Rotor unmanned aerial vehicle anti-recoil intelligent anchoring system and control method thereof

Abstract

The invention provides an anti-recoil intelligent anchoring system of a rotor unmanned aerial vehicle and a control method of the anti-recoil intelligent anchoring system. Relates to the technical field of fire-fighting unmanned aerial vehicles, and comprises an intelligent throwing module which comprises a sensor module and a pressure-adjustable compressed air power system, and the intelligent throwing module collects attitude parameters and relative position parameters of a target anchoring point through the sensor module; and according to the attitude parameters and the relative position parameters of the target anchoring point, a gradient cooling anchor fluke is launched through the pressure-adjustable compressed air power system. According to the anti-recoil intelligent anchoring system for the rotor unmanned aerial vehicle and the control method of the anti-recoil intelligent anchoring system, determinable, executable and verifiable closed-loop control of the whole process from throwing, tension adjustment to recovery / release is achieved, and the attitude of the unmanned aerial vehicle is still kept stable under the working conditions of extreme high temperature and continuous strong counter-acting force; and light weight, rapid and safe separation and control redundancy reliability are considered.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting UAVs, and in particular to an anti-recoil intelligent anchoring system for a rotary-wing UAV and a control method thereof. Background Art

[0002] In firefighting and rescue, rotorcraft drones have been used for high-pressure jet firefighting and fire scene reconnaissance due to their maneuverability and rapid deployment. To offset the strong reaction force generated by the spraying medium, the industry mainly adopts two types of solutions: one is counterweight stabilization, which suppresses shaking by increasing its own weight by adding batteries, metal blocks, etc.; the other is multi-machine coordination, which offsets recoil through the difference in pulling force of multiple drones.

[0003] The aforementioned solutions share common issues: counterweighting increases the drone's weight by over 35%, reduces its flight range by approximately 40%, and limits its maneuverability. Temperatures in the core of a high-temperature fire often exceed 600°C, making traditional metal anchors insufficiently strong. The entire anti-recoil system is structurally redundant and overweight, with the system mass exceeding 4 kg including 200 m of cable, severely compressing the load and further reducing flight range. Existing technologies struggle to simultaneously meet the following requirements: effectively offsetting sustained strong reaction forces without significantly increasing weight, maintaining structural and functional integrity in extreme environments exceeding 800°C, and achieving system lightweighting. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides an anti-recoil intelligent anchoring system for rotorcraft UAVs and its control method, which solves the problem of how to ensure stable operation of the UAV in extremely high temperature environments by using gradient cooling anchor claws and high-strength cables, and achieve precise tension adjustment and rapid and safe detachment.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an anti-recoil intelligent anchoring system for a rotary-wing UAV, comprising: An intelligent casting module, comprising a sensor module and an adjustable pressure compressed air power system, wherein the intelligent casting module collects attitude parameters and relative position parameters of a target anchor point through the sensor module, and launches a gradient cooling anchor claw through the adjustable pressure compressed air power system according to the attitude parameters and the relative position parameters of the target anchor point; The gradient cooling anchor claw is used to provide a lightweight and stable recoil-offsetting fulcrum for the rotor UAV through penetrating anchoring in extremely high temperature environments. The gradient cooling anchor claw includes a penetrating tip, a thermal expansion layer, a phase change cooling layer, a cable interface, and a barb structure. Anchor cables, used to bear the recoil force of the rotor UAV, including a main cable and a secondary cable; a release mechanism for controllably releasing the anchor connection between the gradient cooling fluke and the rotary-wing UAV, wherein the controllably releasing mechanism includes a normal mode and an emergency mode, and the release mechanism includes an electric winch, a fuse unit, and a hydraulic shear unit; A dynamic control unit is used to control the casting, tension adjustment, recovery and release processes in real time through a dynamic control algorithm. The dynamic control unit includes a sensor data fusion module, a casting control module, a recoil force dynamic compensation module, a release judgment module and a recovery control module, so that the rotor UAV maintains a stable posture under the continuous reaction force generated by the high-pressure jet.

[0006] Preferably, the sensor module includes a five-dimensional attitude sensor and a laser ranging radar. The sampling frequency of the five-dimensional attitude sensor is 1kHz, and the measurement accuracy of the laser ranging radar is ±2cm and the range is 0-100m.

[0007] Preferably, the thermal expansion layer uses Fe-Mn-Si-Cr memory alloy, which applies a normal compressive force to the inner wall of the building by expanding at a temperature of 800°C. The expansion rate of the Fe-Mn-Si-Cr memory alloy at 800°C is 15%.

[0008] Preferably, the barb structure is self-locking in the force direction, and the total anchoring force provided by the barb structure is ≥800N.

[0009] Preferably, the main cable has a diameter of 4.0 mm and a tensile strength of ≥5.2 GPa, and the main cable comprises distributed optical fiber, Kevlar reinforcement layer, tensile braided layer and ZrB2 ceramic coating from inside to outside.

[0010] Preferably, the normal mode reclaims the anchor cable and unlocks the gradient cooling anchor claw through the electric winch, and the emergency mode separates the gradient cooling anchor claw from the rotor drone through a fuse-shear cooperative mechanism, and the fuse-shear cooperative mechanism actively cuts off the anchor cable through the coordinated action of the fuse unit and the hydraulic shear unit.

[0011] Preferably, the sensor data fusion module is used to integrate real-time data from the five-dimensional attitude sensor, laser ranging radar, pressure sensor and temperature sensor and output fused data.

[0012] Preferably, the casting control module is used to send a matching launch pressure to the adjustable pressure compressed air power system based on the anchor point distance and the building material, and through dynamic posture calibration, the dynamic control unit calculates the posture compensation amount based on the posture parameters and the relative position parameters of the target anchor point within 0.5 seconds before casting, and drives the micro-servo steering mechanism to correct the launch trajectory. The recoil force dynamic offset module calculates the recoil force based on the injection pressure and the nozzle area, and calculates the winch basic tension in combination with the anchor point temperature and wind speed parameters.

[0013] Preferably, the release judgment module includes a fuse release submodule and a mechanical shear submodule. The fuse release submodule is used to trigger a fuse instruction when the temperature of the anchor point is greater than 180°C and the UAV is less than 3m away from the danger source and lasts for 5s. The mechanical shear submodule is used to trigger a hydraulic shear instruction when the pitch angle of the UAV is greater than 45° or the roll angle is greater than 30°. In the normal recovery mode, the recovery control module controls the electric winch to synchronously recover the main cable and the unlocking cable after the flight control sends the recovery instruction, and at the same time tightens the unlocking cable to drive the barb mechanism to slip.

[0014] The anti-recoil intelligent anchoring control method for a rotary-wing UAV includes: S1. The AR system acquires the three-dimensional coordinates and strength data of the load-bearing components, integrates their posture and relative position within 0.5 seconds before casting, calculates the launch trajectory compensation, automatically matches the launch pressure based on the anchor point distance and building material, and drives the servo mechanism to correct the launch angle and cast the gradient cooling anchor claw; S2. After the gradient-cooled anchor penetrates the building surface, the ambient temperature is monitored. When the ambient temperature is ≥300°C, the Fe-Mn-Si-Cr shape memory alloy radially expands, pushing the barbs to self-lock, increasing the anchoring force of the gradient-cooled anchor to ≥800N. When the ambient temperature is ≥800°C, the paraffin wax / nano-copper phase-change material melts, absorbs heat, and dissipates it through the microchannels, maintaining the gradient-cooled anchor temperature at ≤350°C. S3. Real-time monitoring of jet pressure, wind speed, and anchor point temperature. Closed-loop adjustment of the electric winch tension to 80-280N. When wind speed exceeds 15m / s, superimposed oscillation damping control is implemented. S4. Emergency release mode determination and execution, including the following steps: S4.1. If the anchor point temperature is >180°C and the UAV is <3m from the hazard source for 5 seconds, the thermal fuse will be triggered, causing the Sn-Bi eutectic alloy to melt. S4.2. When the pitch angle is greater than 45° or the roll angle is greater than 30°, the hydraulic shear unit shall cut the cable within 0.5 s at a pressure of 20 MPa. S4.3. Perform coordinated disengagement according to the 0 to 0.75 second sequence of first fusing and then shearing; S5. The flight control system issues a recovery command, and the electric winch recovers the main cable and tightens the unlocking cable, causing the barb to slide off along the inclined surface, completing the detachment of the anchor claw and cable recovery.

[0015] The present invention provides an anti-recoil intelligent anchoring system for a rotary-wing UAV and a control method thereof. It has the following beneficial effects: The anti-recoil intelligent anchoring system and control method of the rotary-wing UAV use "gradient cooling anchor claws + high-temperature resistant lightweight cables" to form a reliable anchoring fulcrum under high temperatures: the anchor claws penetrate the structure with zirconium oxide ceramic tips, and the Fe-Mn-Si-Cr memory alloy expands at about 800°C to generate a compression force and cooperate with the barbs to achieve an anchoring force of ≥800N. At the same time, the phase change cooling layer absorbs heat and limits the temperature, ensuring the integrity of the structure and function in extreme fire environments; the main cable uses high-strength heat-resistant fiber and ceramic coating to achieve high tensile strength and low mass, and the overall cable effectively offsets continuous recoil without significantly increasing weight.

[0016] At the control level, this solution consists of a layered closed loop consisting of a sensor data fusion module, a casting control module, a recoil dynamic offset module, a release judgment module, and a recovery control module: During the casting phase, the launch pressure is automatically matched according to the distance and material of the anchor point, and attitude compensation is performed to ensure that the anchor claw hits accurately; during the operation phase, the target tension is calculated based on parameters such as the jet pressure, wind speed, and anchor point temperature, and closed-loop control of the winch tension is implemented. When the wind speed exceeds the limit, oscillation damping is introduced to suppress wind-induced oscillations; during the release phase, dual-mode collaborative release of fusing and hydraulic shearing is triggered according to the temperature / distance / duration and attitude thresholds. In normal mode, the main cable and unlocking cable are simultaneously recovered to quickly release the barbs. This achieves a closed-loop control that is determinable, executable, and verifiable for the entire process from casting, tension adjustment, to recovery / release, maintaining the stability of the drone's attitude under extremely high temperatures and continuous strong reaction forces, while also taking into account lightweight, fast and safe release, and control redundancy reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flowchart for realizing the invention; Figure 2 This is the cross-sectional view of the main cable structure; Figure 3 It is the logic diagram of the physical connection between anchor cable and anchor claw; Figure 4 This is the logic diagram of the anchor cable-anchor claw collaboration; Figure 5 This is the working principle diagram of the release mechanism; Figure 6 Provide a flowchart for the emergency disengagement of rotary-wing drones; Figure 7 This is the temperature control and heat dissipation flow chart of the gradient cooling anchor claw. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] Example 1 like Figure 1-7 As shown, an embodiment of the present invention provides an anti-recoil intelligent anchoring system for a rotary-wing UAV, comprising an intelligent casting module, including a sensor module and an adjustable-pressure compressed air power system. The intelligent casting module collects attitude parameters and relative position parameters of the target anchor point through the sensor module, and then launches a gradient-cooled anchor claw through the adjustable-pressure compressed air power system based on the attitude parameters and the relative position parameters of the target anchor point. The sensor module includes a five-dimensional attitude sensor and a laser ranging radar. The five-dimensional attitude sensor has a sampling frequency of 1kHz, and the laser ranging radar has a measurement accuracy of ±2cm and a range of 0-100m.

[0020] The gradient-cooled anchor claw is designed to provide a lightweight and stable recoil-compensating anchor for rotary-wing drones through penetrating anchoring in extremely high-temperature environments. The gradient-cooled anchor claw comprises a penetrating tip, a thermal expansion layer, a phase-change cooling layer, a cable interface, and a barb structure. The thermal expansion layer utilizes an Fe-Mn-Si-Cr memory alloy. The Fe-Mn-Si-Cr memory alloy expands at 800°C, exerting a normal compressive force on the building's interior wall. The expansion rate of the Fe-Mn-Si-Cr memory alloy at 800°C is 15%. The barb structure self-locks in the direction of force applied, providing a total anchoring force of ≥800N.

[0021] In practical applications, gradient cooling anchors use the following steps to ensure effective temperature control and avoid overheating in high temperature environments: The specific implementation is as follows: Emission and penetration: Before dropping, the rotorcraft uses a five-dimensional attitude sensor and a laser ranging radar to sense the drone's attitude relative to the target anchor point. Then, using a pressure-adjustable compressed air power system, it launches a gradient-cooled anchor claw, which penetrates the building surface and forms a preliminary anchor. At this point, the temperature of the claw tip rises rapidly.

[0022] Temperature monitoring and determination: After the anchor claw performs the penetration mission, the built-in temperature sensor monitors the anchor claw temperature in real time.

[0023] When the anchor claw temperature exceeds 180°C, the control unit determines that the temperature is too high and enters the cooling mode.

[0024] If the temperature does not exceed 180°C, the fluke maintains its current working state and continues to perform the recoil force offsetting task.

[0025] Over-temperature treatment: Phase-change material cooling: When the anchor's temperature exceeds 180°C, the control unit immediately activates the phase-change material self-cooling function. The phase-change material inside the anchor absorbs heat, ensuring the anchor's temperature remains within a safe range.

[0026] 15-minute continuous cooling: If the anchor claw temperature exceeds 180°C for a continuous period, the system will execute the forced cooling function for 15 minutes to ensure temperature control.

[0027] Temperature does not exceed the standard: If the fluke temperature does not exceed 180°C, the system will dissipate heat naturally. In this case, the cooling process remains natural and no additional cooling intervention is required.

[0028] Retrieving or cutting cables during evacuation: After the operation is complete, the system determines whether to retract the anchor claw or cut the cable. If the environment is safe, the retraction operation will be initiated. If the emergency conditions still exist, it will enter emergency disengagement mode, cut the cable, and ensure the safe evacuation of the drone.

[0029] Through the above process, the gradient cooling anchor claw can make full use of the phase change material and work in conjunction with the external cooling system under extremely high temperature conditions to maintain temperature stability and ensure anchoring force and system reliability.

[0030] Anchor cables, used to withstand the recoil forces of rotary-wing drones, include a main cable and auxiliary cables. The main cable has a diameter of 4.0 mm and a tensile strength of 5.2 GPa or higher. From the inside out, the main cable consists of a distributed optical fiber 1, a Kevlar reinforcement layer 2, a tensile braid 3, and a ZrB2 ceramic coating 4.

[0031] The specific implementation is as follows: like Figure 4 As shown in the figure, during fire operations, after the gradient cooling anchor claw is ejected by the intelligent throwing module and hits the target, the main cable immediately assumes pure mechanical tension and transmits the injection reaction force to the UAV body; the optical fiber channel parallel to the main cable feeds back status signals such as touchdown / tension to the flight control and dynamic control unit, realizing a closed-loop command for subsequent tension adjustment and mode switching.

[0032] The anchor claw end completes the three-step action of "penetrating the building - thermal expansion anchoring - phase change self-cooling" in sequence: the ceramic tip penetrates the structural layer to establish the initial anchor point, the memory alloy layer expands radially at high temperature and pushes the barb to self-lock to form an anchoring force of ≥800N, and the phase change material absorbs heat to keep the anchor claw temperature in a safe range, ensuring that the anchor point still has load-bearing capacity under extremely high temperatures.

[0033] During the recovery or separation phase, the flight control system issues commands to the electric winch: in normal mode, the main cable is recovered synchronously and the auxiliary cable is pulled to trigger the barb to slip, thereby unlocking and recovering the anchor claw; in emergency mode, the fuse unit and hydraulic shear unit are triggered to cut the cable, ensuring that the drone quickly leaves the danger zone.

[0034] As a result, the cable serves the anchor claw and flight control on the dual channels of mechanical force and information respectively. The anchor claw completes the triple functional actions, and the two work together to form a closed-loop collaborative logic of "cable → mechanical tension / optical fiber signal → anchor claw / UAV flight control → penetration, thermal expansion anchoring, phase change self-cooling".

[0035] The release mechanism is used to implement controllable release of the anchor connection between the gradient cooling anchor claw and the rotor UAV. The controllable release includes normal mode and emergency mode. The release mechanism includes an electric winch, a fuse unit and a hydraulic shear unit.

[0036] In normal mode, the anchor cable is recovered by an electric winch and the gradient cooling anchor claw is unlocked. In emergency mode, the gradient cooling anchor claw is separated from the rotor drone through the fuse-shear collaborative mechanism. The fuse-shear collaborative mechanism actively cuts the anchor cable through the coordinated action of the fuse unit and the hydraulic shear unit.

[0037] Emergency modes also include hydraulic shear-only mode and dual-mode coordinated shear mode.

[0038] The specific implementation is as follows: Environmental safety assessment: After the operation is completed, the dynamic control unit first checks the safety of the environment. If the environment is safe, it automatically retracts the cable with the electric winch and returns it to the drone cabin.

[0039] If the environment is unsafe: for example, the temperature is higher than 180°C and the distance is less than 3m, the emergency disengagement process will be initiated, and the appropriate disengagement mode will be selected based on the specific conditions of temperature and distance.

[0040] Hydraulic shear mode only: Judgment conditions: When the temperature exceeds 180°C and the distance to the anchor point is greater than 3m, it means that the danger is low and the system only needs to perform the shearing operation.

[0041] Steps: The control unit first slightly relaxes the main cable tension through the electric winch to reduce the instantaneous impact caused by shearing.

[0042] The hydraulic shearing unit starts and the main cable is sheared by the hydraulically driven shear blade. The shearing process is completed within 50ms, ensuring rapid cutting.

[0043] After the cutting is completed and the cable is confirmed to be completely cut, the system will feedback "cable has been detached" and exit the emergency operation process.

[0044] Dual-mode collaborative fusing + shearing mode: Judgment conditions: When the temperature exceeds 180°C and the distance to the anchor point is less than 3m, it indicates that the environmental risk is high and it is necessary to use both fusing and shearing operations to ensure rapid detachment.

[0045] Steps: Similarly, the control unit first relaxes the main cable tension through the electric winch to ensure that there is no large rebound during hydraulic shearing.

[0046] The fuse unit is activated, and the outer coating of the main cable is melted first by heating the resistance wire, reducing the shear load and unloading part of the tension.

[0047] After the fuse is blown, the hydraulic shear unit is immediately driven to cut the entire cross-section of the main cable. The shearing process is completed within 50ms, ensuring that the cable is completely disconnected.

[0048] After the cable is cut, the control unit confirms the detachment status and records it, outputs a "cable detachment" signal, and finally exits the emergency detachment process.

[0049] Through the collaboration or individual execution of the above two modes, the system can respond quickly to different environmental conditions, ensure rapid disengagement in high temperature and emergency situations, and maximize the safety and operational efficiency of the rotorcraft.

[0050] The dynamic control unit is used to control the casting, tension adjustment, recovery and release processes in real time through dynamic control algorithms. The dynamic control unit includes a sensor data fusion module, a casting control module, a recoil dynamic offset module, a release judgment module and a recovery control module, so that the rotor UAV maintains a stable posture under the continuous reaction force generated by the high-pressure jet.

[0051] Sensor data fusion module The sensor data fusion module is used to integrate the real-time data of the five-dimensional attitude sensor, laser ranging radar, pressure sensor and temperature sensor and output the fused data.

[0052] The casting control module is used to send a matching launch pressure to the adjustable pressure compressed air power system according to the distance from the anchor point and the building material. Through dynamic posture calibration, the dynamic control unit calculates the posture compensation amount based on the posture parameters and the relative position parameters of the target anchor point within 0.5 seconds before casting, and drives the micro-servo steering mechanism to correct the launch trajectory. The recoil force dynamic offset module calculates the recoil force based on the injection pressure and nozzle area, and calculates the winch basic tension based on the anchor point temperature and wind speed parameters.

[0053] The release judgment module includes a fuse release submodule and a mechanical shear submodule. The fuse release submodule is used to trigger the fuse command when the temperature of the anchor point is greater than 180°C and the UAV is less than 3m away from the danger source and lasts for 5s. The mechanical shear submodule is used to trigger the hydraulic shear command when the pitch angle of the UAV is greater than 45° or the roll angle is greater than 30°. In the normal recovery mode, after the flight control sends the recovery command, the recovery control module controls the electric winch to synchronously recover the main cable and the unlocking cable, and at the same time tightens the unlocking cable to drive the barb mechanism to slip.

[0054] The specific implementation is as follows: Application scenario: high-rise building fire rescue.

[0055] Anchor point identification: The drone hovers 25m away from the wall and 15m high. The AR system scans the building structure and automatically locks the load-bearing columns as anchor points.

[0056] Anchor Deployment: Compressed air launches the anchor, penetrating a 200mm layer of concrete. Under high temperature, the shape memory alloy expands, and the barbs open and engage the structure, increasing the anchoring force to 800N, ensuring the anchor is securely fixed to the building.

[0057] Firefighting: The cable is preloaded with a tension of 120 N and the fire extinguishing agent is sprayed. The control system adjusts the tension within a dynamic range of 150 to 280 N based on real-time monitoring parameters to offset the reaction force generated by the high-pressure spray and ensure stable operation of the drone.

[0058] System recovery: In normal mode, the flight control sends a recovery command, and the electric winch simultaneously recovers the main cable and the unlocking cable. The unlocking cable tightens, the barb slips off, and the winch recovers the anchor claw with a pulling force of 300N. In emergency mode, dual-mode release is activated, that is, the ceramic blade hydraulically cuts the cable and the low-melting-point alloy segment fuses, allowing the drone to quickly escape the danger zone.

[0059] The anti-recoil intelligent anchoring control method for a rotary-wing UAV includes: The S1.AR system obtains the three-dimensional coordinates and strength data of the load-bearing components, integrates the posture and relative position within 0.5 seconds before casting, calculates the launch trajectory compensation, automatically matches the launch pressure based on the anchor point distance and building material, and drives the servo mechanism to correct the launch angle and cast the gradient cooling anchor claw.

[0060] S2. After the gradient-cooled anchor claw penetrates the building surface, the ambient temperature is monitored. When the ambient temperature is ≥300°C, the radial expansion of the Fe-Mn-Si-Cr shape memory alloy pushes the barbs to self-lock, increasing the anchoring force of the gradient-cooled anchor claw to ≥800N. When the ambient temperature is ≥800°C, the paraffin wax / nano-copper phase-change material melts, absorbs heat, and dissipates it through microchannels, reducing the temperature of the gradient-cooled anchor claw to ≤350°C.

[0061] S3. Real-time monitoring of injection pressure, wind speed, and anchor point temperature is performed, and closed-loop adjustment of the electric winch tension is performed to a range of 80 to 280 N. When the wind speed is greater than 15 m / s, oscillation damping control is superimposed.

[0062] S4. Emergency release mode determination and execution, including the following steps: S4.1. If the anchor point temperature is greater than 180°C and the UAV is less than 3 meters from the hazard source for 5 seconds, the thermal fuse will be triggered to melt the Sn-Bi eutectic alloy.

[0063] S4.2. When the pitch angle is greater than 45° or the roll angle is greater than 30°, the hydraulic shear unit shall cut the cable within 0.5 s at a pressure of 20 MPa.

[0064] S4.3. Perform coordinated disengagement according to the 0 to 0.75 s timing sequence of first melting and then shearing.

[0065] S5. The flight control system issues a recovery command, and the electric winch retracts the main cable and tightens the unlocking cable, causing the barb to slide down the inclined surface, completing the detachment of the anchor claw and cable recovery.

[0066] Example 2 Different from the first embodiment, the application scenario of this embodiment is chemical plant fire rescue.

[0067] Anchor point identification: The drone hovered 25 meters away from the chemical plant building and at a height of 10 meters. It used the AR system to scan the building structure, automatically identifying and locking the load-bearing beams on the plant roof as anchor points.

[0068] Anchor deployment: The anchor is launched using compressed air, successfully penetrating a 150mm layer of reinforced concrete. In the high-temperature environment, the shape-memory alloy in the anchor expands, activating the barb mechanism and engaging the steel structure, increasing the anchoring force to 950N, ensuring the anchor is firmly fixed to the structure and preventing it from falling off due to recoil.

[0069] Firefighting: The cable is preloaded with 100N tension, and the fire extinguishing agent is sprayed. The control system adjusts the tension to between 180 and 300N based on real-time sensor data to offset the reaction force during the spraying process, ensuring the drone's stable hover and precise firefighting.

[0070] System Recycling: Normal mode: The flight control system sends a recovery command, and the electric winch simultaneously retracts the main cable and pulls the auxiliary cable to release the barb. The auxiliary cable maintains a tension of 50N. After the barb slips off, the winch retracts the anchor claw with a tension of 350N. The whole process takes 0.4s.

[0071] Emergency Mode: When the temperature exceeds the preset threshold and an environmental hazard is detected, the system activates a dual-mode release mechanism; first, the main cable is disconnected by hydraulic shearing with a ceramic blade, and then the low-melting-point alloy segment is melted, severing the power cable and the main cable, ensuring that the drone can quickly escape the fire area and minimize danger.

[0072] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. The anti-recoil intelligent anchoring system for rotary wing UAV is characterized by: include: An intelligent casting module, comprising a sensor module and an adjustable pressure compressed air power system, wherein the intelligent casting module collects attitude parameters and relative position parameters of a target anchor point through the sensor module, and launches a gradient cooling anchor claw through the adjustable pressure compressed air power system according to the attitude parameters and the relative position parameters of the target anchor point; The gradient cooling anchor claw is used to provide a lightweight and stable recoil-offsetting fulcrum for the rotor UAV through penetrating anchoring in extremely high temperature environments. The gradient cooling anchor claw includes a penetrating tip, a thermal expansion layer, a phase change cooling layer, a cable interface, and a barb structure. Anchor cables, used to bear the recoil force of the rotor UAV, including a main cable and a secondary cable; a release mechanism for controllably releasing the anchor connection between the gradient cooling fluke and the rotary-wing UAV, wherein the controllably releasing mechanism includes a normal mode and an emergency mode, and the release mechanism includes an electric winch, a fuse unit, and a hydraulic shear unit; The dynamic control unit is used to control the casting, tension adjustment, recovery and release processes in real time through a dynamic control algorithm. The dynamic control unit includes a sensor data fusion module, a casting control module, a recoil force dynamic compensation module, a release judgment module and a recovery control module.

2. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1, characterized in that: The sensor module includes a five-dimensional attitude sensor and a laser ranging radar. The sampling frequency of the five-dimensional attitude sensor is 1kHz, and the measurement accuracy of the laser ranging radar is ±2cm and the range is 0-100m.

3. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1 is characterized in that: The thermal expansion layer uses a Fe-Mn-Si-Cr memory alloy, which exerts a normal compressive force on the inner wall of the building by expanding at a temperature of 800°C. The expansion rate of the Fe-Mn-Si-Cr memory alloy at 800°C is 15%.

4. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1, characterized in that: The barb structure is self-locking in the force direction, and the total anchoring force provided by the barb structure is ≥800N.

5. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1 is characterized in that: The main cable has a diameter of 4.0 mm and a tensile strength of ≥5.2 GPa. From the inside to the outside, the main cable comprises a distributed optical fiber (1), a Kevlar reinforcement layer (2), a tensile braided layer (3) and a ZrB2 ceramic coating (4).

6. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1, characterized in that: In the normal mode, the electric winch is used to recover the anchor cable and unlock the gradient cooling anchor claw. In the emergency mode, the gradient cooling anchor claw is separated from the rotor UAV through the fuse-shear cooperative mechanism. The fuse-shear cooperative mechanism actively cuts the anchor cable through the coordinated action of the fuse unit and the hydraulic shear unit.

7. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1, characterized in that: The sensor data fusion module is used to integrate the real-time data of the five-dimensional attitude sensor, laser ranging radar, pressure sensor and temperature sensor and output the fused data.

8. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1, characterized in that: The casting control module is used to send a matching launch pressure to the adjustable pressure compressed air power system based on the anchor point distance and the building material, and through dynamic posture calibration, the dynamic control unit calculates the posture compensation amount based on the posture parameters and the relative position parameters of the target anchor point within 0.5 seconds before casting, and drives the micro-servo steering mechanism to correct the launch trajectory. The recoil force dynamic offset module calculates the recoil force based on the injection pressure and the nozzle area, and calculates the winch basic tension based on the anchor point temperature and wind speed parameters.

9. The anti-recoil intelligent anchoring system for a rotary-wing UAV according to claim 1, characterized in that: The release judgment module includes a fuse release submodule and a mechanical shear submodule. The fuse release submodule is used to trigger a fuse instruction when the temperature of the anchor point is greater than 180°C and the UAV is less than 3m away from the danger source and lasts for 5s. The mechanical shear submodule is used to trigger a hydraulic shear instruction when the pitch angle of the UAV is greater than 45° or the roll angle is greater than 30°. In the normal recovery mode, the recovery control module controls the electric winch to synchronously recover the main cable and the unlocking cable after the flight control sends the recovery instruction, and at the same time tightens the unlocking cable to drive the barb mechanism to slip.

10. The anti-recoil intelligent anchoring control method for a rotary wing UAV is characterized by: include: S1. The AR system acquires the three-dimensional coordinates and strength data of the load-bearing components, integrates their posture and relative position within 0.5 seconds before casting, calculates the launch trajectory compensation, automatically matches the launch pressure based on the anchor point distance and building material, and drives the servo mechanism to correct the launch angle and cast the gradient cooling anchor claw; S2. After the gradient-cooled anchor penetrates the building surface, the ambient temperature is monitored. When the ambient temperature is ≥300°C, the Fe-Mn-Si-Cr shape memory alloy radially expands, pushing the barbs to self-lock, increasing the anchoring force of the gradient-cooled anchor to ≥800N. When the ambient temperature is ≥800°C, the paraffin wax / nano-copper phase-change material melts, absorbs heat, and dissipates it through the microchannels, maintaining the gradient-cooled anchor temperature at ≤350°C. S3. Real-time monitoring of jet pressure, wind speed, and anchor point temperature. Closed-loop adjustment of the electric winch tension to 80-280N. When wind speed exceeds 15m / s, superimposed oscillation damping control is implemented. S4. Emergency release mode determination and execution, including the following steps: S4.

1. If the anchor point temperature is >180°C and the UAV is <3m from the hazard source for 5 seconds, the thermal fuse will be triggered, causing the Sn-Bi eutectic alloy to melt. S4.

2. When the pitch angle is greater than 45° or the roll angle is greater than 30°, the hydraulic shear unit shall cut the cable within 0.5 s at a pressure of 20 MPa. S4.

3. Perform coordinated disengagement according to the 0 to 0.75 second sequence of first fusing and then shearing; S5. The flight control system issues a recovery command, and the electric winch recovers the main cable and tightens the unlocking cable, causing the barb to slide off along the inclined surface, completing the detachment of the anchor claw and cable recovery.

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