A fire-fighting unmanned aerial vehicle-based intelligent precision projection system

Abstract

The application discloses a fire-fighting intelligent precise projection system based on a UAV, which comprises a UAV carrying platform, a multi-source sensing module, a high-precision multi-axis linkage spraying cloud platform, an airborne fire-fighting execution module and an intelligent projection control hub. The UAV carrying platform is used for carrying each module and providing flight power and a positioning attitude reference. The UAV carrying platform is internally provided with an RTK high-precision positioning unit and a flight control attitude monitoring unit. The multi-source sensing module is in communication connection with the intelligent projection control hub. The multi-source sensing module is used for collecting fire target information, UAV surrounding environment parameters and spraying device state parameters. The application solves the problem of inaccurate spraying of a fire-fighting UAV, realizes intelligent closed-loop precise projection, has strong anti-interference capability and greatly improves high-rise fire-fighting efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of fire rescue equipment technology, and in particular to an intelligent precision projection system based on drones for firefighting. Background Technology

[0002] High-rise building fires are characterized by rapid spread, the potential for multi-level fires, and significant challenges in evacuation and firefighting. Traditional fire ladders typically have an effective operating height of only about 50 meters, making them unsuitable for the needs of fires in ultra-high-rise buildings. Firefighting drones can overcome these height limitations, quickly approaching high-rise fire scenes to conduct reconnaissance, firefighting, and rescue assistance, becoming a core direction for addressing the shortcomings of existing equipment.

[0003] However, existing firefighting drone systems have significant technical flaws: First, the mainstream pressurized fire extinguishing devices on the market are affected by changes in the volume of remaining extinguishing agent, resulting in continuous pressure decay and extremely poor consistency in spray distance, flow rate, and trajectory, which is not conducive to precise firefighting in high-rise buildings. Deployable dry powder fire extinguishing devices can only be deployed vertically and cannot be projected horizontally, making them completely unsuitable for fighting fires on the exterior facades of high-rise buildings. Second, existing firefighting drones lack a systematic and precise projection control scheme. Factors such as drone vibration and airflow disturbances, position and attitude deviations, wind force and direction interference, and errors in target distance calculation can all cause serious deviations in the spray landing point, making it impossible to quickly hit the target fire point, let alone achieve sustained aiming over a long period. This results in a large waste of extinguishing agent, delays in the golden rescue opportunity, and even the inability to complete high-rise firefighting operations.

[0004] Current technologies have not yet developed an intelligent and precise projection system that integrates perception, calculation, control, execution, and closed-loop correction for the multi-source and complex interference scenarios of fire-fighting drones, making it difficult to meet the practical needs of fire rescue in high-rise buildings. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an intelligent and precise projection system for firefighting based on unmanned aerial vehicles (UAVs).

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A drone-based intelligent precision projection system for firefighting includes a drone platform, a multi-source sensing module, a high-precision multi-axis linkage jetting gimbal, an airborne fire extinguishing execution module, and an intelligent projection control center. The UAV platform is used to carry various modules and provide flight power and positioning attitude reference. The UAV platform has a built-in RTK high-precision positioning unit and flight control attitude monitoring unit. The multi-source sensing module is communicatively connected to the intelligent projection control center. The multi-source sensing module is used to collect fire target information, UAV surrounding environment parameters, and spray device status parameters. The high-precision multi-axis linkage jetting gimbal is communicatively connected to the intelligent projection control center. The high-precision multi-axis linkage jetting gimbal is used to mount the jetting actuator. The high-precision multi-axis linkage jetting gimbal receives control commands to complete high-precision adjustment of the jetting direction, vibration compensation, and target tracking. The airborne fire extinguishing execution module is fixed on a high-precision multi-axis linkage spraying platform. The airborne fire extinguishing execution module is communicatively connected to the intelligent projection control center. The airborne fire extinguishing execution module is used to receive control commands to complete the pressurization, mixing and spraying of the fire extinguishing agent. The intelligent projection control center is electrically connected to the UAV platform, the multi-source sensing module, the high-precision multi-axis linkage jetting gimbal, and the airborne fire extinguishing execution module. The intelligent projection control center is used to receive multi-source data and complete target positioning, projection trajectory calculation, multi-source interference error compensation, control command generation, and closed-loop feedback control.

[0007] Preferably, the multi-source sensing module includes a target identification and positioning unit, an environmental parameter acquisition unit, and a device status monitoring unit. The target identification and positioning unit includes a high-definition zoom camera assembly and a laser ranging module, used to identify fire points in the fire scene, calculate the relative spatial position of the target and the UAV, and track the target's dynamics in real time. The environmental parameter acquisition unit includes a wind speed and direction sensor and a temperature and humidity sensor, used to collect wind speed, wind direction, and ambient temperature and humidity parameters in the UAV's operating area, providing environmental data for ballistic error compensation. The device status monitoring unit includes a pressure sensor, a flow sensor, and an attitude sensor, used to collect the working pressure and spray flow of the airborne fire extinguishing execution module, as well as the real-time attitude parameters of the high-precision multi-axis linkage spray gimbal.

[0008] Preferably, the target identification and positioning unit has a built-in real-time target tracking algorithm, which can continuously identify and lock onto fire targets in the presence of smoke and strong light interference in the fire scene, and feed back the real-time position offset data of the target to the intelligent projection control center to drive the high-precision multi-axis linkage jetting gimbal to complete the constrained following of the target.

[0009] Preferably, the high-precision multi-axis linkage jet gimbal is at least a three-axis linkage servo gimbal, with a built-in anti-shake servo drive unit and a position closed-loop feedback unit; the anti-shake servo drive unit is used to receive vibration compensation commands from the intelligent projection control center to offset the jet direction deviation caused by UAV flight vibration and airflow disturbance; the position closed-loop feedback unit is used to collect the jet angle data of the high-precision multi-axis linkage jet gimbal in real time and feed it back to the intelligent projection control center to complete closed-loop control.

[0010] Preferably, the intelligent projection control center has a built-in ballistic intelligent calculation unit. The ballistic intelligent calculation unit is used to establish a jet ballistic dynamics model based on the relative spatial position of the UAV and the target, the jet pressure and flow parameters of the airborne fire extinguishing execution module, and the physical characteristics of the fire extinguishing agent, and to calculate the initial jet angle and jet parameter threshold.

[0011] Preferably, the intelligent projection control center has a built-in closed-loop feedback control unit, which is used to iteratively correct the ballistic model and error compensation parameters in real time based on the deviation data between the spray landing point and the target fire point collected by the camera component during the spraying process, and synchronously adjust the attitude of the high-precision multi-axis linkage spray gimbal and the spraying parameters of the airborne fire extinguishing execution module to achieve dynamic closed-loop deviation correction during the spraying process.

[0012] Preferably, the intelligent projection control center also has a built-in multi-source interference error compensation unit. The multi-source interference error compensation unit is linked with the ballistic intelligent calculation unit and is used to correct the initial ballistic model in real time based on the wind speed and direction, UAV vibration, attitude deviation and distance calculation error data collected by the multi-source sensing module, and generate compensated injection angle and injection parameter control commands.

[0013] Preferably, the intelligent projection control center has a built-in multi-source data fusion unit, which is used to perform time synchronization and fusion processing on the positioning and attitude data of the UAV platform, the data collected by the multi-source sensing module, the feedback data of the high-precision multi-axis linkage jet gimbal, and the status data of the airborne fire extinguishing execution module, so as to eliminate the control deviation caused by data delay and improve the synchronization and accuracy of control commands.

[0014] Preferably, the airborne fire extinguishing execution module includes a spherical pump pressurization unit, a self-aspirating foam mixing unit, a spray nozzle, and a control valve assembly; the spherical pump pressurization unit is used to provide a spray pressure of 0.5 to 3 MPa for the fire extinguishing agent, the self-aspirating foam mixing unit is used to complete the mixing and foaming of the foam fire extinguishing agent and air, and the control valve assembly is used to receive instructions from the intelligent projection control center to control the start and stop of the spray, and the adjustment of the flow rate and pressure.

[0015] Preferably, the intelligent projection control center communicates and links with the flight control system of the UAV platform. Based on the target location and operating environment data, it can send suggestions for adjusting the UAV's position and attitude to the flight control system, assisting in optimizing the UAV's operating position and further improving projection accuracy and operational safety.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention constructs a fully closed-loop intelligent precision projection system integrating perception, calculation, control, execution, and feedback, systematically solving the core pain point of inaccurate spraying by fire-fighting drones. Through multi-source data fusion, intelligent ballistic modeling, real-time compensation for multi-source interference, and visual closed-loop dynamic correction throughout the entire process, the accuracy of fire-fighting spraying is significantly improved. It can quickly lock onto and hit the target fire point, greatly reduce the ineffective waste of extinguishing agents, and improve the efficiency of high-rise fire fighting and the success rate of rescue. 2. This invention integrates high-frequency anti-shake servo compensation and target constraint following functions through a high-precision multi-axis linkage jet gimbal, which can effectively offset the jet direction deviation caused by the drone's own vibration and high-altitude airflow disturbance. At the same time, it can continuously lock onto and dynamically follow the fire target, solving the problem that existing technologies cannot continuously aim at targets for a long time, and perfectly adapting to the practical needs of continuous fire fighting operations in high-rise fire sites. 3. The intelligent projection control center of the present invention can establish a spray ballistic dynamics model adapted to foam extinguishing agent for the complex scenario of fire-fighting drone high-rise operation. At the same time, it can quantitatively compensate for multi-source interference factors such as wind force and direction, attitude fluctuation, vibration interference, and ranging error. Combined with visual landing point feedback, it can achieve iterative optimization, which can greatly improve the anti-interference capability of projection in complex high-altitude environment and ensure the spray accuracy under extreme working conditions. 4. This invention is highly compatible with airborne pump-type foam fire extinguishing devices, enabling the coordinated optimization of spray pressure, flow rate, foaming effect, and ballistic calculation. It solves the problem of poor ballistic consistency caused by unstable spray parameters in traditional pressurized devices, while also taking into account spray distance, fire extinguishing efficiency, and projection accuracy, achieving a significant improvement in fire extinguishing capabilities compared to existing solutions. 5. This invention adopts a modular design, which is compatible with various large-payload firefighting drone platforms. It can also be linked with the drone flight control system to send position optimization suggestions to the flight control system based on operational needs, further improving operational safety and projection accuracy. It can be widely used in fire rescue operations in various scenarios such as high-rise buildings, large-span factories, and mountainous forest areas, and has strong versatility and practical value. Attached Figure Description

[0017] Figure 1 This is a diagram illustrating the composition of an intelligent precision projection system for firefighting based on unmanned aerial vehicles (UAVs) proposed in this invention.

[0018] In the diagram: 1. UAV platform; 2. Multi-source sensing module; 21. Target identification and positioning unit; 211. High-definition zoom camera assembly; 212. Laser ranging module; 22. Environmental parameter acquisition unit; 221. Wind speed and direction sensor; 222. Temperature and humidity sensor; 23. Device status monitoring unit; 231. Pressure sensor; 232. Flow sensor; 233. Attitude sensor; 3. High-precision multi-axis linkage jetting gimbal; 31. Anti-shake servo drive unit; 32. Position closed-loop feedback unit; 4. Airborne fire extinguishing execution module; 41. Ball pump pressurization unit; 42. Self-aspirating foam mixing unit; 43. Jet nozzle; 44. Control valve group; 5. Intelligent projection control center; 51. Ballistic intelligent calculation unit; 52. Closed-loop feedback control unit; 53. Multi-source interference error compensation unit; 54. Multi-source data fusion unit. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Reference Figure 1 A smart and precise projection system for fire fighting based on drones includes a drone platform 1, a multi-source sensing module 2, a high-precision multi-axis linkage jetting gimbal 3, an airborne fire extinguishing execution module 4, and a smart projection control center 5. The UAV platform 1 is used to carry various modules and provide flight power and positioning attitude reference. The UAV platform 1 has a built-in RTK high-precision positioning unit 11 and a flight control attitude monitoring unit 12. The multi-source sensing module 2 is communicatively connected to the intelligent projection control center 5. The multi-source sensing module 2 is used to collect fire target information, UAV surrounding environment parameters, and spray device status parameters. The high-precision multi-axis linkage jetting gimbal 3 is communicatively connected to the intelligent projection control center 5. The high-precision multi-axis linkage jetting gimbal 3 is used to carry the jetting actuator. The high-precision multi-axis linkage jetting gimbal 3 receives control commands to complete high-precision adjustment of the jetting direction, vibration compensation and target tracking. The airborne fire extinguishing execution module 4 is fixed on the high-precision multi-axis linkage spray gimbal 3. The airborne fire extinguishing execution module 4 is communicatively connected to the intelligent projection control center 5. The airborne fire extinguishing execution module 4 is used to receive control commands to complete the pressurization, mixing and spraying of the fire extinguishing agent. The intelligent projection control center 5 is electrically connected to the UAV platform 1, the multi-source sensing module 2, the high-precision multi-axis linkage jetting gimbal 3, and the airborne fire extinguishing execution module 4. The intelligent projection control center 5 is used to receive multi-source data and complete target positioning, projection trajectory calculation, multi-source interference error compensation, control command generation, and closed-loop feedback control.

[0021] The multi-source sensing module 2 includes a target identification and positioning unit 21, an environmental parameter acquisition unit 22, and a device status monitoring unit 23. The target identification and positioning unit 21 includes a high-definition zoom camera component 211 and a laser ranging module 212, which are used to identify fire point targets in the fire scene, calculate the relative spatial position of the target and the UAV, and track the target dynamics in real time. The environmental parameter acquisition unit 22 includes a wind speed and direction sensor 221 and a temperature and humidity sensor 222, which are used to collect wind speed, wind direction, and ambient temperature and humidity parameters in the UAV's operating area to provide environmental data for ballistic error compensation. The device status monitoring unit 23 includes a pressure sensor 231, a flow sensor 232, and an attitude sensor 233, which are used to collect the working pressure and spray flow of the airborne fire extinguishing execution module 4, as well as the real-time attitude parameters of the high-precision multi-axis linkage spray gimbal 3.

[0022] The target recognition and positioning unit 21 has a built-in real-time target tracking algorithm, which can continuously identify and lock onto fire targets in the environment of smoke and strong light interference in the fire scene, and feed back the real-time position offset data of the target to the intelligent projection control center 5, driving the high-precision multi-axis linkage jetting gimbal 3 to complete the constrained following of the target.

[0023] The high-precision multi-axis linkage jet gimbal 3 is a servo gimbal with at least three axes of linkage, and has a built-in anti-shake servo drive unit 31 and a position closed-loop feedback unit 32. The anti-shake servo drive unit 31 is used to receive vibration compensation commands from the intelligent projection control center 5 to offset the jet direction deviation caused by UAV flight vibration and airflow disturbance. The position closed-loop feedback unit 32 is used to collect the jet angle data of the high-precision multi-axis linkage jet gimbal 3 in real time and feed it back to the intelligent projection control center 5 to complete closed-loop control.

[0024] The intelligent projection control center 5 has a built-in ballistic intelligent calculation unit 51. The ballistic intelligent calculation unit 51 is used to establish a jet ballistic dynamics model based on the relative spatial position of the UAV and the target, the jet pressure and flow parameters of the airborne fire extinguishing execution module 4, and the physical characteristics of the fire extinguishing agent, and to calculate the initial jet angle and jet parameter threshold.

[0025] The intelligent projection control center 5 has a built-in closed-loop feedback control unit 52, which is used to iteratively correct the ballistic model and error compensation parameters in real time based on the deviation data between the spray landing point and the target fire point collected by the camera component during the spraying process. It also synchronously adjusts the attitude of the high-precision multi-axis linkage spray gimbal 3 and the spraying parameters of the airborne fire extinguishing execution module 4 to achieve dynamic closed-loop deviation correction during the spraying process.

[0026] The intelligent projection control center 5 also has a built-in multi-source interference error compensation unit 53. The multi-source interference error compensation unit 53 is linked with the ballistic intelligent calculation unit 51 to correct the initial ballistic model in real time based on the wind speed and direction, UAV vibration, attitude deviation and distance calculation error data collected by the multi-source sensing module 2, and generate the compensated jet angle and jet parameter control commands.

[0027] The intelligent projection control center 5 has a built-in multi-source data fusion unit 54, which is used to perform time synchronization and fusion processing on the positioning and attitude data of the UAV platform 1, the data collected by the multi-source sensing module 2, the feedback data of the high-precision multi-axis linkage jet gimbal 3, and the status data of the airborne fire extinguishing execution module 4, so as to eliminate the control deviation caused by data delay and improve the synchronization and accuracy of control commands.

[0028] The airborne fire extinguishing execution module 4 includes a ball pump pressurization unit 41, a self-aspirating foam mixing unit 42, a spray nozzle 43, and a control valve group 44. The ball pump pressurization unit 41 is used to provide a spray pressure of 0.5 to 3 MPa for the fire extinguishing agent. The self-aspirating foam mixing unit 42 is used to complete the mixing and foaming of the foam fire extinguishing agent and air. The control valve group 44 is used to receive instructions from the intelligent projection control center 5 to control the start and stop of the spray, and to regulate the flow and pressure.

[0029] The intelligent projection control center 5 communicates and works in conjunction with the flight control system of the UAV platform 1. Based on the target location and operating environment data, it can send suggestions for adjusting the UAV's position and attitude to the flight control system, helping to optimize the UAV's operating position and further improve projection accuracy and operational safety.

[0030] Working principle: S1. Operation preparation: The fire-fighting drone takes off from the ground, quickly flies to the high-rise fire operation area, hovers at the preset safe operation position, the system is powered on and started, and completes the self-test, communication linkage and initial calibration of each module. S2. Target recognition and locking: The target recognition and positioning unit 21 of the multi-source sensing module 2 scans the fire area through the high-definition zoom camera component 211, automatically identifies the fire target, calculates the relative spatial position of the target and the UAV through the laser ranging module 212, completes target locking and starts real-time tracking. S3. Multi-source data acquisition and fusion: Multi-source sensing module 2 synchronously acquires wind speed and direction, ambient temperature and humidity, and initial state parameters of fire extinguishing device in the work area. The UAV flight control system outputs high-precision positioning and attitude data in real time. The multi-source data fusion unit 54 of the intelligent projection control center 5 performs time synchronization, fusion and noise reduction processing on all multi-source data and outputs a high-quality fused dataset. S4. Intelligent ballistic calculation and error compensation: The intelligent ballistic calculation unit 51 establishes a jet ballistic dynamics model based on the target's relative position and the rated parameters of the fire extinguishing device, and calculates the initial jet parameters; the multi-source interference error compensation unit 53 combines data such as environmental interference, UAV status, and measurement errors to correct the initial ballistic model in real time, and generates compensated gimbal attitude control commands and fire extinguishing device jet parameter commands. S5. Spraying execution and dynamic tracking: The high-precision multi-axis linkage spraying gimbal 3 receives control commands, quickly adjusts to the target spraying angle, and simultaneously activates anti-shake servo compensation and target constraint tracking functions; the airborne fire extinguishing execution module 4 receives commands, activates the ball pump pressurization unit 41, and completes the pressurization, self-priming mixing and stable spraying of foam extinguishing agent according to the set pressure and flow rate. S6. Closed-loop feedback and iterative correction: During continuous spraying, the closed-loop feedback control unit 52 of the intelligent projection control center 5 monitors the deviation between the spray landing point and the target fire point in real time through visual feedback, iteratively corrects the ballistic model and error compensation parameters, and synchronously adjusts the attitude of the gimbal and the spraying parameters of the fire extinguishing device to achieve dynamic closed-loop correction throughout the entire process, ensuring that the foam continuously and accurately hits the fire point and quickly suppresses the fire. S7. Operation Completed: After the fire is completely extinguished, the system controls the airborne fire extinguishing execution module 4 to stop spraying, shuts down the ball pump pressurization unit 41 and control valve group 44, resets the spraying gimbal, and ground operators control the drone to return safely, completing this fire extinguishing operation.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A drone-based intelligent precision projection system for firefighting, characterized in that, Includes a drone-mounted platform (1), a multi-source sensing module (2), a high-precision multi-axis linkage jetting gimbal (3), an airborne fire extinguishing execution module (4), and an intelligent projection control center (5); The UAV platform (1) is used to carry the modules and provide flight power and positioning attitude reference. The UAV platform (1) has a built-in RTK high-precision positioning unit (11) and flight control attitude monitoring unit (12). The multi-source sensing module (2) is communicatively connected to the intelligent projection control center (5). The multi-source sensing module (2) is used to collect fire target information, UAV surrounding environment parameters, and spray device status parameters. The high-precision multi-axis linkage jetting gimbal (3) is communicatively connected to the intelligent projection control center (5). The high-precision multi-axis linkage jetting gimbal (3) is used to carry the jetting actuator. The high-precision multi-axis linkage jetting gimbal (3) receives control commands to complete high-precision adjustment of the jetting direction, vibration compensation and target following. The airborne fire extinguishing execution module (4) is fixed on the high-precision multi-axis linkage jetting platform (3). The airborne fire extinguishing execution module (4) is connected to the intelligent projection control center (5). The airborne fire extinguishing execution module (4) is used to receive control commands to complete the pressurization, mixing and spraying of the fire extinguishing agent. The intelligent projection control center (5) is electrically connected to the UAV platform (1), the multi-source sensing module (2), the high-precision multi-axis linkage jet gimbal (3), and the airborne fire extinguishing execution module (4). The intelligent projection control center (5) is used to receive multi-source data and complete target positioning, projection trajectory calculation, multi-source interference error compensation, control command generation, and closed-loop feedback control.

2. The intelligent precision projection system for firefighting based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The multi-source sensing module (2) includes a target identification and positioning unit (21), an environmental parameter acquisition unit (22), and a device status monitoring unit (23); the target identification and positioning unit (21) includes a high-definition zoom camera component (211) and a laser ranging module (212), which are used to identify fire point targets in the fire scene, calculate the relative spatial position of the target and the UAV, and track the target dynamics in real time; The environmental parameter acquisition unit (22) includes a wind speed and direction sensor (221) and a temperature and humidity sensor (222), which are used to collect wind speed, wind direction, and ambient temperature and humidity parameters in the UAV operation area to provide environmental data for ballistic error compensation; the device status monitoring unit (23) includes a pressure sensor (231), a flow sensor (232), and an attitude sensor (233), which are used to collect the working pressure and spray flow of the airborne fire extinguishing execution module (4), as well as the real-time attitude parameters of the high-precision multi-axis linkage spray gimbal (3).

3. A firefighting-based intelligent precision projection system using unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The target identification and positioning unit (21) has a built-in real-time target tracking algorithm, which can continuously identify and lock the fire point target in the environment of fire smoke and strong light interference, and feed back the real-time position offset data of the target to the intelligent projection control center (5) to drive the high-precision multi-axis linkage jetting gimbal (3) to complete the target constraint tracking.

4. A firefighting-based intelligent precision projection system using unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The high-precision multi-axis linkage jet gimbal (3) is a three-axis linkage servo gimbal with a built-in anti-shake servo drive unit (31) and a position closed-loop feedback unit (32). The anti-shake servo drive unit (31) is used to receive vibration compensation commands from the intelligent projection control center (5) to offset the jet direction deviation caused by UAV flight vibration and airflow disturbance. The position closed-loop feedback unit (32) is used to collect the jet angle data of the high-precision multi-axis linkage jet gimbal (3) in real time and feed it back to the intelligent projection control center (5) to complete the closed-loop control.

5. A firefighting-based intelligent precision projection system using unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The intelligent projection control center (5) has a built-in ballistic intelligent calculation unit (51). The ballistic intelligent calculation unit (51) is used to establish a ballistic dynamic model based on the relative spatial position of the UAV and the target, the spray pressure and flow parameters of the airborne fire extinguishing execution module (4), and the physical characteristics of the fire extinguishing agent spray, and to calculate the initial spray angle and spray parameter threshold.

6. A firefighting-based intelligent precision projection system using unmanned aerial vehicles (UAVs) according to claim 5, characterized in that, The intelligent projection control center (5) has a built-in closed-loop feedback control unit (52) which is used to iteratively correct the ballistic model and error compensation parameters in real time based on the deviation data between the spray landing point and the target fire point collected by the camera component during the spraying process, and synchronously adjust the attitude of the high-precision multi-axis linkage spray gimbal (3) and the spraying parameters of the airborne fire extinguishing execution module (4) to realize dynamic closed-loop correction of the spraying process.

7. A firefighting-based intelligent precision projection system using unmanned aerial vehicles (UAVs) according to claim 6, characterized in that, The intelligent projection control center (5) also has a built-in multi-source interference error compensation unit (53). The multi-source interference error compensation unit (53) is linked with the ballistic intelligent calculation unit (51) to perform real-time correction on the initial ballistic model based on the wind speed and direction, UAV vibration, attitude deviation and distance calculation error data collected by the multi-source sensing module (2), and generate the compensated injection angle and injection parameter control commands.

8. A firefighting intelligent precision projection system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The intelligent projection control center (5) has a built-in multi-source data fusion unit (54) for time synchronization and fusion processing of the positioning attitude data of the UAV platform (1), the data collected by the multi-source sensing module (2), the feedback data of the high-precision multi-axis linkage jet gimbal (3), and the status data of the airborne fire extinguishing execution module (4), thereby eliminating the control deviation caused by data delay and improving the synchronization and accuracy of control commands.

9. A firefighting intelligent precision projection system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The airborne fire extinguishing execution module (4) includes a ball pump pressurization unit (41), a self-aspirating foam mixing unit (42), a spray nozzle (43), and a control valve group (44). The ball pump pressurization unit (41) is used to provide a spray pressure of 0.5 to 3 MPa for the fire extinguishing agent. The self-aspirating foam mixing unit (42) is used to complete the mixing and foaming of the foam fire extinguishing agent and air. The control valve group (44) is used to receive instructions from the intelligent projection control center (5) to control the start and stop of the spray, and the flow and pressure adjustment.

10. A firefighting intelligent precision projection system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The intelligent projection control center (5) communicates and links with the flight control system of the UAV platform (1). Based on the target position and operating environment data, it can send suggestions for UAV position and attitude adjustment to the flight control system to help optimize the UAV's operating position and further improve projection accuracy and operational safety.

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