Distributed ducted unmanned aerial vehicle monitoring and fire fighting integrated system and control method

Abstract

The invention discloses a distributed ducted unmanned aerial vehicle monitoring and fire fighting integrated system and a control method, and belongs to the technical field of fire fighting. The system comprises a fire monitoring network deployed on the outer wall of the roof of the high-rise building, a fire-fighting unmanned aerial vehicle storeroom arranged correspondingly, a fire-fighting unmanned aerial vehicle with an anti-collision structure and a fire-fighting management platform. The method comprises the steps that a fire monitoring network or an original system triggers alarm, and an unmanned aerial vehicle library is activated; the unmanned aerial vehicle automatically takes off, infrared guidance and image acquisition approach reconnaissance are carried out, and information is returned; after the platform confirms the fire behavior, a window breaking fire extinguishing bomb is instructed to be launched, and a fire extinguishing matrix is built in cooperation with multiple mechanisms as needed; after fire extinguishing, environmental parameters are monitored, and the unmanned aerial vehicle automatically returns and resets. Through distributed monitoring, automatic quick response and multi-machine cooperation, second-level sensing and handling of fire of the high-rise building are achieved, the problems that traditional fire fighting is slow in response, difficult to arrive and poor in single-machine capacity are solved, and the fire is controlled within the golden time of 3-5 minutes.

Description

Technical Field

[0001] This invention relates to the field of fire protection technology, and in particular to a distributed culvert UAV monitoring and fire protection integrated system and control method. Background Technology

[0002] Traditional fire rescue models have significant limitations when dealing with fires in high-rise and super high-rise buildings, mainly in the following aspects: Poor response timeliness: Fire trucks are limited by traffic and geographical conditions, resulting in excessively long arrival times; after arrival, they still need to carry out preparatory work such as connecting water sources and setting up equipment, which can easily cause them to miss the golden time of 3-5 minutes in the early stages of a fire.

[0003] Limited operating height: Conventional fire ladders have limited operating height (usually about 50 meters), making it difficult to cover mid- to high-rise buildings and above. A few ultra-high ladder trucks have problems such as large size (e.g., weighing up to 60 tons), large turning radius (over 50 meters), stringent requirements for roads and operating sites, and excessively long cross-regional dispatch time (up to 3-4 hours), making it difficult to operate flexibly in areas with dense high-rise buildings.

[0004] The application of drones has shortcomings: Existing firefighting drones mostly rely on fire trucks for support, making it impossible to achieve "detection and response"; the open rotor structure lacks stability in complex wind fields at high altitudes, and the exposed rotors pose a high risk of collision when flying in confined spaces; at the same time, there is a contradiction between "mobility" and "payload / endurance" for individual drones, with limited payload capacity, making it difficult to independently deal with larger-scale fires; if large tethered power supply duct structures and hose-type firefighting systems are used, their flight range and flexibility are severely limited, making it difficult to adapt to complex fire scenes and prone to secondary disasters.

[0005] Lack of proactive early warning and rapid response mechanisms: Existing technologies lack a systematic solution that can proactively detect fires in their early stages and immediately initiate precise suppression measures, often resulting in missed opportunities to extinguish fires.

[0006] Therefore, there is an urgent need in this field for an integrated fire protection system and method that can leverage the strengths and avoid the weaknesses of existing UAV technology, achieve all-weather automatic monitoring, real-time autonomous response, adapt to complex high-rise environments, and enhance firefighting capabilities through UAV swarm collaborative operations. Summary of the Invention

[0007] This invention aims to overcome the shortcomings of the prior art and provide a distributed culvert UAV monitoring and firefighting integrated system and method. This system, through a distributed monitoring network and UAV base stations deployed on the rooftops of high-rise buildings, achieves "early detection, rapid response, precise location, multi-UAV collaboration, and efficient extinguishing" of fires in high-rise buildings, ultimately achieving the fundamental goal of "extinguishing fires early, extinguishing small fires, and extinguishing fires in their initial stages."

[0008] In a first aspect, the present invention provides a distributed culvert UAV monitoring and firefighting integrated system, comprising: A distributed fire monitoring network is deployed on the rooftop and exterior wall edges of high-rise buildings to monitor fire characteristics such as temperature, smoke, and visible light images of the building facade 24 hours a day. Firefighting drone duty hangars are set up on the rooftops of high-rise buildings, and each of the aforementioned firefighting drone hangars can accommodate at least one firefighting drone in a standby state; Firefighting drones and swarms, each of the firefighting drones adopts a collision protection structure, including but not limited to ducted drones, multi-rotor drones with protective anti-collision covers and other aerodynamic layouts. The fuselage integrates a bomb bay, fire extinguishing bomb launching device, fire source detection and positioning module, image acquisition module and flight control module. Firefighting drones on the rooftops of large and important high-rise building complexes can form a firefighting drone swarm with a large fire extinguishing capability. The fire management platform is connected to the fire monitoring network, fire-fighting drone hangar, and drone swarm. It is used to receive alarms, display information, confirm fire conditions, and dispatch the drones and swarm to carry out coordinated fire-fighting operations.

[0009] The fire management platform is communicatively connected to the distributed fire monitoring network, each of the fire-fighting hangars, and the ducted fire-fighting drone cluster. It is used to receive and process fire alarm information, display real-time images transmitted back by the drones, provide operators with fire confirmation, and generate and issue flight control commands and coordinated fire-fighting commands.

[0010] Preferably, the distributed fire monitoring network includes multiple dual-channel fire detectors deployed on the roof; the dual channels include an infrared acquisition channel and a visible light acquisition channel; the dual-channel fire detector uses a built-in signal processing chip to fuse and analyze the temperature data acquired by the infrared channel and the image data acquired by the visible light channel, and confirms the fire alarm based on a preset judgment logic to reduce the false alarm rate.

[0011] Preferably, the distributed fire monitoring network also includes the fire and smoke alarm system already installed in the high-rise building, and the alarm signal of the system can be seamlessly connected to the distributed fire monitoring network.

[0012] Preferably, the fire-fighting hangar is a sealed protective structure with an electrically operated door at the top; the fire-fighting hangar integrates an intelligent charging device for automatically charging the fire-fighting drone, a loading device for automatically loading fire extinguishing bombs for the fire-fighting drone, and a power and ammunition quantity monitoring module.

[0013] Preferably, the firefighting drone adopts an anti-collision protection structure, including but not limited to ducted drones, multi-rotor drones equipped with protective anti-collision covers, and other aerodynamic layouts.

[0014] Preferably, the fire-fighting drone is equipped with a window-breaking fire extinguishing grenade launcher, the front end of which is integrated with a simple and quick mechanical window breaker, used to break the window glass of the building when necessary and quickly open up a fire extinguishing passage.

[0015] Preferably, the fire source detection and positioning module includes an infrared guidance unit and an image recognition unit; the infrared guidance unit is used to detect and track infrared radiation of a specific band emitted by the flame; the image recognition unit is used to acquire and analyze visible light and infrared video images.

[0016] Secondly, this invention provides a control method for a distributed ducted unmanned aerial vehicle (UAV) integrated monitoring and firefighting system, comprising the following steps: S1. Monitoring and alarm triggering: The building facade is monitored 24 hours a day through the distributed fire monitoring network. When the monitoring data meets the preset fire alarm judgment conditions, a fire alarm is triggered and a start signal is sent to the fire hangar corresponding to the building on fire. S2. Single-unit takeoff and reconnaissance confirmation: Upon receiving the start signal, the fire hangar automatically opens its doors, and the fire-fighting drone inside automatically takes off and conducts a patrol around the building. The drone uses its onboard infrared guidance unit and image acquisition unit to conduct close-range reconnaissance and precise positioning of suspected fire sources, and transmits the real-time images and positioning information obtained from the reconnaissance back to the fire management platform. S3. Manual verification and collaborative dispatch: The operators of the fire management platform manually verify the alarm data provided by the distributed fire monitoring network and the real-time image information transmitted back by the drone to confirm the authenticity of the fire. If it is confirmed to be a real fire, the platform issues a fire extinguishing command to the first reconnaissance drone. If it is a false alarm, the drone is instructed to automatically return to the rooftop hangar and cancel the fire alarm. If the fire is large, the drone swarm is activated for collaborative fire extinguishing, and at the same time, collaborative response commands and precise coordinates of the fire source are sent to other fire-fighting hangars in the system. S4. Multi-aircraft coordinated firefighting: Upon receiving the coordinated response command, firefighting drones in other fire hangars on the rooftops of high-rise buildings in the same area take off sequentially or simultaneously. Each drone plans the optimal flight path based on the received precise coordinates of the fire source and flies to the fire area to meet up with the first reconnaissance drone, forming a multi-aircraft coordinated firefighting matrix. Fire extinguishing bombs are launched from different spatial directions at the core of the fire source and its potential spread path. S5. Effect assessment and reset: During or after the deployment of fire extinguishing bombs, the drone uses onboard sensors to continuously monitor the temperature, smoke concentration and infrared radiation signals of the fire scene. When the monitoring data indicates that the fire has been extinguished and there is no risk of reignition, all participating drones are controlled to automatically return to their respective fire-fighting hangars. After returning to the hangars, the drones automatically recharge and replenish fire extinguishing bombs, and return to standby status.

[0017] Preferably, in step S2, the fire-fighting drone uses an infrared guidance unit to track the 3-5μm band infrared radiation of the flame, and uses a flight control module to gradually decelerate and approach the fire source, so as to observe and extinguish the fire as accurately as possible.

[0018] Preferably, in step S3, the precise coordinate information of the fire source includes at least the building number where the fire started, floor information, room orientation, and coordinate data based on the three-dimensional model of the building.

[0019] Preferably, in step S4 or S5, if the remaining battery power of a ducted firefighting drone participating in the operation is lower than the preset safe return threshold, the system automatically controls the drone to return to its own firefighting hangar for rapid charging and replenishment of fire extinguishing bombs. After replenishing the power, it can return to the fire scene to continue participating in collaborative firefighting operations as appropriate.

[0020] Preferably, in step S5, the criteria for determining that the fire has been extinguished include: the monitored ambient temperature dropping below 50°C and remaining stable, and the smoke concentration dropping to 0.1 mg / m³. 3 The characteristic infrared radiation signal of the flame was not detected again.

[0021] Therefore, the distributed ducted unmanned aerial vehicle (UAV) integrated monitoring and fire protection system and control method of the present invention, which adopts the above-described structure, has the following beneficial effects: (1) The distributed monitoring network in this invention is combined with the UAV "outpost" to compress the traditional fire-fighting hour-level response process to the second level, seize the key fire-fighting window in the early stage of the fire, and realize a rapid response to the fire, extinguishing the fire early, extinguishing the small fire, and extinguishing the bud.

[0022] (2) The fire-fighting drones deployed on the roof of high-rise buildings in this invention are not limited by the building height and can reach the external windows of any floor of the super high-rise building, thus breaking through the physical height limitation.

[0023] (3) The fire-fighting drone in this invention adopts an anti-collision protection structure, including but not limited to ducted drones and multi-rotor drones with protective anti-collision covers, which effectively avoids the risk of collision in complex airflow and narrow space at high altitudes, making the flight more stable and safer, and improving the safety and adaptability of operations.

[0024] (4) In this invention, the payload of multiple drones is aggregated through multi-drone coordinated scheduling, and a saturation attack on the fire source is achieved, which effectively solves the problem of insufficient single-drone capability of various fire-fighting drones and enhances the fire-fighting capability.

[0025] (5) The system provided by the present invention realizes the fully automated or semi-automated operation of the entire process from “monitoring-alarm-takeoff-reconnaissance-confirmation-coordinated strike-assessment-return to replenish energy”, which greatly reduces human delays, ensures the continuous combat readiness of the system, and constructs a fully automated closed loop.

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall system architecture; Figure 2 A flowchart illustrating the process of drone patrol, infrared navigation to confirm fire situation, and firefighting scenarios; Figure 3 This is a schematic diagram of the external structure of the drone; Figure 4 This is a schematic diagram of the cross-sectional structure of the UAV; Figure Labels 1. Mechanical window breaker; 2. Window-breaking fire extinguishing grenade launcher; 3. Thermal imaging + visible light dual optical system camera. Detailed Implementation

[0028] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] Example This invention provides a distributed culvert UAV monitoring and firefighting integrated system and control method. Please refer to [link / reference]. Figure 1 , Figure 2 This demonstrates the deployment architecture of the system of the present invention in a typical high-rise building complex (such as a residential community) and the response process in the event of a fire alarm. The core of the system includes: A distributed fire monitoring network involves deploying multiple dual-channel fire detectors along the outer edge of the rooftop walls of each high-rise building (e.g., Building A, Building B, Building C, etc.) within the residential community. Figure 1 As indicated by the label, these detectors are installed along the edge of the roof, and their monitoring range is covered by adjustable brackets to encompass all exterior facades and windows of the building. All detectors are connected to the fire management platform located in the fire control center via a network, forming a network that provides comprehensive, 24 / 7 monitoring.

[0031] A fire-fighting hangar is located on the rooftop of a high-rise building. It serves to store, protect, and provide logistical support for fire-fighting drones. The hangar is a sealed enclosure, rainproof and dustproof, with a fast-opening, electrically operated door on the top.

[0032] Firefighting drone swarms, such as Figure 3 and Figure 4 As shown, this is a ducted firefighting drone specifically designed for this invention. Figure 3 3D illustrations and Figure 4 The side view clearly shows its structure: the drone is powered by a ducted fan. A weapons bay is located in the middle of the fuselage. A window-breaking fire extinguishing grenade launcher 2 is integrated in the nose section, with a mechanical window breaker 1 mounted at its foremost point. A thermal imaging + visible light dual-optical system camera 3 is mounted above the nose for fire situation reconnaissance and confirmation. In addition, an infrared guidance head, flight control computer, and communication module are integrated within the fuselage.

[0033] The fire management platform is responsible for information aggregation, display, human decision-making, and instruction issuance.

[0034] Fire monitoring principle: The internal working principle of the dual-channel fire detector is as follows: Figure 1 As shown, it simultaneously operates the thermal imaging acquisition channel and the visible light acquisition channel.

[0035] The thermal imaging channel acquires infrared thermal imaging data of the monitored area through an infrared sensor (such as an uncooled infrared focal plane array with a response band of 7.5-14μm), which can identify local temperature anomalies (for example, the temperature of a certain area suddenly increases by ≥30℃ compared with the surrounding environment).

[0036] The visible light channel acquires visible light video data through a color camera and uses image processing algorithms to extract visual features of smoke (e.g., regional grayscale value fluctuation ≥20%, contour blur increase ≥30%, area expansion ≥1㎡ within 10 seconds) and visual features of flames (e.g., brightness flickering at a frequency of 5-20Hz, contour irregularity ≥40%, red and orange hue ratio in the image ≥60%).

[0037] The detector's central processing unit fuses and analyzes the dual-channel data. Its fire alarm determination logic is as follows (any one of the following conditions must be met): The infrared channel detected a sustained high-temperature point (duration ≥ 3 seconds) and the visible light channel identified smoke features; The infrared channel detected a high-temperature area (area ≥ 0.5㎡) and the visible light channel identified flame characteristics; The visible light channel simultaneously identifies smoke and flame features.

[0038] This fusion-based judgment mechanism effectively filters out common interferences such as sunlight reflection, light, and dust, significantly reducing the false alarm rate. Once a fire alarm is detected, the detector immediately outputs an alarm signal.

[0039] Combination Figure 1-4 Explanation of fire control methods and procedures: The following is based on Figure 1 Taking the scenario shown as an example, the system workflow is explained as follows: S1. Monitoring and Alarm Triggering: Assume a fire occurs in a room on the south side of the 15th floor of Building A. The fire monitoring network includes dual-channel fire detectors (infrared + visible light) or the existing fire and smoke alarm system of the high-rise building. If the building already has an existing system, its fire alarm signal will be directly acquired, without the need for additional detectors. The detector installed on the roof of Building A determines the fire alarm based on the above principle, immediately triggers a local audible and visual alarm, and simultaneously sends an activation signal to the fire management platform and the fire hangar on the roof of Building A via the network.

[0040] S2. Single-unit takeoff and reconnaissance confirmation: Upon receiving the signal, the top door of the fire-fighting hangar in Building A opens rapidly within ≤3 seconds. The ducted fire-fighting drone inside the hangar automatically activates and takes off. The drone conducts a low-altitude circling patrol along the exterior of Building A. Simultaneously, its onboard infrared seeker begins scanning and tracking the 3-5μm band infrared radiation emitted by the flames, and camera 3 captures real-time footage. The drone flies towards the heat source in a "rapid approach, gradual deceleration" mode, getting as close as possible to take clear photos. For example, after a fire detector detects a fire alarm, it encodes the fire alarm signal via a LoRa module → the gateway receives and parses it → it transmits it to the drone hangar control system → triggers a one-click takeoff command for the drone → the drone patrols the building according to a preset program → it uses infrared navigation to approach the suspected fire point for aerial photography → it initiates window breaking, fire extinguishing bomb firing, and returns to the hangar (performing one or more actions as needed) according to backend instructions. The reconnaissance information is transmitted back to the large screen of the fire management platform in real time.

[0041] S3. Manual verification and collaborative dispatch: The platform operator can simultaneously view detector alarm data (location, temperature) and real-time video transmitted by the drone on the screen. After confirming the fire is real, the operator performs two operations: 1) issues a "fire extinguishing" command to the first reconnaissance drone; 2) the platform automatically generates a collaborative command containing the precise coordinates of the fire source (e.g., building A, 15th floor, south side, latitude, longitude and altitude). If the fire is large, information and commands will be sent to the fire hangars on the rooftops of all other buildings, such as building B and building C.

[0042] S4. Multi-drone coordinated firefighting: The firefighting drones employ collision-resistant structures, including but not limited to ducted drones and multi-rotor drones equipped with protective covers or anti-collision shields, to ensure stable flight in complex airflow and confined spaces at high altitudes, reducing the risk of collisions. The first drone arrives outside the window of the room where the fire is taking place. If the window is closed, the window breaker 1 at the control end breaks the glass or the randomly equipped window-breaking fire extinguishing grenade launcher 2 fires a window-breaking fire extinguishing grenade. Subsequently, based on precise positioning, the fire extinguishing grenade launcher 2 continuously fires fire extinguishing grenade at the fire source for initial suppression. At the same time, if the fire is large, the fire-fighting hangars at locations B, C, etc., receive the coordinated command, and the drones inside automatically take off in sequence. Based on the received fire source coordinates, they automatically plan the optimal path to fly to the fire scene. After arriving in sequence, under the platform's scheduling, they automatically occupy different airspace positions around the fire scene, forming a "coordinated firefighting matrix" (e.g., Figure 1 (A schematic diagram of multiple drones surrounding the building at the source of the fire) Simultaneously launching fire extinguishing bombs from multiple angles to achieve comprehensive and efficient fire suppression.

[0043] S5. Effectiveness Assessment and Reset: During and after the firefighting process, each drone continuously monitors the fire scene temperature and smoke concentration using onboard sensors. When certain conditions are met, such as: temperature <50℃ and stable, smoke concentration <0.1mg / m³... 3 Without any visible flame or infrared signal, the platform determined that the fire had been extinguished. Subsequently, all drones automatically returned to their respective fire-fighting hangars and landed precisely. The automatic charging devices and automatic fire extinguishing bomb reloading devices in the hangars immediately activated, replenishing the drones' power and ammunition, allowing them to quickly return to full readiness.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A distributed ducted unmanned aerial vehicle monitoring fire-fighting integrated system, characterized in that, The application relates to a fire-fighting system for high-rise buildings. The system comprises: a distributed fire monitoring network arranged on the outer wall edges of the roof of a high-rise building, which is used for monitoring the fire characteristic information of the outer facade of the high-rise building; a fire-fighting unmanned vehicle standby hangar corresponding to the roof of the high-rise building, wherein each fire-fighting hangar contains at least one fire-fighting unmanned vehicle; the fire-fighting unmanned vehicle and cluster, wherein each fire-fighting unmanned vehicle adopts an anti-collision protection structure, including but not limited to a ducted unmanned vehicle, a multi-rotor unmanned vehicle provided with a protection anti-collision cover and other aerodynamic layouts, and is provided with a window breaking fire extinguishing bomb and a projection device, a fire source reconnaissance module and a flight control module, and a fire-fighting unmanned vehicle cluster with large fire extinguishing capacity can be formed by the fire-fighting unmanned vehicles on the roofs of large important high-rise building groups; 2. The integrated system for monitoring fire by distributed ducted unmanned aerial vehicle according to claim 1, wherein, a fire-fighting management platform in communication connection with the fire monitoring network, the fire-fighting unmanned vehicle hangar and the unmanned vehicle cluster, which is used for receiving an alarm, displaying information, confirming a fire and dispatching the unmanned vehicle and cluster to perform cooperative fire extinguishing operation.

3. The integrated system of claim 1, wherein, The fire monitoring network comprises a plurality of double-channel fire detectors, the double channels comprise an infrared channel used for collecting temperature information and a visible light channel used for collecting image information; the fire detector determines a fire alarm by fusing and analyzing infrared temperature rise data and smoke or flame characteristic data in a visible light image.

4. The integrated system for unmanned ducted fan vehicle monitoring and firefighting of claim 1, wherein, The fire-fighting hangar is a closed protection structure, and an electrically-driven opening door is arranged on the top of the fire-fighting hangar; the fire-fighting hangar is internally integrated with an automatic charging device used for supplementing power and rapid charging of the unmanned vehicle and an automatic loading device used for supplementing fire extinguishing bombs of the unmanned vehicle.

5. The integrated system for unmanned ducted vehicle monitoring and firefighting of claim 1, wherein, The fire-fighting unmanned vehicle is integrated with a window breaking fire extinguishing bomb projection device and a rapid mechanical window breaking device.

6. A control method of the integrated system for monitoring fire fighting based on the distributed ducted unmanned aerial vehicle according to any one of claims 1-5, characterized in that, The fire source reconnaissance module comprises an infrared guidance unit used for tracking infrared radiation of a specific waveband of a flame and an image acquisition unit used for collecting visible light / infrared video images and image transmission. The application further discloses a fire-fighting method for high-rise buildings. S1, a fire alarm signal is monitored by the distributed fire monitoring network or an original fire alarm smoke monitoring system of a high-rise building, an alarm is triggered, and a fire-fighting hangar of a target building is activated; S2, a fire-fighting unmanned vehicle in the target fire-fighting hangar automatically takes off, approaches a suspected fire source for reconnaissance, and returns the reconnaissance information to the fire-fighting management platform; S3, the fire-fighting management platform confirms the fire, and if the fire is confirmed, cooperative instructions and fire source position information are sent to other unmanned vehicles in the unmanned vehicle cluster; if the fire is determined to be a false alarm, a homeward flight instruction is sent, and the unmanned vehicle automatically returns home; 7. The control method of the distributed ducted unmanned aerial vehicle monitoring fire-fighting integrated system according to claim 6, characterized in that, S4, if the fire is large, the fire-fighting management platform sends a fire extinguishing instruction to the unmanned vehicle cluster, a plurality of unmanned vehicles in the same region receiving the cooperative instruction fly to the fire source position, form a fire extinguishing matrix with the first reconnaissance unmanned vehicle, and project fire extinguishing bombs from different directions or echelons according to a preset program to extinguish the fire.

8. The control method of the distributed ducted unmanned aerial vehicle monitoring fire-fighting integrated system according to claim 6, characterized in that, In the step S2, the unmanned vehicle tracks infrared radiation of a flame by using an infrared guidance unit, and approaches the glass window at the fire source position in a gradually decelerated manner. In the step S3, the fire source position information at least comprises main space position information such as building number, floor information and room orientation.

9. The control method of the distributed ducted unmanned aerial vehicle monitoring fire-fighting integrated system according to claim 6, wherein, In the step S4, if the residual power of a certain UAV is lower than the preset threshold, the UAV is controlled to automatically return to its own fire station hangar for charging and / or replenishing fire extinguishing bombs, and then returns to participate in the cooperative fire extinguishing according to the situation.

10. The control method of the distributed ducted unmanned aerial vehicle monitoring fire-fighting integrated system according to claim 6, wherein, Further comprising a step S5: after the fire extinguishing bomb is launched, the environmental parameters of the fire site are continuously monitored by the on-board sensors of the UAV. When the environmental temperature, smoke concentration and infrared radiation signal all recover to below the safety threshold and remain stable, it is determined that the fire extinguishing is completed, and all the participating UAVs are controlled to automatically return to their respective fire station hangars for energy and ammunition replenishment.

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