a favorable formation in real time, greatly improving the fire extinguishing efficiency.

[0032] Optionally, step S5 further includes that after the low-altitude robot releases the flame retardant, the decision-making module 33 and the cluster control module 13 instruct the low-altitude robot to return to the designated takeoff and landing platform node 21, where energy replenishment / replacement or flame retardant loading is carried out. The decision-making module 33 and the cluster control module 13 instruct the low-altitude robot to carry out cyclic fire extinguishing according to the real-time state of the fire source.

[0033] Optionally, step S1 further includes that the takeoff and landing platform node 21 supports the low-altitude robot to fly, patrol and extinguish fires cyclically and uninterruptedly, automatically replenishes / replaces energy, and automatically loads flame retardants. The takeoff and landing platform node 21 includes a standby energy source that can be cyclically replenished and a continuously supplyable flame retardant.

[0034] Optionally, step S4 further includes that during the flight of the low-altitude robot, when the self-check module 35 detects equipment abnormalities or is in an out-of-control state, it instructs the emergency buffer module 36 to immediately activate the buffer to avoid secondary injuries caused by falling from a high altitude.

[0035] Optionally, step S3 further includes that during the fire extinguishing process of the low-altitude robot, the decision-making module 33 continuously evaluates the scale level of the fire source in real time, and adjusts the number and area of low-altitude robot nodes participating in the fire extinguishing according to the evaluation result, realizing the dynamic control of the fire extinguishing robot cluster.

[0036] Further, the decision-making component continuously monitors the scope and temperature of the fire source and makes real-time level evaluations. When the level increases, the number and area of low-altitude robot nodes participating in fire extinguishing are increased; when the level decreases, the number and area of low-altitude robot nodes participating in fire extinguishing are decreased.

[0037] The above has described the present invention in detail through specific embodiments. These detailed descriptions are only limited to helping those skilled in the art understand the content of the present invention and should not be construed as limiting the protection scope of the present invention. All kinds of modifications, equivalent transformations, etc. made to the above solutions under the concept of the present invention by those skilled in the art should be included in the protection scope of the present invention.

Claims

1. A cluster-type low-altitude robot inspection and fire extinguishing system, characterized in that: It includes a low-altitude robot cluster network (1) for the collaborative work and information transmission of a low-altitude robot cluster; a distributed takeoff and landing platform network (2) for the parking or takeoff and landing of a low-altitude robot cluster; a cluster formation inspection and fire extinguishing system (3) for identifying and controlling a fire source by a cluster of low-altitude robots in a collaborative work mode.

2. The cluster-type low-altitude robot inspection and fire extinguishing system according to claim 1, characterized in that: the low-altitude robot cluster network (1) includes a plurality of low-altitude robot nodes (11) for single / multi-robot work; a cluster communication module (12) for data transmission of the low-altitude robot cluster network (1); a cluster control module (13) for control calculation and data transceiver of the low-altitude robot cluster network (1); the distributed takeoff and landing platform network (2) includes a plurality of takeoff and landing platform nodes (21) for supporting the parking or takeoff and landing of a plurality of low-altitude robot nodes (11); an energy automatic supply module (22) for continuously supplying energy to the low-altitude robots; a flame retardant automatic assembly module (23) for continuously supplying flame retardants to the low-altitude robots; the cluster formation inspection and fire extinguishing system (3) includes a camera module (31) for taking pictures; a thermal imaging module (32) for detecting temperature; a decision-making module (33) for collecting on-site information, data fusion, learning and judgment of single / multiple low-altitude robot nodes (11) in the low-altitude robot cluster network (1), and then obtaining an evaluation result in real time and generating a decision; an execution module (34) for executing the decision, automatically identifying and aiming at the fire source, and releasing flame retardants; a self-check module (35) for detecting and identifying the state of the robot; an emergency buffer module (36) for ensuring the safety of the robot body in the case of abnormal / out-of-control state of the robot or avoiding secondary damage to the surrounding environment.

3. A cluster-based low-altitude robot inspection and fire extinguishing method, characterized in that: It includes the following steps S1. Set a single low-altitude robot node (11) to park or take off and land on a single takeoff and landing platform node (21); S2. Set a plurality of low-altitude robot nodes (11) and a plurality of takeoff and landing platform nodes (21). The plurality of low-altitude robot nodes (11) form a low-altitude robot cluster network (1), and the plurality of takeoff and landing platform nodes (21) form a distributed takeoff and landing platform network (2); S3. Single / multiple low-altitude robot nodes (11) in the low-altitude robot cluster network (1) inspect the nearby area, find abnormalities, and send alarm signals; S4. After multiple low-altitude robot nodes (11) within a certain area receive the alarm signal, they take off and fly to the fire point. According to the on-site fire situation, the multiple low-altitude robot nodes (11) are grouped and formed into formations in real time to respond to different fire situations in different formations, automatically identify and aim at the fire source, release flame retardants, monitor the fire scale in real time, and transmit back the fire scene data; S5. The low-altitude robot nodes (11) that have released flame retardants or have insufficient energy automatically choose to fly to a nearby takeoff and landing platform node (21), perform automatic energy replenishment / replacement and automatic filling of flame retardants, and then fly to the fire point again to extinguish the fire. S6. The above S5 step can be omitted, or steps S4 and S5 can be run once or cyclically until the task ends.

4. The cluster-type low-altitude robot inspection and fire extinguishing method according to claim 3, characterized in that : The step S3 further includes that the low-altitude robot node (11) can conduct inspections on the nearby area through the camera module (31) and / or the thermal imaging module (32), take pictures and identify smoke and / or fire sources.

5. The cluster-type low-altitude robot inspection and fire extinguishing method according to claim 3, characterized in that : The step S3 further includes that after the low-altitude robot detects a fire source, it transmits information to the cluster control module (13) and the decision-making module (33) through the cluster communication module (12). The decision-making module (33) analyzes and evaluates the scale level of the fire source. According to the evaluation result, the cluster control module (13) sends an alarm signal to the nearby low-altitude robot nodes (11) that can be called, so that multiple low-altitude robot nodes (11) rush to the fire point immediately.

6. The cluster-type low-altitude robot inspection and fire extinguishing method according to claim 3, characterized in that : The step S4 further includes that after the multiple low-altitude robot nodes (11) approach the fire source, they form a network and formation through the decision-making module (33) and the cluster control module (13), form a fire extinguishing formation according to the fire source and environmental conditions obtained in real time, aim at the fire source through the camera module (31) and / or the thermal imaging module (32), and release flame retardants through the execution module (34).

7. The cluster - type low - altitude robot inspection and fire - fighting method according to claim 3, wherein : The step S5 further includes that after the low-altitude robot node (11) releases the flame retardant or when the energy is insufficient, the decision-making module (33) and the cluster control module (13) instruct the low-altitude robot node (11) to return to the designated takeoff and landing platform node (21), and conduct energy replenishment / replacement or flame retardant loading at the takeoff and landing platform node (21). The decision-making module (33) and the cluster control module (13) instruct the low-altitude robot node (11) to conduct cyclic fire extinguishing according to the real-time state of the fire source.

8. The cluster-type low-altitude robot inspection and fire extinguishing method according to claim 3, characterized in that : The step S1 further includes that the takeoff and landing platform node (21) supports the cyclic and uninterrupted flight, inspection and fire extinguishing of the low-altitude robot, automatically replenishes / replaces energy, and automatically loads flame retardants. The takeoff and landing platform node (21) includes a standby energy source that can be cyclically replenished and a continuously supplyable flame retardant.

9. The cluster-type low-altitude robot inspection and fire extinguishing method according to claim 3, characterized in that : The step S4 further includes that during the flight of the low-altitude robot, when the self-check module (35) monitors that the device is abnormal or in an out-of-control state, it instructs the emergency buffer module (36) to immediately activate the buffer to ensure the safety of the robot body or avoid secondary damage to the surrounding environment.

10. The cluster-type low-altitude robot inspection and fire extinguishing method according to claim 3, characterized in that : The step S3 further includes that during the fire extinguishing process of the low-altitude robot, the decision-making module (33) continuously conducts real-time evaluation of the fire source scale, and adjusts the number and area range of the low-altitude robot nodes (11) participating in the fire extinguishing in real time according to the evaluation result, so as to realize the dynamic control of the fire extinguishing robot cluster.

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