Mooring fire-fighting unmanned aerial vehicle collaborative fire extinguishing system based on roof window-cleaning machine transformation and control method of mooring fire-fighting unmanned aerial vehicle collaborative fire extinguishing system

Abstract

The invention discloses a tethered fire-fighting unmanned aerial vehicle collaborative fire extinguishing system modified based on a roof window cleaning machine and a control method, and belongs to the technical field of building fire fighting and high-altitude operation equipment modification and utilization. According to the system, the track walking, rotating and stretching capabilities of the existing roof window cleaning machine are utilized, and a water supply pipeline assembly, a power supply and communication mooring assembly and a tail end interface assembly are arranged in a telescopic arm or along the telescopic arm, so that the window cleaning machine replaces a special roof rotating telescopic mechanical arm; as a high-altitude pipeline supporting and operation guiding platform of the mooring fire-fighting unmanned aerial vehicle, stable water supply, power supply and collaborative fire extinguishing are achieved. The problems that in high-rise and super high-rise building facade fire disposal, a water supply path swings and winds, the continuous operation stability is insufficient, and the construction cost of special equipment is high can be solved, and the system is suitable for fire suppression and emergency rescue scenes of facade and near-window areas.

Description

Technical Field

[0001] This invention relates to the field of building fire protection equipment and high-altitude operation equipment modification and utilization technology, specifically to a system and control method that uses a rooftop window cleaning machine as the basis for modification, and replaces a dedicated rooftop rotating telescopic mechanical arm by installing water supply pipeline components, power supply and communication mooring components and end interface components inside or along the telescopic arm of the window cleaning machine, and coordinates with a moored fire-fighting drone to carry out fire-fighting operations on the exterior facade of high-rise and super high-rise buildings. Background Technology

[0002] Fires on the facades of high-rise and super high-rise buildings are characterized by high fire point height, significant wind disturbance, long continuous water supply paths, and limited working space near windows. For fires involving glass curtain walls, external wall insulation layers, and areas near windows, traditional ground-based aerial firefighting equipment has limitations in effective operating height, deployment space, and jet stability. Relying solely on drones to independently carry extinguishing agents is often constrained by endurance, payload capacity, and continuous spraying capability. Therefore, developing a collaborative firefighting solution that combines high-altitude reach, continuous water supply, and stable support under existing building conditions has become an important technological direction in this field.

[0003] A search revealed existing publicly available technologies that utilize rooftop equipment for high-rise fire suppression. For example, Chinese utility model patent CN202105349U discloses a "roof fire protection system," which includes a window cleaning machine and a fire water tank on the roof. A mechanical arm is installed at the end of the window cleaning machine's horizontal arm, and a fire monitor is installed at the end of the mechanical arm, connected to the roof fire water tank via a fire hose and a fire pump. This solution demonstrates that the basic idea of ​​using a rooftop window cleaning machine as a fire suppression vehicle for high-rise buildings is already publicly available, enabling the delivery of fire suppression components to the target area on the building's exterior facade.

[0004] However, CN202105349U focuses more on using a window cleaning machine equipped with a robotic arm and fire monitor for spraying operations. Its core components are still a separate robotic arm and fire monitor, and its technical focus is on "delivering the spraying device to a high position," rather than being designed for collaborative operations with tethered fire-fighting drones. Based on the content of this published text, its technical focus is mainly on using a window cleaning machine equipped with a robotic arm and fire monitor to deliver the spraying device to a high position; it does not explicitly disclose the technical aspects of directly modifying the existing window cleaning machine's telescopic arm into a water supply pipeline support platform and tethering guidance platform, as well as the power and communication tethering lines, the connection of the drone's water and electricity interfaces, and the synchronous layout and retraction of pipelines during the telescopic process. In other words, although it belongs to the same field of rooftop high-rise fire fighting as this invention, it differs significantly from the concept emphasized by this invention: "using an existing window cleaning machine to replace a dedicated rooftop robotic arm and directly serve tethered fire-fighting drones."

[0005] In the area of ​​continuous water supply for firefighting drones, Chinese utility model patent CN207822332U discloses a "continuous water supply device for firefighting drones." This patent discloses a continuous water supply solution consisting of a water tank, a water pump, a booster pump, a pressure gauge, and a drone water inlet pipe. The drone water inlet pipe includes a fixed pipe, a rubber hose, and a telescopic pipe, used to continuously supply water to the drone's sprayer. This solution demonstrates that existing technologies have addressed the issue of continuously delivering fire extinguishing media to firefighting drones via an external water supply path, thus avoiding the problem of repeated take-off and landing for water replenishment.

[0006] However, the technical focus of CN207822332U is primarily on continuous water supply itself, with its water supply path still mainly consisting of a combination of flexible hoses and connecting pipes. Regarding the issues of pipe swaying, entanglement, and attitude stability in long-distance, high-altitude, and windy environments in high-rise building scenarios, this disclosure primarily fails to address the problem from the perspective of modifying existing high-altitude work equipment on building rooftops for support. Especially in the scenario of super high-rise building facades, if the water supply hoses and mooring lines mainly rely on free suspension, the difficulty of swaying, dragging, and attitude control will significantly increase with height, thus affecting the stable hovering and continuous spraying performance of the drone.

[0007] Furthermore, Chinese utility model patent CN210992732U discloses a "firefighting drone water supply pipe with load-bearing function and firefighting drone". This design uses a honeycomb-shaped inflatable tube outside the firefighting water pipe, allowing the pipe to stand upright and bear part of the weight, thus reducing the lifting burden on the pipe from the firefighting drone. This type of solution demonstrates that existing technology has recognized the importance of the water supply pipe's own weight and high-altitude load-bearing capacity during firefighting drone operations and has attempted to address this issue by strengthening the water supply pipe's structural integrity.

[0008] However, the improvement target of CN210992732U is still the water supply pipe itself, which is an enhancement of the self-supporting capacity of the "pipe". Its solution is to add an inflatable support structure, rather than using the existing rigid high-altitude equipment on the building to provide external support. This solution does not involve the rooftop window cleaning machine, the internal guide space of the telescopic arm, the end water and electricity interface, or the coordinated design of the water supply pipeline and the mooring line extending and retracting synchronously with the robotic arm. Therefore, although this solution is enlightening in terms of reducing the burden of dragging the water supply pipe, its technical approach mainly focuses on the structure of the water supply pipe itself. There is no clear disclosure on a more stable and lower-cost tethered fire-fighting drone-assisted fire-fighting solution that relies on existing rooftop window cleaning machines.

[0009] Furthermore, Chinese utility model patent CN207687495U discloses a "fire-fighting telescopic water pipe," indicating that there are also independent improvement ideas for the telescopicity of fire-fighting water supply pipes in the prior art. Such solutions help improve the problem of water supply pipe length adaptation, but their focus is still on the structure of the water pipe itself, and they do not extend to the level of building rooftop fixed equipment modification and drone collaborative applications.

[0010] Based on the publicly available information, it can be seen that the technical focus of the relevant solutions is mainly on rooftop equipment equipped with spray devices, continuous water supply from drones, and load-bearing or telescopic structures for the water supply pipes. However, there is no explicit disclosure regarding a collaborative firefighting system that uses existing rooftop window cleaning machines as a basis for modification, integrates water supply pipelines and power and communication mooring components inside or along the telescopic arm of the window cleaning machine, and sets up a water and electricity interface at the end of the telescopic arm to cooperate with the moored firefighting drone.

[0011] Therefore, it is still necessary to propose a tethered fire-fighting drone collaborative fire extinguishing system based on the modification of rooftop window cleaning machines. While preserving the original high-altitude operation capabilities of the window cleaning machines as much as possible, targeted modifications can be made to enable them to have functions such as high-altitude pipeline support, end interface guidance, continuous water and power supply, and collaborative operation. This will reduce the cost of adding new special equipment while improving the stability, continuity, and feasibility of fire extinguishing operations on the facades of high-rise and super high-rise buildings. Summary of the Invention

[0012] Purpose of the invention:

[0013] The purpose of this invention is to provide a tethered fire-fighting drone collaborative fire extinguishing system and control method based on the modification of a rooftop window cleaning machine. By modifying the existing rooftop window cleaning machine to replace the dedicated rooftop rotating telescopic robotic arm, it serves as a high-altitude pipeline support platform, end-port interface bearing platform, and operation guidance platform for the tethered fire-fighting drone. This solves the problems of unstable continuous water supply at high altitudes, easy swinging and entanglement of power and communication tethered lines, high cost of adding special equipment, and insufficient utilization of existing rooftop equipment during fire extinguishing on the exterior facades of high-rise and super high-rise buildings. It improves the stability, continuity, and economic efficiency of high-altitude collaborative fire extinguishing operations.

[0014] Technical solution:

[0015] To achieve the above objectives, the present invention adopts the following technical solution:

[0016] This invention provides a tethered fire-fighting drone collaborative fire extinguishing system based on a rooftop window cleaning machine, including a rooftop window cleaning machine body, a water supply pipeline assembly, a power supply and communication tethering assembly, an end interface assembly, a tethered fire-fighting drone, and a control module.

[0017] The main body of the rooftop window cleaning machine is installed on the roof of the building, preferably using the building's existing telescopic arm track-type window cleaning machine. The main body of the rooftop window cleaning machine retains its original track-walking mechanism, rotation mechanism, and telescopic arm structure to achieve movement along the rooftop track, rotation around the vertical axis, and extension and retraction along the arm length. Unlike setting up a separate dedicated rooftop rotating telescopic robotic arm, this invention is an adaptive modification of the existing window cleaning machine, enabling it to perform high-altitude support and collaborative interface functions under fire-fighting conditions, while retaining its original functionality as an exterior wall maintenance device under non-fire-fighting conditions, thus achieving equipment reuse. Preferably, the system can be equipped with a fire-fighting operation mode and building maintenance mode switching unit. In fire-fighting operation mode, the water supply pipeline component, power supply and communication mooring component, and end interface component are activated, and unnecessary actions related to exterior wall maintenance operations are interlocked and restricted; in building maintenance mode, the main body of the rooftop window cleaning machine restores its original building maintenance functions.

[0018] The water supply pipeline assembly is connected to the fire water source on the building rooftop and is used to transport the fire extinguishing medium from the rooftop to the high-altitude operation area. The water supply pipeline assembly is at least partially located inside the telescopic boom, or is fixedly guided along the length of the telescopic boom, so that the water supply path follows the telescopic boom. Preferably, a guide space extending along the boom length is formed inside the telescopic boom, and the water supply pipeline assembly is arranged within this guide space to reduce exposed length and minimize the impact of high-altitude wind disturbance. To accommodate the telescopic boom's extension and retraction, the water supply pipeline assembly may include a fixed pipe section and a telescopic pipe section capable of telescopic movement relative to the fixed pipe section. Guide structures, limiting structures, and sealing structures are provided between adjacent pipe sections. A synchronous adjustment mechanism is provided on the telescopic boom, which is drively connected to the water supply pipeline assembly to synchronously extend and retract the water supply pipeline assembly during the extension and retraction of the telescopic boom, ensuring that the effective length of the water supply pipeline matches the current operating posture and preventing significant bending, slack, sagging, or entanglement of the pipeline.

[0019] The power supply and communication tethering assembly provides continuous power and communication signals to the tethered firefighting drone. Preferably, the assembly includes a tether cable, which is at least partially housed inside the telescopic boom, or arranged parallel to or integrated with the water supply pipeline assembly along the length of the boom. To ensure coordination between the tether cable and the telescopic boom's movement, the assembly can be equipped with a synchronized deployment and retraction mechanism, allowing the tether cable to be released in a controlled manner when the boom extends and retracted in a controlled manner when the boom retracts, thereby reducing the length of free suspension at high altitude and mitigating the risks of swaying, dragging, and entanglement caused by wind, drone yaw, or attitude adjustments. Depending on different implementation requirements, the assembly can provide power or simultaneously perform flight control signal transmission, status feedback, image transmission, or other communication functions.

[0020] The end interface assembly, located at the end of the telescopic arm, is a key structure for establishing a collaborative working relationship between the modified rooftop window cleaning machine and the tethered firefighting drone. The end interface assembly includes a water outlet connected to the water supply pipeline assembly and an electrical interface connected to the power supply and communication tethering assembly. The water outlet establishes a water supply path with the water inlet on the tethered firefighting drone, and the electrical interface establishes a power supply and communication path with the power connection port on the tethered firefighting drone. The water outlet can employ a quick-connect structure, a threaded connection structure, a clamp connection structure, a sleeve sealing structure, or other equivalent connection structures; the electrical interface can employ a plug-in electrical connection structure or other connection structures that meet the requirements of continuous power supply and signal transmission. To improve the load-bearing capacity and connection reliability of the end interface assembly in actual operation, a reinforced installation structure is preferably provided at the end of the telescopic arm for installing and supporting the water outlet and the electrical interface. In a further preferred embodiment, the end interface assembly may also be provided with an anti-winding structure, which includes a water circuit rotary joint and / or an electrical slip ring and a rotary electrical connector, so as to maintain the continuity of the water supply path and the electrical connection path when the tethered fire-fighting drone deflects relative to the telescopic arm. To compensate for small-range positional deviations during drone approach and hovering, a flexible transition connector may also be provided between the end interface assembly and the tethered fire-fighting drone.

[0021] In a preferred embodiment, the flexible transition connector is a retractable flexible water supply connection section, which can be arranged in parallel with or integrated with the power supply connection section. After the tethered fire-fighting drone establishes a connection with the end interface component, the retractable flexible water supply connection section can continue to extend within a predetermined length range, allowing the tethered fire-fighting drone to hover or maneuver within a predetermined space below the end of the telescopic arm while maintaining its water and electricity connection with the end interface component, in order to carry out fire-fighting operations against target fire sources at lower floors or different heights. The release and retraction of the retractable flexible water supply connection section can be achieved by the telescopic structure of the water supply pipeline component itself, or by an independent extension and retraction mechanism.

[0022] The tethered firefighting drone is a collaborative flight unit of the present invention. Its main body is not the subject of the modification and protection of the present invention, but it forms a cooperative working relationship with the main body of the rooftop window cleaning machine. The tethered firefighting drone is equipped with a water inlet interface adapted to the water outlet interface and a power connection port adapted to the electrical interface, so as to establish water supply, power supply and communication connections after flying to the vicinity of the end of the telescopic arm.

[0023] The control module is connected to the rooftop window cleaning machine body, the water supply pipeline assembly, the power supply and communication mooring assembly, and the moored firefighting drone, and is used to coordinate the control of various parts of the system. On the one hand, the control module controls the rooftop window cleaning machine body to move, rotate, and extend along the rooftop track, enabling the end interface assembly to reach the predetermined high-altitude working position; on the other hand, it controls the water supply, power supply, and connection confirmation process, enabling the moored firefighting drone to establish an operational connection with the end interface assembly at an appropriate location. The term "connection status meets operational conditions" as used herein preferably refers to the sealing connection between the water inlet and the inlet port meeting water supply requirements, the conductivity between the electrical inlet and the power connection port meeting power supply and communication requirements, and the mechanical locking status meeting one or more preset requirements; more preferably, it refers to the water supply and power supply phases being allowed after the water and electrical connections are normal and confirmed by the control module. Preferably, the control module is connected to the building fire alarm system. After receiving a fire alarm signal, it determines the target operation area based on the orientation and height information of the exterior facade where the fire source is located, and controls the main body of the rooftop window cleaning machine to move along the track to the corresponding area. Then, it adjusts the rotation angle and extension length of the telescopic arm so that the end interface component reaches a position suitable for the drone to approach and cooperate with the operation.

[0024] During collaborative operations, the control module guides the tethered firefighting drone to the vicinity of the telescopic boom's end, establishing connections between the water inlet and outlet interfaces, and between the power connection port and the electrical interface. After confirming that the connection meets operational requirements, the control module activates the water supply system and provides continuous power and communication support to the drone via the power and communication tethering components, allowing the fire extinguishing medium to be delivered to the tethered firefighting drone through the water supply pipeline assembly. When it is necessary to expand the vertical operating range, the flexible connection section at the end of the water supply pipeline assembly can be further released, allowing the tethered firefighting drone to maneuver to lower floors within a predetermined range while maintaining connection to the end interface assembly, enabling the tethered firefighting drone to perform spray fire extinguishing operations in the target area. During operation, the rooftop window cleaning machine acts as a high-altitude rigid support platform, supporting, guiding, and limiting the water supply pipeline assembly and the power and communication tethering components, thereby reducing the instability issues that easily occur in traditional free-suspension water supply and tethering methods in high-rise strong wind environments.

[0025] Preferably, the control module is also used to monitor the water supply pressure, interface connection status, wind speed, telescopic boom attitude, and tethered firefighting drone operation status in real time during firefighting. When conditions for continued operation are not met, such as excessive wind speed, abnormal water supply pressure, abnormal interface connection, abnormal telescopic boom attitude, or abnormal tethered firefighting drone attitude, the control module stops the water supply and controls the tethered firefighting drone to detach from the end interface component and return to base. Subsequently, the control module controls the rooftop window cleaning machine to be retracted and reset, thereby improving the safety and controllability of the system under abnormal operating conditions.

[0026] Based on the above system, the present invention also provides a collaborative fire extinguishing control method. The method includes receiving fire alarm information and determining the target work area; controlling the main body of the rooftop window cleaning machine to move, rotate, and extend along the rooftop, so that the end interface component reaches the target work position; guiding the tethered fire-fighting drone to the end of the telescopic arm, and establishing connections between the water inlet and outlet interfaces, and between the power inlet and the electrical interface; after confirming that the connection status meets the work conditions, turning on the water and power supply, so that the fire extinguishing medium is transported to the tethered fire-fighting drone through the water supply pipeline component to extinguish the fire; monitoring the water supply pressure, connection status, and work status during the fire extinguishing process, and stopping the water supply, disconnecting the connection, and retrieving the main body of the rooftop window cleaning machine when the fire extinguishing is completed or an abnormal working condition occurs.

[0027] It should be noted that this invention is not limited to completely integrating all water supply pipeline components and power supply and communication mooring components inside the telescopic arm. For rooftop window cleaning machines of different models and structural forms, modifications can be made by partially integrating the components and partially arranging them along the arm guide, depending on the original arm structure, load capacity, and installation conditions. Any technical solution that uses an existing rooftop window cleaning machine as a basis, and modifies it to provide water supply pipeline support, mooring cable support, end-point water and electricity interface capabilities, and collaborative operation capabilities with moored firefighting drones, thereby replacing a dedicated rooftop rotating telescopic robotic arm for high-rise facade firefighting, falls within the scope of this invention.

[0028] Beneficial effects:

[0029] Compared with the prior art, the present invention has at least the following beneficial effects:

[0030] This invention uses existing rooftop window cleaning machines as a basis for modification, making full use of their original track-walking, rotating, and telescopic capabilities. Through adaptive modifications, it allows the machine to replace a dedicated rooftop rotating and telescopic robotic arm in firefighting situations, forming a high-altitude pipeline support platform, an end-port interface carrying platform, and an operation guidance platform for tethered firefighting drones. Compared to the technical approach of separately installing a dedicated rooftop robotic arm, this invention can expand its firefighting applications while preserving as much of the original main structure and daily maintenance functions of the window cleaning machine as possible, thereby reducing investment in new equipment and redundant rooftop construction, and increasing the reusability of existing equipment.

[0031] This invention integrates at least part of the water supply pipeline assembly and the power supply and communication mooring assembly within the telescopic arm of the window cleaning machine, or arranges them in a controlled, guided manner along the length of the telescopic arm, so that the water supply path and mooring path are in sync with the movement of the telescopic arm. Compared with traditional high-altitude free-hanging water supply hoses or mooring lines, this structure can reduce the length of free hanging at high altitudes, reducing the risk of swaying, entanglement, dragging, and attitude instability under wind loads, thereby improving the stability of continuous water supply, continuous power supply, and continuous communication in fire scenarios on the facades of high-rise and super high-rise buildings.

[0032] This invention incorporates an end-port interface component at the telescopic arm of a window cleaning machine. Through water and electrical interfaces, it establishes water, power, and communication connections with a tethered fire-fighting drone, enabling the rooftop fire hydrant and building power supply systems to be reliably transmitted to the aerial work unit via the modified window cleaning machine. Thus, the window cleaning machine is no longer merely used as traditional building maintenance equipment, but becomes a crucial interface platform in the high-altitude collaborative firefighting chain. This shortens the transmission path between the rooftop supply end and the aerial work end, improves the reliability of interface establishment, and enhances the continuity of high-altitude collaborative operations.

[0033] This invention leverages the inherent track coverage, rotation, and telescopic positioning capabilities of the window cleaning drone. It allows for spatial adjustment of the end interface components based on the location and height of the fire source on the building facade, enabling the tethered firefighting drone to connect and coordinate operations closer to the target area. Compared to methods that rely entirely on drones towing water supply lines over long distances or supplying water vertically from the ground, this invention shortens the high-altitude towing path, reduces the towing burden on aerial work units under load, and thus improves the continuity and stability of firefighting operations on high-rise building facades.

[0034] This invention also offers superior safety and system controllability. Because the water supply pipeline and mooring lines are supported, guided, and limited by the window cleaning machine's boom, operators do not need to directly send firefighters into the high-altitude danger zone. They can use the control module to complete the main body positioning of the rooftop window cleaning machine, the connection of the end interface, continuous water and power supply, and disconnection and retrieval control in abnormal operating conditions. Compared to relying on personnel to climb to heights for handling high-rise fires, this invention helps reduce the direct risks to firefighters from high temperatures, dense smoke, falls, and facade damage, thus improving the safety boundaries of high-altitude firefighting operations.

[0035] Meanwhile, this invention is based on existing window cleaning machine equipment on building rooftops, with clearly defined modification targets and installation locations, and good adaptability between the system structure and building conditions. For high-rise and super high-rise buildings that have already installed window cleaning machines, this invention does not require the installation of separate large-scale high-altitude operation equipment, thus providing a clear engineering implementation basis in scenarios such as fire protection upgrades of existing buildings, renovation of old buildings, and integrated configuration of multifunctional equipment in new buildings.

[0036] In summary, this invention solves the problems of unstable high-altitude continuous water supply paths, easy swinging and entanglement of tethered lines, high construction costs of dedicated rooftop robotic arms, and insufficient utilization of existing rooftop equipment by transforming existing rooftop window cleaning machines into high-altitude support and collaborative operation platforms for tethered firefighting drones. It balances structural reuse, operational stability, safety controllability, and economical engineering implementation, and is suitable for collaborative firefighting operations on the facades of high-rise and super high-rise buildings. It can meet the application requirements of high-altitude stable support, continuous water and power supply, and safety control for collaborative firefighting operations on the facades of high-rise and super high-rise buildings. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall system structure of the present invention;

[0038] Figure 2 This is a schematic diagram of the telescopic arm and pipeline layout of the window cleaning machine of the present invention;

[0039] Figure 3 This is the overall control flowchart of the present invention.

[0040] The component names corresponding to each number in the diagram are as follows: 1. Main body of the rooftop window cleaning machine; 2. Track walking mechanism; 3. Rotation mechanism; 4. Telescopic arm; 5. Guide space; 6. Water supply pipeline assembly; 7. Power supply and communication mooring assembly; 8. End interface assembly; 9. Moored firefighting drone. Detailed Implementation

[0041] The specific embodiments of the present invention will be further described below in conjunction with the technical concept of the present invention. It should be understood that the following embodiments are only used to illustrate the technical solution of the present invention and are not intended to limit the scope of protection of the present invention. Conventional modifications made by those skilled in the art to the system structure, pipeline layout, interface connection form, control logic and their equivalent substitutions without departing from the spirit and substance of the present invention should all fall within the scope of protection of the present invention.

[0042] Example 1: Implementation of a Coordinated Firefighting Method Based on the Modification of Existing Rooftop Window Cleaning Machines

[0043] This embodiment provides a basic tethered fire-fighting drone-assisted fire suppression system based on a rooftop window cleaning machine. It is suitable for applications where a telescopic arm rail-mounted window cleaning machine is already installed on the building rooftop, and where the goal is to achieve fire-fighting collaboration with minimal alterations to the original equipment's main structure. The basic idea is to retain the original rail-mounted walking, rotating, and telescopic functions of the window cleaning machine, while adapting it to replace a dedicated rooftop rotating telescopic robotic arm in fire-fighting situations. This serves as a high-altitude support platform, end-effector interface platform, and operation guidance platform for the tethered fire-fighting drone.

[0044] In this embodiment, the window cleaning machine is installed at its original location on the building rooftop, retaining its ability to move along the rooftop track and rotate and extend for positioning based on the location and height of the fire source on the exterior facade. The telescopic arm of the window cleaning machine forms a guide space extending along its length. A water supply pipeline assembly is located within this guide space and connected to the building rooftop fire water source, used to deliver the fire extinguishing medium from the rooftop to the high-altitude working end. Simultaneously, a power supply and communication mooring assembly is also located within the guide space, used to provide continuous power and communication signals to the moored fire-fighting drone. By arranging the water supply path and mooring path inside the window cleaning machine's arm, the free-hanging length at high altitude can be reduced, minimizing the impact of wind disturbance on the pipeline's attitude.

[0045] The telescopic arm of the window cleaning machine is equipped with an end interface assembly, which includes a water outlet connected to the water supply pipeline assembly and an electrical interface connected to the power supply and communication tethering assembly. The tethered fire-fighting drone is equipped with a water inlet adapted to the aforementioned water outlet and a power connection port adapted to the electrical interface, so as to establish water supply, power supply, and communication connections after the drone flies to the vicinity of the end of the window cleaning machine. The water outlet preferably adopts a connection form that facilitates quick connection and disconnection, and the electrical interface preferably adopts a connection form that can meet the requirements of continuous power supply and signal transmission, thus balancing connection reliability and ease of connection establishment.

[0046] In this embodiment, the water outlet interface is preferably equipped with a mechanical locking structure and a sealing ring assembly, and the electrical interface is preferably equipped with a waterproof insulating shell and conductive terminals. The end interface assembly may also be equipped with a locking status detection unit and a continuity detection unit, used to send a connection confirmation signal to the control module when the interface is locked in place and the electrical connection is normal. The end of the telescopic arm is equipped with a plate-type or frame-type reinforced installation structure to improve the installation rigidity and load-bearing capacity of the end interface assembly under connection, load, and wind disturbance conditions.

[0047] In this embodiment, the control module is connected to the window cleaning machine body, water supply pipeline assembly, power supply and communication tethering assembly, and building fire alarm system. When the building fire alarm system issues a fire alarm signal, the control module controls the window cleaning machine to move along the rooftop track to the corresponding area based on the orientation and height information of the building facade where the fire source is located. It also adjusts the rotation angle and extension length of the telescopic arm to bring the end interface assembly to a position suitable for the tethered fire-fighting drone to approach and operate. Subsequently, it guides the tethered fire-fighting drone to the vicinity of the end interface assembly and establishes water, power, and communication connections. After the connection status meets the operating conditions, it activates the water and power supply, allowing the tethered fire-fighting drone to continuously spray fire extinguishing agents on the target area. After fire extinguishing, the control module stops the water supply, controls the drone to detach and return, and then controls the window cleaning machine to retract and reset. In this embodiment, the control module preferably executes the water and power supply activation actions only after receiving confirmation signals from the lock status detection unit and the continuity detection unit to avoid accidentally activating the water or power supply when the interface is not in place. The water supply path is preferably equipped with an electrically controlled valve and a pressure detection unit to promptly stop the water supply in case of abnormal interface connection or pressure.

[0048] This embodiment highlights the most basic technical concept of the invention: utilizing an existing rooftop window cleaning machine to replace a dedicated rooftop rotating telescopic robotic arm. By arranging water supply pipes and mooring lines inside the telescopic arm, a stable high-altitude collaborative firefighting support path is formed, thereby expanding the fire protection function of existing equipment at a relatively low modification cost. In this embodiment, the modified window cleaning machine can switch between firefighting operation mode and routine maintenance mode, thus achieving fire protection function expansion without significantly affecting the original building maintenance purpose of the window cleaning machine.

[0049] Example 2: Enhanced implementation with synchronous pipeline expansion and contraction and end anti-tangle structure

[0050] This embodiment provides an enhanced tethered firefighting drone-assisted fire suppression system based on a rooftop window cleaning machine. It is suitable for applications with large boom extension strokes, complex exterior facade working conditions, or higher requirements for the stability of high-altitude pipelines and the reliability of end-connections. Compared to Embodiment 1, this embodiment further enhances the ability of the water supply pipeline components and the power supply and communication tethering components to change synchronously with the boom's movement, and strengthens the adaptability of the end-interface components to changes in the drone's attitude.

[0051] In this embodiment, the water supply pipeline assembly adopts a structure consisting of fixed and telescopic pipe sections. The fixed pipe section is located at a relatively fixed position on the telescopic arm of the window cleaning machine, while the telescopic pipe section is located at a position where relative displacement occurs as the robotic arm extends and retracts. Guide structures, limiting structures, and sealing structures are provided between adjacent pipe sections to ensure the guiding accuracy and sealing reliability of the water supply pipeline during extension and retraction. A synchronous adjustment mechanism, which is connected to the water supply pipeline assembly, is installed on the window cleaning machine arm. This mechanism ensures that the water supply pipeline extends synchronously when the telescopic arm extends outward and retracts synchronously when the telescopic arm retracts inward, thus matching the water supply path length with the current arm length and reducing bending, accumulation, and abnormal local stress during pipeline movement. In this embodiment, the synchronous adjustment mechanism preferably adopts a rack and pinion transmission structure. The fixed pipe section is located within the relatively fixed arm section, and the telescopic pipe section is located within the movable arm section. The rack and pinion transmission structure drives the telescopic pipe section to extend or retract synchronously as the telescopic arm moves. As an alternative, the synchronization adjustment mechanism may also adopt a chain drive structure, a wire rope pulley drive structure, or a screw drive structure.

[0052] Corresponding to the aforementioned water supply pipeline assembly, the tethered cable in the power supply and communication tethering assembly is equipped with a synchronous winding and unwinding mechanism. This mechanism can employ winding and unwinding, guide wheel guidance, sliding follow-up, or other structures capable of controlled winding and unwinding, ensuring that the tethered cable maintains a length variation pattern essentially consistent with the water supply pipeline assembly during the window cleaning machine's telescopic arm movement. Thus, when the telescopic arm extends outward, the water supply pipeline and the tethered cable extend outward synchronously; when the telescopic arm retracts, both retract synchronously, further reducing the free-dragging length at high altitudes and mitigating the adverse effects of wind loads, UAV yaw, and local swaying on the high-altitude connection status. In this embodiment, the synchronous winding and unwinding mechanism preferably includes a drum, guide wheels, and limiting components. The tethered cable is wound on the drum and guided by the guide wheels along the length of the telescopic arm; when the telescopic arm extends outward, the drum is driven by a linkage mechanism to synchronously unwind the cable; when the telescopic arm retracts, the drum synchronously winds up the cable. The mooring cable preferably adopts a wear-resistant, flame-retardant, and waterproof sheath structure to improve its reliability under high humidity, high temperature, and wind load conditions.

[0053] In this embodiment, the end-interface assembly, in addition to having a water outlet and an electrical interface, also features an anti-entanglement structure. This anti-entanglement structure can take the form of a water-cooled rotary joint and / or a slip ring, rotary electrical connector, etc., to maintain the continuity of the water supply and electrical connection paths even when the tethered fire-fighting drone deflects, turns, or corrects its attitude relative to the window cleaning machine's arm. Furthermore, a flexible transition connector can be provided between the end-interface assembly and the drone to compensate for small-range positional or angular deviations that may occur during the drone's approach and hovering phases, improving the fault tolerance and adaptability during interface establishment. In this embodiment, the flexible transition connector preferably uses a retractable flexible water supply connection section; if necessary, a flexible power supply and communication connection section can also be provided in parallel. After the tethered fire-fighting drone completes interface establishment, the retractable flexible water supply connection section can continue to extend outward within a predetermined length, allowing the tethered fire-fighting drone to maneuver along the building facade to lower floors while maintaining connection with the window cleaning machine's end-interface. Therefore, the system's effective operating range is not limited to the vicinity of the window cleaning machine's telescopic arm, but can cover fire-prone areas on the exterior facades of multiple floors below the robotic arm. The retractable flexible water supply connection section is retrieved by a synchronous deployment mechanism or an independent retraction mechanism after operation.

[0054] In this embodiment, in addition to handling fire alarm response, window cleaning machine movement and positioning, UAV approach guidance, interface connection confirmation, and water and power supply control, the control module also coordinates the length status of the water supply pipeline components and the power supply and communication mooring components based on the current position and working posture of the telescopic arm, ensuring that the high-altitude transmission path remains in a relatively stable and controlled state. Compared to the basic implementation, this embodiment highlights the innovative value of the invention in terms of "pipeline synchronously extending and retracting with the arm" and "stable connection of the end interface," making it more suitable for high-rise facade firefighting scenarios where continuous operation stability is required.

[0055] Example 3: Implementation of an automatic control system with fire alarm linkage and abnormal handling functions

[0056] This embodiment provides a coordinated firefighting system based on a rooftop window cleaning machine and a tethered fire-fighting drone, suitable for firefighting scenarios in high-rise and super high-rise buildings where high response speed, automation, and abnormal condition handling capabilities are required. This embodiment can be built upon the structural foundation of Embodiment 1 or Embodiment 2, with the focus on further improving the system control logic. This ensures that the modified rooftop window cleaning machine not only possesses high-altitude support and interface load-bearing capabilities but also the ability to coordinate with the building's fire protection system, automatically execute coordinated firefighting procedures, and safely handle abnormal conditions.

[0057] In this embodiment, the control module forms a control connection with the building fire alarm system, the window cleaning machine body, the water supply pipeline assembly, the power supply and communication mooring assembly, and the moored firefighting drone. When the building fire alarm system detects a fire on the building facade or near the window, it sends the fire alarm information to the control module. The control module determines the target operation area based on the fire source location and height information, and controls the window cleaning machine to move along the roof track to the corresponding area. Then, it adjusts the position of the end interface assembly through rotation and extension movements to bring it to a suitable high-altitude position for the drone to approach and establish a connection. After the window cleaning machine is positioned, the control module guides the moored firefighting drone to the vicinity of the arm end and establishes a connection between the drone's water inlet and outlet interfaces, and between its power inlet and outlet interfaces. In this embodiment, the system preferably also includes a wind speed detection unit, a pressure detection unit, an interface status detection unit, and a current monitoring unit. Before executing water supply and power supply actions, the control module first performs a preliminary judgment on wind speed, interface lock status, conduction status, and water supply pressure; only when all the preliminary conditions meet the preset requirements does the system enter the formal firefighting operation state.

[0058] After confirming that the connection status meets the operational requirements, the control module controls the water supply system to start supplying water and provides continuous power and communication support to the drone via the power supply and communication tethering components. This allows the fire extinguishing medium to be delivered to the aerial work unit through the water supply pipeline inside or along the telescopic arm of the window cleaning machine, where the tethered firefighting drone continuously extinguishes the fire in the target area. Because the water supply path and tethering path are supported and guided by the window cleaning machine's arm, the tethered firefighting drone can maintain operation near the fire source without having to freely drag the water supply hose over a long distance, thereby improving the continuity and safety of high-altitude coordinated firefighting. In this embodiment, when abnormal interface temperature rise, abnormal current, or sudden change in water supply pressure is detected, the control module preferably shuts off the water supply first, then cuts off unnecessary power supply, and controls the drone to detach. When the automatic control malfunctions, the system can also switch to manual emergency control mode to complete the recovery and reset operations.

[0059] During continuous operation, the control module monitors water supply pressure, interface connection status, wind speed, telescopic boom attitude, and the flight status of the tethered firefighting drone in real time. When conditions such as wind speed exceeding safety limits, abnormal fluctuations in water supply pressure, abnormal interface connections, abnormal telescopic boom attitude, or abnormal drone operation are detected, the control module executes anomaly handling logic. Preferably, it first stops the water supply, then controls the tethered firefighting drone to detach from the end-effector interface component and return to base. Subsequently, it controls the window cleaning machine to be retrieved and reset, ensuring system safety under abnormal conditions. After the abnormal situation is resolved, the system can either re-enter standby mode or re-execute the collaborative operation process.

[0060] This embodiment highlights the complete engineering implementation path of the present invention in terms of fire alarm linkage, automatic control and abnormal handling, so that the present invention not only has structural modification significance, but also has a relatively complete practical operation logic, which is suitable for collaborative application with fire alarm systems and intelligent management systems of modern high-rise buildings.

[0061] It should be noted that the above three embodiments describe the present invention from the perspectives of basic modification, structural enhancement, and linkage control, but these three aspects are not mutually exclusive. For specific engineering applications, the technical features in each embodiment can be selected, combined, or adjusted according to the original structure of the rooftop window cleaning machine, the rooftop space conditions, the configuration of the fire protection system, and the fire prevention and control requirements of the target building. Any technical solution that is based on an existing rooftop window cleaning machine, and through modification to enable it to have high-altitude pipeline support capacity, end interface load-bearing capacity, and collaborative fire-fighting capability with tethered fire-fighting drones, and thereby replaces a dedicated rooftop rotating telescopic robotic arm for high-rise facade fire fighting, should fall within the protection scope of the present invention.

Claims

1. A tethered firefighting drone-assisted fire suppression system based on a rooftop window cleaning machine, characterized in that, include: The main body of the rooftop window cleaning machine is installed on the roof of a building and has a track walking mechanism, a slewing mechanism and a telescopic arm; A water supply pipeline assembly is connected to a fire water source on the roof of the building and is at least partially located inside the telescopic arm or arranged along the telescopic arm for transporting fire extinguishing media. A power supply and communication tethering assembly, at least partially disposed inside the telescopic arm or arranged along the telescopic arm, is used to provide power and communication signals to the tethered firefighting drone. An end interface assembly is disposed at the end of the telescopic arm. The end interface assembly includes a water outlet connected to the water supply pipeline assembly and an electrical interface connected to the power supply and communication mooring assembly. The tethered firefighting drone has a water inlet interface adapted to the water outlet interface and a power connection port adapted to the electrical interface. The control module is connected to the main body of the rooftop window cleaning machine, the water supply pipeline assembly, and the power supply and communication mooring assembly, and interacts with the moored fire-fighting drone to exchange status information. It controls the main body of the rooftop window cleaning machine to move, rotate, and extend along the rooftop, so that the end interface assembly reaches the target working position. After confirming that the connection between the moored fire-fighting drone and the end interface assembly meets the working conditions, it controls the fire extinguishing medium to be transported to the moored fire-fighting drone through the water supply pipeline assembly. The rooftop window cleaning machine, after being modified, serves as a high-altitude pipeline support platform and operation guidance platform for the tethered fire-fighting drone.

2. The system according to claim 1, characterized in that, The telescopic arm has a guide space extending along its length. The water supply pipeline assembly and the power supply and communication mooring assembly are located in the guide space and move synchronously with the extension and retraction of the telescopic arm.

3. The system according to claim 1 or 2, characterized in that, The water supply pipeline assembly includes a fixed pipe section and a telescopic pipe section that can extend and retract relative to the fixed pipe section. A guide structure, a limiting structure, and a sealing structure are provided between adjacent pipe sections. The telescopic arm is provided with a synchronous adjustment mechanism that is drivenly connected to the water supply pipeline assembly, which is used to drive the telescopic pipe section to extend and retract synchronously when the telescopic arm extends or retracts.

4. The system according to any one of claims 1 to 3, characterized in that, The power supply and communication tethering assembly includes a tethering cable, which is equipped with a synchronous retraction and extension mechanism so that the tethering cable is retracted and extended synchronously with the extension and retraction of the telescopic arm.

5. The system according to any one of claims 1 to 4, characterized in that, The end interface assembly also includes an anti-tangle structure, which includes a water swivel joint and / or a circuit slip ring and a rotary electrical connector to maintain water supply and electrical connections when the tethered firefighting drone deflects relative to the telescopic arm.

6. The system according to any one of claims 1 to 5, characterized in that, The telescopic boom is provided with a reinforcement installation structure at its end. The water outlet and the electrical interface are installed on the reinforcement installation structure to withstand the interface connection load and the mooring operation load.

7. The system according to any one of claims 1 to 6, characterized in that, The control module is connected to the building fire alarm system and is used to control the main body of the rooftop window cleaning machine to move to the rooftop working area corresponding to the fire source after receiving a fire alarm signal, and to adjust the posture of the telescopic arm to the predetermined working position.

8. The system according to any one of claims 1 to 7, characterized in that, A flexible transition connector is provided between the terminal interface component and the tethered firefighting drone. The flexible transition connector is used to compensate for the relative position deviation and / or attitude deviation generated during the approach, hovering or maneuvering of the tethered firefighting drone. The flexible transition connector includes a retractable flexible water supply connection section, which can be arranged in parallel or integrated with the flexible power supply and communication connection sections, so that the tethered firefighting drone can carry out firefighting operations within a predetermined range while maintaining connection with the terminal interface component.

9. A collaborative fire suppression control method based on the system described in any one of claims 1 to 8, characterized in that, Includes the following steps: Receive fire alarm information and determine the target work area; Control the main body of the rooftop window cleaning machine to move, rotate, and extend along the rooftop, so that the end interface component reaches the target working position; Guide the tethered firefighting drone to the end of the telescopic arm, and establish connections between the water inlet and the water outlet, and between the power connection port and the power interface; After confirming that the connection status meets the operating conditions, the water and power supply are turned on, so that the fire extinguishing medium is delivered to the tethered fire-fighting drone through the water supply pipeline assembly and fire extinguishing operation is carried out. During the firefighting process, the water supply pressure, connection status, and operating status are monitored. When the firefighting is completed or an abnormal operating condition occurs, the water supply is stopped, the connection is disconnected, and the main body of the rooftop window cleaning machine is retrieved.

10. The method according to claim 9, characterized in that, When the wind speed exceeds the limit, the water supply pressure is abnormal, the connection status is abnormal, or the attitude of the tethered fire-fighting drone is abnormal, the control module stops the water supply and controls the tethered fire-fighting drone to detach from the end interface component and return to base.

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