Unmanned aerial vehicle cooperative type high-altitude fire extinguishing rescue device and method

Abstract

The invention relates to the technical field of unmanned aerial vehicle high-altitude fire extinguishing rescue, and discloses an unmanned aerial vehicle cooperative type high-altitude fire extinguishing rescue device and method.The unmanned aerial vehicle cooperative type high-altitude fire extinguishing rescue device comprises a fire fighting truck, a rope climbing machine storage box and an unmanned aerial vehicle storage box are installed on the upper side of the fire fighting truck, and a rope climbing robot and a water spraying assembly are arranged on the inner side of the rope climbing machine storage box; the rope climbing robot is connected with the water spraying assembly, an unmanned aerial vehicle is arranged on the inner side of the unmanned aerial vehicle storage box, and a rope locking robot is fixedly installed on the lower portion of the unmanned aerial vehicle. The rope locking robot comprises a quick connecting assembly, an adjusting assembly, a fine adjusting assembly and a clamping assembly, and the quick connecting assembly is installed on the lower portion of the unmanned aerial vehicle. Through full-process automatic cooperation of the unmanned aerial vehicle, the rope locking robot, the rope climbing robot and the ground winding and unwinding system, closed-loop operation from deployment, rope arrangement, fire extinguishing to recovery is achieved. And the single task period is greatly shortened, and the emergency turnover capacity of fire fighting equipment in continuous fire behavior or multi-point rescue is improved.

Description

Technical Field

[0001] This invention relates to the field of drone high-altitude firefighting and rescue technology, specifically to a drone-assisted high-altitude firefighting and rescue device and method. Background Technology

[0002] Firefighting and rescue in super high-rise buildings is a world-class challenge in the field of fire protection. Existing technologies have many limitations when dealing with fires in mid-rise and super high-rise buildings: The operation of aerial ladder trucks is limited: Due to their structural design, aerial ladder trucks and high-pressure water cannons have limited operating heights (usually difficult to reach more than 250 meters) and require strict site requirements for deployment. In complex environments such as dense buildings and narrow alleys, these large vehicles are difficult to deploy or even impossible to enter, severely restricting their applicability.

[0003] Traditional firefighting robots have poor applicability: Most existing firefighting robots are designed for ground or low-level operations. If they are to be deployed to high altitudes, they often rely on complex external auxiliary equipment such as tower cranes and helicopters. This is not only inefficient and costly, but also makes it difficult to guarantee the stability and safety of the robot's operation under the influence of high-altitude airflow disturbances such as strong winds and dense smoke.

[0004] The direct firefighting solution using drones is not yet mature: directly using drones to carry fire extinguishing agents or attach robots places extremely high demands on the drones' payload, endurance, and wind resistance, leading to a sharp increase in equipment costs. Furthermore, heavy-load drones pose a risk of loss of control in complex fire environments (such as dense smoke obscuring visibility or strong winds), and their limited payload capacity can only handle small-scale initial fires, failing to meet the needs of main firefighting operations.

[0005] Existing rope securing and retrieval mechanisms are cumbersome: Current single-rope or double-rope traction-type high-altitude firefighting devices typically rely on complex multi-component linkage structures for securing the rope ends, making operation cumbersome and lacking effective means to test the reliability of the securing. After the mission, unlocking and retrieving the ropes and securing devices often requires manual climbing intervention or complex remote control operations, resulting in lengthy processes that severely impact the turnaround efficiency and continuous operational capability of rescue equipment. Summary of the Invention

[0006] The purpose of this invention is to provide a drone-assisted high-altitude firefighting and rescue device and method to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a drone-assisted high-altitude fire fighting and rescue device, comprising a fire truck, wherein a rope climbing machine storage box and a drone storage box are installed on the upper side of the fire truck, a rope climbing robot and a water spraying assembly are arranged inside the rope climbing machine storage box, the rope climbing robot and the water spraying assembly are interconnected, a drone is arranged inside the drone storage box, a rope locking robot is fixedly installed on the lower part of the drone, and a rope retrieval assembly is installed inside the fire truck; The rope-locking robot includes a quick-connect assembly, an adjustment assembly, a fine-tuning assembly, and a clamping assembly. The quick-connect assembly is installed on the lower part of the drone. An adjustment assembly is fixedly connected to the other side of the quick-connect assembly. Two sets of fine-tuning assemblies are threadedly connected to the inner side of the adjustment assembly. Clamping assemblies are installed at both ends of the fine-tuning assembly. The rope-climbing robot includes a rope and a rope-climbing machine; The lower part of the rope-locking robot is attached to a rope. The drone drives the rope-locking robot into the air, where it hugs the building pole to complete the locking. The rope-climbing machine climbs along the rope, driving the water spraying assembly to rise and spray water at high altitude to extinguish the fire.

[0008] Furthermore, the drone storage box includes a box body, a motor, a sprocket, a chain, a lead screw, a moving block, a connecting frame, a connecting rod, a landing platform, and a wireless charging module. The box body is fixedly connected to the upper side of the fire truck. The motor is fixedly connected to the inner bottom of the box body. Lead screws are rotatably connected to the four corners of the box body. Sprockets are fixedly connected to the lower ends of the lead screws. Chains are meshed on the outer sides of the four sets of sprockets. The output end of the motor is fixedly connected to one set of sprockets. The lead screw is threaded to a movable block, the movable block is fixedly connected to a connecting frame, the upper side of the connecting frame is fixedly connected to four sets of connecting rods, the upper side of the connecting rods is fixedly connected to a stop platform, and the lower side of the stop platform is fixedly connected to a wireless charging module.

[0009] After the fire and rescue vehicle arrived at the scene, the drone storage box and rope climbing machine storage box located on top of the platform opened. Motor 1 below the landing platform started, driving four lead screws to rotate synchronously via sprockets and chains. This, in turn, drove the moving block 1 to smoothly lift the connecting frame and the entire landing platform, preparing for drone takeoff. Simultaneously, motor 2 of the rope winding assembly drove the winding and releasing drum to rotate, releasing one end of the rope in preparation for connection with the rope-locking robot. Furthermore, the rope winding assembly includes a support base, a second motor, and a winding and unwinding drum. The support base is fixedly connected to the inner side of the fire truck, and the winding and unwinding drum is rotatably connected to the inner side of the support base. The second motor is fixedly connected to the outer side of the support base, and the output end of the second motor is fixedly connected to the winding and unwinding drum. One end of the rope is fixedly connected to the winding and unwinding drum.

[0010] Furthermore, the drone includes a drone body, a camera, and a support. The support is placed on the upper side of the landing platform, and the drone body is fixedly connected to the upper side of the support. The camera is installed on the drone body.

[0011] Furthermore, the quick-connect assembly includes a tube shell, a connecting pipe, a pipe clamp, a third motor, a connecting frame, a first hanging ring, and a support platform. The tube shell is fixedly installed on the lower part of the support. The connecting pipe is inserted into the inner side of the tube shell. The pipe clamp is installed on the outer side of the tube shell by screws. The pipe clamp is used to fasten the connection between the tube shell and the connecting pipe. One end of the connecting pipe is fixedly connected to the connecting frame. The third motor is fixedly connected to the inner side of the connecting frame. The first hanging ring is fixedly connected to the lower side of the connecting frame. The output end of the third motor is fixedly connected to the support platform.

[0012] The operator controls the drone to take off, with a tethered robot fixed to a support frame below. The drone flies to the top of the target building, uses a camera for positioning, and slowly descends. At this point, a hook at the bottom of the tethered robot is connected to a ground-based take-up and drop-off cylinder via a rope. Furthermore, the adjustment assembly includes a frame, a fourth motor, a bidirectional lead screw, a guide rod, and a second movable block. The support platform is fixedly connected to the frame at the end away from the third motor. The fourth motor is fixedly connected to the inner side of the frame. The output end of the fourth motor is fixedly connected to the bidirectional lead screw. The other end of the bidirectional lead screw is rotatably connected to the inner side of the frame. The guide rod is fixedly connected to the inner side of the frame. The bidirectional lead screw is provided with a threaded section opposite to the two threaded sections. The outer thread of the threaded section is threadedly connected to the second movable block.

[0013] Furthermore, the fine-tuning component includes a movable base, a motor five, gear one, gear two, gear three, and a ring rack. The movable base is fixedly connected to the outer side of the movable block two. The movable base slides on the outer side of the guide rod. A support plate is fixedly connected to the outer side of the movable base. Motor five is fixedly connected to the outer side of the support plate. Gear one is fixedly connected to the output end of motor five. Two sets of gear two mesh with the outer side of gear one. Gear three is fixedly connected to one side of gear two. A ring rack meshes with the outer side of gear three. The ring rack rotates around the movable base.

[0014] Furthermore, the clamping assembly includes a motor six, a mounting base, a gear four, a gripper one, a gear four, and a gripper two. Both ends of the annular rack are fixedly connected to the motor six and the mounting base. Both ends of the mounting base are rotatably connected to the gear four and the gear four, which mesh with each other. Gear four is fixedly connected to the gear four, and gripper two is fixedly connected to the gear four. The output end of the motor six is ​​fixedly connected to the gear four.

[0015] As the rope-locking robot approaches the target pole, its fine-tuning and clamping components begin to function: Coarse positioning: The drone adjusts its attitude to bring the target rod into the opening range of the clamping component below the connecting frame.

[0016] Fine-tuning and centering: The motor four inside the adjustment assembly starts, driving the bidirectional lead screw to rotate, which in turn drives the two moving blocks two and the entire set of fine-tuning and clamping components fixed on them to move in opposite directions along the guide rod, thereby adjusting the distance between the two sets of clamps to accommodate rods of different lengths.

[0017] Gripper Locking: Motor 5 of the fine-tuning component starts, driving gear 1 to rotate. Through gears 2 and 3, this drives the ring rack and its entire internal clamping assembly to rotate, aligning the grippers with the pole. Subsequently, motor 6 of the clamping assembly starts, driving gear 4 to rotate. Gear 5, meshing with gear 4, rotates in the opposite direction, causing grippers 1 and 2 to synchronously close inward, firmly gripping the building pole. A built-in pressure sensor (not shown) detects the locking force to ensure reliable fixation. Motor 3 drives the adjustment component, fine-tuning component, and clamping component to rotate, keeping them parallel to the building pole. Furthermore, the rope climbing machine includes a protective shell, a motor seven, a rotating wheel, a drive wheel, and a hanging ring two. The protective shell is placed inside the storage box of the rope climbing machine. The drive wheel is rotatably connected to the inner side of the protective shell. The motor seven is fixedly connected to the outer side of the protective shell. The output end of the motor seven is fixedly connected to the drive wheel. Two sets of rotating wheels are rotatably connected to the inner side of the protective shell. The hanging ring two is fixedly connected to the lower side of the protective shell. The rope passes between the two sets of rotating wheels and the drive wheel. The water spray assembly includes a water cannon, a third hanging ring, and a fourth hanging ring. The water cannon is placed inside the rope climbing machine storage box and below the rope climbing robot. The fourth hanging ring and the third hanging ring are fixedly connected to the upper side of the water cannon. The fourth hanging ring is hooked to the second hanging ring, and the rope passes through the third hanging ring.

[0018] After the locking robot is secured, the rope is threaded onto the climbing robot. The take-up and release drum at the ground end reverses, tightening the rope to create a taut climbing track. Subsequently, the internal motor 7 starts, driving the drive wheel to rotate. This wheel, in conjunction with the two driven wheels, clamps the rope and enables autonomous climbing.

[0019] After the rope-climbing robot reaches the designated height, the rope passes through the third hook and connects to the deployment and take-up cylinder, as the second and fourth hooks below it are connected. The water spray assembly rises synchronously under the traction of the rope-climbing robot. Upon reaching the fire source, the water cannon begins spraying water to extinguish the fire.

[0020] After the fire was extinguished, the rope-climbing robot reversed its motor, descended along the rope, and brought the water spray unit back to the ground. It then landed in the rope-climbing robot's storage box.

[0021] A method for drone-assisted high-altitude firefighting and rescue includes the following steps: S1. Deployment and preparation: Deploy the drone carrying the rope-locking robot on the landing platform of the fire and rescue vehicle, and connect one end of the rope to the rope-locking robot and the other end to the take-up and release tube. S2. Drones take off and lay ropes: Control the drone to fly to the height of the target building with the rope-locking robot, and use the rope-locking robot to automatically hug the building pole to complete the fixation of the top of the rope; S3. Rope tensioning and rope climbing robot ascent: The ground-end retractor reverses to tighten the rope, forming a climbing track; the rope climbing robot is controlled to autonomously climb along the rope to the designated height; S4. Collaborative fire suppression: Connect the water spray unit to the rope climbing robot, and rise synchronously under the traction of the rope climbing robot. After reaching the fire source, spray water to extinguish the fire. S5. Recovery: After the fire is extinguished, the rope-climbing robot descends along the rope and brings the water spray component back to the ground; the rope-locking robot unlocks and detaches from the building pole, and is then retrieved by a drone; the retraction drum retracts the rope and resets the device.

[0022] Compared with the prior art, the present invention provides a drone-assisted high-altitude fire fighting and rescue device and method, which has the following beneficial effects: 1. This invention achieves a closed-loop operation from deployment, rope laying, firefighting, to recovery through the fully automated collaboration of a drone, a rope-locking robot, a rope-climbing robot, and a ground-based deployment and retrieval system. After the drone carries the rope-locking robot into the air, it automatically completes the coarse positioning, fine-tuning, angle adaptation, and gripper locking of the pole through the coordinated action of multi-stage transmission and adjustment mechanisms, without the need for manual intervention at high altitudes. After the rope is secured, the ground-based deployment and retrieval system automatically tensions to form a climbing track, and the rope-climbing robot, carrying the water spray component, quickly ascends to extinguish the fire. After the mission is completed, the rope-locking robot receives a signal and automatically unlocks, the drone hoists and recovers the rope, the deployment and retrieval system simultaneously retracts the rope, the landing platform automatically descends to reset, and wireless charging is initiated. The entire process is tightly integrated, significantly shortening the cycle of a single mission and improving the emergency turnaround capability of firefighting equipment in continuous fires or multi-point rescues.

[0023] 2. This invention addresses the issue of varying specifications and orientations of poles on the top of high-rise buildings. The rope-locking robot integrates multi-dimensional adjustment capabilities: the adjustment component drives the grippers to move laterally via a bidirectional lead screw, adapting to different pole lengths; a three-motor drive rotates the entire clamping mechanism, ensuring parallel alignment with the pole; a fine-tuning component drives a ring rack via gear transmission to precisely adjust the gripper's biting direction; finally, a six-motor drive in the clamping component synchronously closes and tightens the grippers. Multi-degree-of-freedom adjustment ensures the optimal contact angle between the grippers and the pole, and a built-in pressure sensor provides real-time feedback on the locking force, ensuring reliable fixation. Furthermore, the pipe clamp enables rapid assembly and disassembly of the drone and the rope-locking robot, and the wireless charging module ensures the drone remains operational. The overall solution exhibits strong adaptability and operational stability in complex and harsh high-altitude fire environments. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another angle; Figure 3 This is a three-dimensional structural schematic diagram of the fire truck of the present invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A; Figure 5 This is a three-dimensional structural diagram of the drone storage box of the present invention; Figure 6 This is a schematic diagram of the internal three-dimensional structure of the drone storage box of the present invention; Figure 7 This is a bottom-view three-dimensional structural diagram of the drone storage box of the present invention; Figure 8 For the present invention Figure 7 Enlarged structural diagram at point B; Figure 9 This is a three-dimensional structural diagram of the UAV of the present invention; Figure 10 This is a three-dimensional structural diagram of the UAV of the present invention viewed from below; Figure 11 This is a three-dimensional structural diagram of the rope-locking robot of the present invention; Figure 12 This is a three-dimensional structural diagram of the rope-locking robot of the present invention from another angle; Figure 13 This is an exploded three-dimensional structural diagram of the adjusting component of the present invention; Figure 14 For the present invention Figure 13 Enlarged structural diagram at point C; Figure 15 For the present invention Figure 13 Enlarged structural diagram at point D; Figure 16 This is an exploded three-dimensional structural diagram of the quick-connect component of the present invention; Figure 17 This is a three-dimensional structural diagram of the internal structure of the rope climbing machine storage box after it has been cut open. Figure 18 This is a three-dimensional structural diagram of the rope-climbing robot of the present invention.

[0025] In the diagram: 1. Fire truck; 2. Rope climbing machine storage box; 3. Drone storage box; 31. Box body; 32. Motor 1; 33. Sprocket; 34. Chain; 35. Lead screw; 36. Moving block 1; 37. Connecting frame; 38. Connecting rod; 39. Stop platform; 310. Wireless charging module; 4. Rope winding assembly; 41. Support base; 42. Motor 2; 43. Winding tube; 5. Drone; 51. Drone body; 52. Camera; 53. Bracket; 6. Rope locking robot; 61. Quick-connect assembly; 611. Pipe shell; 612. Connecting pipe; 613. Pipe clamp; 614. Motor 3; 615. Connecting frame; 616. Hanging ring 1; 617. Support platform; 62. Adjustment group Components; 621, Frame; 622, Motor 4; 623, Bidirectional Lead Screw; 624, Guide Rod; 625, Moving Block 2; 63, Fine Adjustment Component; 631, Moving Seat; 632, Motor 5; 633, Gear 1; 634, Gear 2; 635, Gear 3; 636, Ring Rack; 64, Clamping Component; 641, Motor 6; 642, Mounting Base; 643, Gear 4; 644, Gripper 1; 645, Gear 4; 646, Gripper 2; 7, Rope Climbing Robot; 71, Protective Shell; 72, Motor 7; 73, Rotary Wheel; 74, Rope; 75, Drive Wheel; 76, Hanging Ring 2; 8, Water Spray Component; 81, Water Cannon; 82, Hanging Ring 3; 83, Hanging Ring 4. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0027] Please see Figures 1-18A drone-assisted high-altitude fire fighting and rescue device includes a fire truck 1. A rope climbing machine storage box 2 and a drone storage box 3 are installed on the upper side of the fire truck 1. A rope climbing robot 7 and a water spraying component 8 are arranged inside the rope climbing machine storage box 2. The rope climbing robot 7 and the water spraying component 8 are connected to each other. A drone 5 is arranged inside the drone storage box 3. A rope locking robot 6 is fixedly installed on the lower part of the drone 5. A rope retraction component 4 is installed inside the fire truck 1. The rope-locking robot 6 includes a quick-connect component 61, an adjustment component 62, a fine-tuning component 63, and a clamping component 64. The quick-connect component 61 is installed on the lower part of the drone 5. The adjustment component 62 is fixedly connected to the other side of the quick-connect component 61. Two sets of fine-tuning components 63 are threadedly connected to the inner side of the adjustment component 62. The clamping components 64 are installed at both ends of the fine-tuning component 63. The rope-climbing robot 7 includes a rope 74 and a rope-climbing machine; The lower part of the rope-locking robot 6 is attached to the rope 74. The drone 5 drives the rope-locking robot 6 to take off and hug the building pole to complete the locking. The rope-climbing machine climbs along the rope 74, which drives the water spraying component 8 to rise and spray water to extinguish the fire at high altitude.

[0028] Furthermore, the drone storage box 3 includes a box body 31, a motor 32, a sprocket 33, a chain 34, a lead screw 35, a moving block 36, a connecting frame 37, a connecting rod 38, a landing platform 39, and a wireless charging module 310. The box body 31 is fixedly connected to the upper side of the fire truck 1. The motor 32 is fixedly connected to the inner bottom of the box body 31. Lead screws 35 are rotatably connected to the four corners of the box body 31. The lower end of the lead screw 35 is fixedly connected to the sprocket 33. The chains 34 are meshed on the outer sides of the four sets of sprockets 33. The output end of the motor 32 is fixedly connected to one set of sprockets 33. A movable block 36 is threadedly connected to the outer side of the lead screw 35. A connecting frame 37 is fixedly connected to the outer side of the movable block 36. Four sets of connecting rods 38 are fixedly connected to the upper side of the connecting frame 37. A stop table 39 is fixedly connected to the upper side of the connecting rods 38. A wireless charging module 310 is fixedly connected to the lower side of the stop table 39.

[0029] After the fire rescue vehicle 1 arrives at the scene, the drone storage box 3 and the rope climbing machine storage box 2 located on its top open. The motor 32 under the landing platform 39 starts, driving the four lead screws 35 to rotate synchronously through the sprocket 33 and chain 34, thereby driving the moving block 36 to smoothly lift the connecting frame 37 and the entire landing platform 39, preparing for the drone 5 to take off. At the same time, the motor 42 of the rope taking assembly 4 drives the take-up and release tube 43 to rotate, releasing one end of the rope 74, ready to connect with the rope locking robot 6; Furthermore, the rope winding assembly 4 includes a support base 41, a second motor 42, and a winding and unwinding drum 43. The support base 41 is fixedly connected to the inner side of the fire truck 1, and the winding and unwinding drum 43 is rotatably connected to the inner side of the support base 41. The second motor 42 is fixedly connected to the outer side of the support base 41, and the output end of the second motor 42 is fixedly connected to the winding and unwinding drum 43. One end of the rope 74 is fixedly connected to the winding and unwinding drum 43.

[0030] Furthermore, the drone 5 includes a drone body 51, a camera 52, and a support 53. The support 53 is placed on the upper side of the landing platform 39, and the drone body 51 is fixedly connected to the upper side of the support 53. The camera 52 is installed on the drone body 51.

[0031] Furthermore, the quick-connect assembly 61 includes a tube shell 611, a connecting pipe 612, a pipe clamp 613, a motor 614, a connecting frame 615, a hanging ring 616, and a support platform 617. The tube shell 611 is fixedly installed on the lower part of the bracket 53. The connecting pipe 612 is inserted into the inner side of the tube shell 611. The pipe clamp 613 is installed on the outer side of the tube shell 611 by screws. The pipe clamp 613 is used to fasten the connection between the tube shell 611 and the connecting pipe 612. The connecting frame 615 is fixedly connected to one end of the connecting pipe 612. The motor 614 is fixedly connected to the inner side of the connecting frame 615. The hanging ring 616 is fixedly connected to the lower side of the connecting frame 615. The support platform 617 is fixedly connected to the output end of the motor 614.

[0032] The operator controls the drone 5 to take off, with the tethered robot 6 fixed to the support 53 below it. The drone 5 flies to the top floor of the target building, locates itself using the camera 52, and slowly descends. At this time, the hanging ring 616 at the bottom of the tethered robot 6 is connected to the ground-based take-up and drop-off cylinder 43 via the rope 74; Furthermore, the adjustment assembly 62 includes a frame 621, a fourth motor 622, a bidirectional lead screw 623, a guide rod 624, and a second moving block 625. The support platform 617 is fixedly connected to the frame 621 at one end away from the third motor 614. The fourth motor 622 is fixedly connected to the inner side of the frame 621. The output end of the fourth motor 622 is fixedly connected to the bidirectional lead screw 623. The other end of the bidirectional lead screw 623 is rotatably connected to the inner side of the frame 621. The guide rod 624 is fixedly connected to the inner side of the frame 621. The bidirectional lead screw 623 is provided with a threaded section opposite to the two threaded sections. The second moving block 625 is threadedly connected to the outer side of the threaded section.

[0033] Furthermore, the fine-tuning component 63 includes a movable base 631, a motor 632, a gear 633, a gear 634, a gear 635, and a ring rack 636. The movable base 631 is fixedly connected to the outer side of the movable block 625. The movable base 631 slides on the outer side of the guide rod 624. A support plate is fixedly connected to the outer side of the movable base 631. The motor 632 is fixedly connected to the outer side of the support plate. The output end of the motor 632 is fixedly connected to the gear 633. Two sets of gears 634 mesh with the outer side of the gear 633. A gear 635 is fixedly connected to one side of the gear 634. The ring rack 636 meshes with the outer side of the gear 635. The ring rack 636 rotates around the movable base 631.

[0034] Furthermore, the clamping assembly 64 includes a motor 641, a mounting base 642, a gear 643, a gripper 644, a gear 645, and a gripper 646. The motor 641 and the mounting base 642 are fixedly connected to both ends of the annular rack 636. The gears 643 and 645 are rotatably connected to both ends of the mounting base 642, respectively. The gears 643 and 645 mesh with each other. The gripper 644 is fixedly connected to the gear 643, and the gripper 646 is fixedly connected to the gear 645. The output end of the motor 641 is fixedly connected to the gear 643.

[0035] When the rope-locking robot 6 approaches the target rod, its fine-tuning component 63 and clamping component 64 begin to work: Coarse positioning: The UAV 5 adjusts its attitude so that the target rod enters the opening range of the clamping component 64 below the connecting frame 615.

[0036] Fine-tuning centering: The motor 622 inside the adjusting component 62 starts, driving the bidirectional lead screw 623 to rotate, which drives the two moving blocks 625 and the entire set of fine-tuning components 63 and clamping components 64 fixed on them to move in opposite directions along the guide rod 624, thereby adjusting the distance between the two sets of clamps to accommodate rods of different lengths.

[0037] Gripper Locking: Motor 5 (632) of the fine-tuning component 63 starts, driving gear 1 (633) to rotate. Through gears 2 (634) and 3 (635), this drives the ring rack 636 and its entire internal clamping assembly 64 to rotate, aligning the grippers with the pole. Subsequently, motor 6 (641) of the clamping assembly 64 starts, driving gear 4 (643) to rotate. Gear 5 (645), meshing with it, rotates in the opposite direction, causing grippers 1 (644) and 2 (646) to synchronously close inward, firmly gripping the building pole. An internal pressure sensor (not shown in the diagram) detects the locking force, ensuring reliable fixation. Motor 3 (614) drives the adjusting component 62, fine-tuning component 63, and clamping assembly 64 to rotate, keeping them parallel to the building pole. Furthermore, the rope climbing machine includes a protective shell 71, a motor 72, a rotating wheel 73, a drive wheel 75, and a hanging ring 76. The protective shell 71 is placed inside the rope climbing machine storage box 2. The drive wheel 75 is rotatably connected to the inside of the protective shell 71. The motor 72 is fixedly connected to the outside of the protective shell 71. The output end of the motor 72 is fixedly connected to the drive wheel 75. Two sets of rotating wheels 73 are rotatably connected to the inside of the protective shell 71. The hanging ring 76 is fixedly connected to the lower side of the protective shell 71. The rope 74 passes between the two sets of rotating wheels 73 and the drive wheel 75. The water spray assembly 8 includes a water cannon 81, a third hanging ring 82, and a fourth hanging ring 83. The water cannon 81 is placed inside the rope climbing machine storage box 2 and below the rope climbing robot 7. The fourth hanging ring 83 and the third hanging ring 82 are fixedly connected to the upper side of the water cannon 81. The fourth hanging ring 83 is hooked to the second hanging ring 76, and the rope 74 passes through the third hanging ring 82.

[0038] After the locking robot 6 is fixed, the rope 74 is threaded onto the climbing robot 7. The take-up and release cylinder 43 at the ground end reverses, tightening the rope 74 to form a taut climbing track. Then, the internal motor 72 starts, driving the drive wheel 75 to rotate. This wheel works in conjunction with the two driven wheels 73 to clamp the rope 74 and achieve autonomous climbing.

[0039] After the rope-climbing robot 7 climbs to the designated height, its lower hanging rings 76 and 83 are connected, and the rope 74 passes through the hanging ring 82 and connects to the take-up and release cylinder 43. The water spray assembly 8 rises synchronously under the traction of the rope-climbing robot 7. Upon reaching the fire source, the water cannon 81 begins spraying water to extinguish the fire.

[0040] After the fire was extinguished, the rope-climbing robot 7 reversed its motor and descended along rope 74, bringing the water spray assembly 8 back to the ground. It then fell into the rope-climbing robot storage box 2.

[0041] A method for drone-assisted high-altitude firefighting and rescue includes the following steps: S1. Deployment and preparation: Place the drone 5 carrying the rope-locking robot 6 on the landing platform 39 of the fire rescue vehicle 1, and connect one end of the rope 74 to the rope-locking robot 6 and the other end to the take-up and release tube 43. S2. Drone takes off and lays rope: Control drone 5 to fly to the height of the target building with rope locking robot 6, and automatically hug the building pole through rope locking robot 6 to complete the top fixation of rope 74. S3, Rope tensioning and rope climbing robot ascent: The ground end retractor 43 reverses to tighten the rope 74, forming a climbing track; control the rope climbing robot 7 to autonomously climb along the rope 74 to the designated height; S4. Collaborative fire extinguishing: Connect the water spray assembly 8 to the rope climbing robot 7, and rise synchronously under the traction of the rope climbing robot 7. After reaching the fire source, spray water to extinguish the fire. S5. Recovery: After the fire is extinguished, the rope-climbing robot 7 descends along the rope 74 and drives the water spray component 8 back to the ground; the rope-locking robot 6 unlocks and detaches from the building pole, and is then lifted and recovered by the drone 5; the retraction tube 43 retracts the rope 74 and the device is reset.

[0042] The specific usage and function of this embodiment are as follows: After the fire rescue vehicle 1 arrives at the scene, the drone storage box 3 and the rope climbing machine storage box 2 located on its top open. The motor 32 under the landing platform 39 starts, driving the four lead screws 35 to rotate synchronously through the sprocket 33 and chain 34, thereby driving the moving block 36 to smoothly lift the connecting frame 37 and the entire landing platform 39, preparing for the drone 5 to take off. At the same time, the motor 42 of the rope taking assembly 4 drives the take-up and release tube 43 to rotate, releasing one end of the rope 74, ready to connect with the rope locking robot 6.

[0043] The operator controls the drone 5 to take off, with the tethered robot 6 fixed on the support 53 below it. The drone 5 flies to the top floor of the target building, locates itself using the camera 52, and slowly descends. At this time, the hanging ring 616 at the bottom of the tethered robot 6 is connected to the ground-based take-up and drop-off cylinder 43 via the rope 74.

[0044] When the rope-locking robot 6 approaches the target rod, its fine-tuning component 63 and clamping component 64 begin to work: Coarse positioning: The UAV 5 adjusts its attitude so that the target rod enters the opening range of the clamping component 64 below the connecting frame 615.

[0045] Fine-tuning centering: The motor 622 inside the adjusting component 62 starts, driving the bidirectional lead screw 623 to rotate, which drives the two moving blocks 625 and the entire set of fine-tuning components 63 and clamping components 64 fixed on them to move in opposite directions along the guide rod 624, thereby adjusting the distance between the two sets of clamps to accommodate rods of different lengths.

[0046] Gripper Locking: Motor 5 (632) of the fine-tuning component 63 starts, driving gear 1 (633) to rotate. Through the transmission of gears 2 (634) and 3 (635), this drives the annular rack 636 and its entire internal clamping assembly 64 to rotate, aligning the grippers with the pole. Subsequently, motor 6 (641) of the clamping assembly 64 starts, driving gear 4 (643) to rotate. Gear 5 (645), which meshes with it, rotates in the opposite direction, causing grippers 1 (644) and 2 (646) to synchronously close inward, firmly gripping the building pole. An internal pressure sensor (not shown in the diagram) detects the locking force, ensuring reliable fixation. Motor 3 (614) drives the adjusting component 62, fine-tuning component 63, and clamping assembly 64 to rotate, keeping them parallel to the building pole.

[0047] After the locking robot 6 is fixed, the rope 74 is threaded onto the climbing robot 7. The take-up and release cylinder 43 at the ground end reverses, tightening the rope 74 to form a taut climbing track. Then, the internal motor 72 starts, driving the drive wheel 75 to rotate. This wheel works in conjunction with the two driven wheels 73 to clamp the rope 74 and achieve autonomous climbing.

[0048] After the rope-climbing robot 7 climbs to the designated height, its lower hanging rings 76 and 83 are connected, and the rope 74 passes through the hanging ring 82 and connects to the take-up and release cylinder 43. The water spray assembly 8 rises synchronously under the traction of the rope-climbing robot 7. Upon reaching the fire source, the water cannon 81 begins spraying water to extinguish the fire.

[0049] After the fire was extinguished, the rope-climbing robot 7 reversed its motor and descended along rope 74, bringing the water spray assembly 8 back to the ground. It then fell into the rope-climbing robot storage box 2.

[0050] After receiving the signal, the rope-locking robot 6 drives grippers 644 and 646 to open, detaching them from the building pole.

[0051] Drone 5 descends slowly, hoisting the rope-locking robot 6 back to the docking platform 39. Simultaneously, motor 42 drives the take-up and release tube 43 to rotate, neatly retrieving the rope 74. After all components are in place, the docking platform 39 descends and is reassembled into the drone storage box 3. The device has completed its reset and is ready for the next mission.

[0052] Once the drone 5 lands on the landing pad 39 and completes its positioning, the wireless charging process automatically starts. Its core is electromagnetic induction technology. The wireless charging module 310 is embedded under the landing pad 39, while the bottom of the drone 5 integrates a receiving coil.

[0053] When the transmitting coil in the wireless charging module 310 is powered on, it converts electrical energy into an alternating magnetic field of a specific frequency. When the receiving coil located at the bottom of the drone enters the range of this alternating magnetic field, an induced current is generated inside the coil due to electromagnetic induction, thereby converting the magnetic field energy back into electrical energy. The generated induced current is processed by the rectifier and voltage regulator circuit inside the drone and converted into stable DC power to charge the drone's battery.

[0054] The rope-locking robot 6 can be quickly connected to and disassembled from the drone 5 via the pipe clamp 613.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone-assisted high-altitude firefighting and rescue device, comprising a fire truck (1), characterized in that: The fire truck (1) is equipped with a rope climbing machine storage box (2) and a drone storage box (3) on its upper side. The rope climbing machine storage box (2) is equipped with a rope climbing robot (7) and a water spraying assembly (8) on its inner side. The rope climbing robot (7) and the water spraying assembly (8) are connected to each other. The drone storage box (3) is equipped with a drone (5) on its inner side. The drone (5) is fixedly equipped with a rope locking robot (6) on its lower part. The fire truck (1) is equipped with a rope winding assembly (4) on its inner side. The rope-locking robot (6) includes a quick-connect assembly (61), an adjustment assembly (62), a fine-tuning assembly (63), and a clamping assembly (64). The quick-connect assembly (61) is installed on the lower part of the drone (5). The adjustment assembly (62) is fixedly connected to the other side of the quick-connect assembly (61). Two sets of fine-tuning assemblies (63) are threadedly connected to the inner side of the adjustment assembly (62). Clamping assemblies (64) are installed at both ends of the fine-tuning assembly (63). The rope-climbing robot (7) includes a rope (74) and a rope-climbing machine; The lower part of the rope-locking robot (6) is attached to a rope (74). The drone (5) drives the rope-locking robot (6) to take off and hug the building pole to lock it. The rope-climbing machine climbs along the rope (74) and drives the water spraying assembly (8) to rise and spray water to extinguish the fire at high altitude.

2. The UAV-assisted high-altitude firefighting and rescue device according to claim 1, characterized in that: The drone storage box (3) includes a box body (31), a motor (32), a sprocket (33), a chain (34), a lead screw (35), a moving block (36), a connecting frame (37), a connecting rod (38), a landing platform (39), and a wireless charging module (310). The box body (31) is fixedly connected to the upper side of the fire truck (1). The motor (32) is fixedly connected to the inner bottom of the box body (31). The lead screw (35) is rotatably connected to the four corners of the box body (31). The sprocket (33) is fixedly connected to the lower end of the lead screw (35). The chain (34) is meshed on the outer side of the four sets of sprockets (33). The output end of the motor (32) is fixedly connected to one set of sprockets (33). The outer side of the lead screw (35) is threaded with a moving block (36), the outer side of the moving block (36) is fixedly connected with a connecting frame (37), the upper side of the connecting frame (37) is fixedly connected with four sets of connecting rods (38), the upper side of the connecting rods (38) is fixedly connected with a stop platform (39), and the lower side of the stop platform (39) is fixedly connected with a wireless charging module (310).

3. The UAV-assisted high-altitude firefighting and rescue device according to claim 2, characterized in that: The rope winding assembly (4) includes a support base (41), a second motor (42), and a winding and unwinding cylinder (43). The support base (41) is fixedly connected to the inner side of the fire truck (1). The winding and unwinding cylinder (43) is rotatably connected to the inner side of the support base (41). The second motor (42) is fixedly connected to the outer side of the support base (41). The output end of the second motor (42) is fixedly connected to the winding and unwinding cylinder (43). One end of the rope (74) is fixedly connected to the winding and unwinding cylinder (43).

4. The UAV-assisted high-altitude firefighting and rescue device according to claim 3, characterized in that: The drone (5) includes a drone body (51), a camera (52), and a bracket (53). The bracket (53) is placed on the upper side of the landing platform (39). The drone body (51) is fixedly connected to the upper side of the bracket (53). The camera (52) is installed on the drone body (51).

5. The UAV-assisted high-altitude firefighting and rescue device according to claim 4, characterized in that: The quick-connect assembly (61) includes a tube shell (611), a connecting pipe (612), a pipe clamp (613), a third motor (614), a connecting frame (615), a first hanging ring (616), and a support platform (617). The tube shell (611) is fixedly installed on the lower part of the bracket (53). The connecting pipe (612) is inserted into the inner side of the tube shell (611). The pipe clamp (613) is installed on the outer side of the tube shell (611) by screws. The pipe clamp (613) is used to fasten the connection between the tube shell (611) and the connecting pipe (612). One end of the connecting pipe (612) is fixedly connected to the connecting frame (615). The third motor (614) is fixedly connected to the inner side of the connecting frame (615). The first hanging ring (616) is fixedly connected to the lower side of the connecting frame (615). The output end of the third motor (614) is fixedly connected to the support platform (617).

6. The UAV-assisted high-altitude firefighting and rescue device according to claim 5, characterized in that: The adjustment assembly (62) includes a frame (621), a fourth motor (622), a bidirectional lead screw (623), a guide rod (624), and a second moving block (625). The support platform (617) is fixedly connected to the frame (621) at one end away from the third motor (614). The fourth motor (622) is fixedly connected to the inner side of the frame (621). The output end of the fourth motor (622) is fixedly connected to the bidirectional lead screw (623). The other end of the bidirectional lead screw (623) is rotatably connected to the inner side of the frame (621). The guide rod (624) is fixedly connected to the inner side of the frame (621). The bidirectional lead screw (623) is provided with a thread segment opposite to the two thread segments. The outer thread of the thread segment is connected to the second moving block (625).

7. A drone-assisted high-altitude firefighting and rescue device according to claim 6, characterized in that: The fine-tuning component (63) includes a movable base (631), a motor (632), a gear (633), a gear (634), a gear (635), and a ring rack (636). The movable base (631) is fixedly connected to the outer side of the movable block (625). The movable base (631) slides on the outer side of the guide rod (624). A support plate is fixedly connected to the outer side of the movable base (631). The motor (632) is fixedly connected to the outer side of the support plate. The output end of the motor (632) is fixedly connected to the gear (633). Two sets of gears (634) mesh on the outer side of the gear (633). The gear (635) is fixedly connected to one side of the gear (634). The ring rack (636) meshes on the outer side of the gear (635). The ring rack (636) rotates around the movable base (631).

8. The UAV-assisted high-altitude firefighting and rescue device according to claim 7, characterized in that: The clamping assembly (64) includes a motor (641), a mounting base (642), a gear (643), a gripper (644), a gear (645), and a gripper (646). The two ends of the annular rack (636) are fixedly connected to the motor (641) and the mounting base (642). The two ends of the mounting base (642) are rotatably connected to the gear (643) and the gear (645), respectively. The gears (643) and the gear (645) mesh with each other. The gripper (644) is fixedly connected to the gear (643), and the gripper (646) is fixedly connected to the gear (645). The output end of the motor (641) is fixedly connected to the gear (643).

9. A drone-assisted high-altitude firefighting and rescue device according to claim 8, characterized in that: The rope climbing machine includes a protective shell (71), a motor (72), a rotating wheel (73), a drive wheel (75), and a second hanging ring (76). The protective shell (71) is placed inside the rope climbing machine storage box (2). The drive wheel (75) is rotatably connected to the inside of the protective shell (71). The motor (72) is fixedly connected to the outside of the protective shell (71). The output end of the motor (72) is fixedly connected to the drive wheel (75). Two sets of rotating wheels (73) are rotatably connected to the inside of the protective shell (71). The second hanging ring (76) is fixedly connected to the lower side of the protective shell (71). The rope (74) passes between the two sets of rotating wheels (73) and the drive wheel (75). The water spray assembly (8) includes a water cannon (81), a third hanging ring (82), and a fourth hanging ring (83). The water cannon (81) is placed inside the rope climbing machine storage box (2) and below the rope climbing robot (7). The fourth hanging ring (83) and the third hanging ring (82) are fixedly connected to the upper side of the water cannon (81). The fourth hanging ring (83) is hooked to the second hanging ring (76), and the rope (74) passes through the third hanging ring (82).

10. A drone-assisted high-altitude firefighting and rescue method, applied to the drone-assisted high-altitude firefighting and rescue device according to any one of claims 1-9, characterized in that: Includes the following steps: S1. Deployment and preparation: Place the drone (5) carrying the rope-locking robot (6) on the landing platform (39) of the fire rescue vehicle (1), and connect one end of the rope (74) to the rope-locking robot (6) and the other end to the take-up and release tube (43). S2, Drones take off and lay ropes: Control the drone (5) to fly to the high point of the target building with the rope-locking robot (6), and use the rope-locking robot (6) to automatically hug the building pole and fix the top of the rope (74); S3, Rope tensioning and climbing robot ascent: The ground end retractor (43) reverses to tighten the rope (74), forming a climbing track; control the climbing robot (7) to autonomously climb along the rope (74) to the designated height; S4. Collaborative fire extinguishing: Connect the water spray assembly (8) to the rope climbing robot (7), and rise synchronously under the traction of the rope climbing robot (7) to spray water to extinguish the fire after reaching the fire source location; S5. Recovery: After the fire is extinguished, the rope-climbing robot (7) descends along the rope (74) and drives the water spraying component (8) back to the ground and returns to its original position; the rope-locking robot (6) unlocks and detaches from the building pole, and is hoisted and recovered by the drone (5); the take-up and release tube (43) retracts the rope (74) and the device is reset.

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