The invention discloses a multi-
modal space-time fusion and distributed cluster fire extinguishing
robot cooperative
control system, aims to solve the problems of low efficiency and poor precision of multi-
machine cooperative fire extinguishing in wide-area fire investigation and flammable and explosive scenes, and provides a whole set of unmanned fire extinguishing technical solution for the multi-mode space-time fusion and distributed cluster fire extinguishing
robot cooperative
control system. The
system comprises four core hardware architectures, namely a cloud dispatching center (A), an unmanned aerial vehicle cluster (B), an unmanned resource guarantee vehicle (C) and a crawler-type fire extinguishing
robot cluster (D), and has the following core functions: 1, the cloud dispatching center (A) updates a fire scene model through distributed dispatching by fusing multi-
modal sensor data, dynamically allocates tasks and plans a safe approach path; 2, the unmanned aerial vehicle cluster (B) executes the instruction, completes fire global positioning and cluster cooperative sensing, generates a high-precision fire
topographic map and feeds back a
signal; thirdly, the unmanned resource support vehicle (C) autonomously says for help, and has the functions of automatic mechanical arm water feeding and power supply, environment detection, on-site cleaning after fire extinguishing and communication
relay; and fourthly, the crawler-type fire extinguishing robot cluster (D) autonomously navigates and positions the root of a fire source, detects and predicts the drop point of a
water column, carries out fire extinguishing feedback evaluation, and interacts with the dispatching center cooperatively to dynamically adjust the strategy, so that closed-
loop control is formed, and the fire extinguishing efficiency and accuracy are remarkably improved.