CN113827897A

CN113827897A - Self-carrying and external connection type controllable switching combined fire-fighting robot system

Info

Publication number: CN113827897A
Application number: CN202111198275.7A
Authority: CN
Inventors: 韩文轩; 吕建龙; 张兴起; 付国新; 王文杰
Original assignee: Qingdao Aoxi Intelligent Technology Co ltd
Current assignee: Qingdao Aoxi Intelligent Technology Co ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2021-12-24

Abstract

The invention relates to the technical field of fire-fighting robots, and provides a self-contained and external connection type controllable switching combined fire-fighting robot system, which comprises an unmanned aerial vehicle loaded with a water supply mechanism; a fire fighting robot loaded with a first reel; a water supply vehicle loaded with a second reel. The invention is provided with the fire-fighting robot carrying the first reel and the water supply vehicle equipped with the second reel, can carry out the water pipe winding and unwinding operation of the water supply vehicle according to the movement of the fire-fighting robot, and is convenient for the robot to move in different directions along with the unmanned aerial vehicle. When the position of the unmanned aerial vehicle is adjusted, only the water hose in the vertical direction and the weight of liquid need to be overcome, and the load requirement on the unmanned aerial vehicle is reduced. The invention realizes the complementary advantages of the self-carrying mode and the external mode water supply, the whole system can be operated by manual remote control, the unmanned aerial vehicle, the fire-fighting robot and the water supply vehicle can work in a combined way, and the high-quality fire-fighting operation requirement of high-rise buildings can be met.

Description

Self-carrying and external connection type controllable switching combined fire-fighting robot system

Technical Field

The invention relates to the technical field of fire-fighting robots, in particular to a self-contained and externally-connected combined fire-fighting robot system capable of being controllably switched.

Background

Fire is one of the major disasters that most often, most commonly, threaten public safety and social development. Especially for dangerous chemical fire, different fire-catching objects need to be extinguished by corresponding different extinguishing agents, otherwise accidents which are difficult to dispose, more complex and more dangerous can occur, and therefore, the fire source needs to be extinguished accurately in a fixed point. With the continuous development of science and technology, more and more fire-fighting robots replace firefighters to enter a fire scene for fighting fire, the robots can replace firefighters to carry out certain dangerous work, precious time can be won in the nervous fire rescue process, and the timeliness and the scientificity of the smooth development of the rescue task are ensured.

With the development of economic society in China, high-rise buildings gradually become the mainstream form of buildings, and the fire extinguishing task of the high-rise buildings accounts for a great proportion in the fire rescue task. Once a fire occurs in a high-rise building, the fire spreads quickly due to the restriction of the main structure and the like, and the implementation difficulty of tasks such as evacuation, rescue, fire extinguishment and the like of trapped people is high. The aerial ladder is characterized in that because the building is too high, the aerial ladder equipped with the fire truck can not meet the requirement of actual fire-fighting and rescue work, and a fireman has certain limitation on climbing height; in addition, the smoke and toxic and harmful gases are difficult to be discharged in time after the fire occurs in high-rise buildings, and the water level and the water supply amount of the fire extinguishing water also hardly meet the corresponding requirements. Therefore, the unmanned aerial vehicle carrying the fire-fighting equipment becomes the primary choice for assisting in completing the task of fire rescue, and can respond to corresponding difficulties by means of various functional advantages of the unmanned aerial vehicle.

When the urban high-rise is in fire, the range of the spray gun of the fire truck is limited, rescue cannot be implemented, and the spray gun and the fire hose can be hoisted by the unmanned aerial vehicle to extinguish fire of the high-rise. Because high-rise conflagration has the combustor risk of falling, fire engine and firefighter can't be close under the building of starting a fire, and unmanned aerial vehicle had both need overcome the weight of vertical direction hosepipe and hosepipe in flying to the point of fire when putting out a fire, still need to drag the hosepipe and carry out the horizontal direction and remove, and general unmanned aerial vehicle can't reach this kind of load requirement.

Summarizing, current unmanned aerial vehicle's water supply mode divide into two kinds, one kind is from carrying the water tank, relies on the water tank to supply water, and another kind is from ground dragging the water pipe, leans on water piping connection's water supply equipment to supply water. The two water supply modes have advantages and disadvantages respectively, and are suitable for different occasions. The water tank supplies water, so that heavy water pipes can be prevented from being dragged, the flexibility of the unmanned aerial vehicle is improved, but the volume of the water tank is limited by the power performance of the robot, sufficient fire-fighting water cannot be carried, water is required to be continuously supplemented to the water tank, and the fire extinguishing efficiency is influenced; although the mode of dragging the water pipe can satisfy the demand of continuous water use, when the super high-rise building fire control operation, surpassing the height of fire engine water pump lift, still can not reach better fire extinguishing effect. When forest fire control operation, unmanned aerial vehicle can't carry out the operation of carry fire hose.

Therefore, the development of the self-contained and external connection type controllable switching combined fire-fighting robot system can realize the rapid switching of two water supply modes, realize the advantage complementation, replace fire fighters to enter dangerous accident sites such as inflammable, explosive, toxic, anoxic and dense smoke, solve the problems of insufficient water supply, poor image and data information acquisition stability and the like of the fire fighters in the places, particularly meet the operation requirement of finishing fire extinguishing of high-rise buildings at high quality, and become a very important subject.

Disclosure of Invention

The invention aims to provide a self-contained and externally-connected combined fire-fighting robot system capable of being controlled to switch, so as to solve the problems in the background technology.

Self-carrying and external connection type combined fire-fighting robot system capable of being controllably switched comprises:

an unmanned aerial vehicle loaded with a water supply mechanism;

a fire fighting robot loaded with a first reel;

a water supply vehicle loaded with a second reel;

the water supply mechanism includes:

a spray gun;

a water tank provided with a plurality of water inlets and water outlets;

the tail end of the first pipeline is connected with a water inlet of the water tank;

the head end of the second pipeline is connected with the water outlet of the water tank, and the tail end of the second pipeline is connected with the spray gun;

the head end of the third pipeline is connected with the water outlet of the water tank, and the tail end of the third pipeline is connected with the second pipeline;

a fourth pipeline with the head end connected with the first pipeline and the tail end connected with the second pipeline;

the electromagnetic valves are arranged on the first pipeline, the second pipeline and the third pipeline;

a water supply vehicle water pipe is carried on the second reel, and an unmanned aerial vehicle water pipe is carried on the first reel;

the head end of the water pipe of the water supply vehicle is connected with the water supply connector of the water supply vehicle, and the tail end of the water pipe of the water supply vehicle is connected with the head end of the water pipe of the unmanned aerial vehicle on the first reel; the tail end of the unmanned aerial vehicle water pipe is connected to the head end of the first pipeline;

in the first pipeline, the second pipeline, the third pipeline and the fourth pipeline, the head end of the first pipeline is in the upstream direction of water flow, and the tail end of the first pipeline is in the downstream direction of the water flow;

all be provided with the wind spring in first reel, the second reel, keep unmanned aerial vehicle water pipe, water service vehicle water pipe to wind all the time and tighten up among the process of receive and release.

Further, a first electromagnetic valve is arranged on the first pipeline and arranged in the downstream direction of the connecting position of the first pipeline and the fourth pipeline.

Further, a second electromagnetic valve is arranged on the second pipeline and arranged between the position A and the position B, the position A is the connecting position of the fourth pipeline and the second pipeline, and the position B is the connecting position of the third pipeline and the second pipeline.

Further, a third electromagnetic valve is arranged on the third pipeline.

Further, a water pump is arranged on the third pipeline.

Further, be provided with unmanned aerial vehicle positioning and tracking device on the fire-fighting robot for unmanned aerial vehicle's position is trailed in real time, keeps fire-fighting robot to be in the unmanned aerial vehicle below.

Further, the fire-fighting robot is provided with:

the device comprises a chassis and a travelling mechanism arranged on the chassis;

a water tank, a high-pressure pump and a fire-fighting water bubble which are arranged above the chassis;

the high-pressure pump is respectively connected with the water tank and the fire-fighting bubbles through pipelines, and water in the water tank is pressurized by the high-pressure pump and then is emitted by the fire-fighting bubbles.

Furthermore, a supporting shaft fixedly connected with the water tank is arranged above the water tank; the support shaft is provided with a cloud deck; a camera and a thermal infrared imager are respectively carried on two sides of the top of the holder; and a damping mechanism is arranged between the supporting shaft and the holder.

Furthermore, an obstacle avoidance laser radar is also arranged on the chassis.

Further, a traveling mechanism is further installed on the chassis, and the traveling mechanism is a crawler-type traveling mechanism.

Compared with the prior art, the invention has the beneficial effects that:

the invention designs a combined fire-fighting system capable of realizing quick switching between a self-carrying type water supply mode and an external type water supply mode, realizes the complementary advantages of the self-carrying type water supply mode and the external type water supply mode, and can provide various operation modes: when general high-rise fire fighting operation is carried out, a ground fire fighting truck is connected with a quick-plugging port at the head end of a first pipeline through a fire hose to supply water to a spray gun, and continuous fire fighting operation is carried out; when the range of the spray gun cannot carry out normal fire-fighting operation, water is supplied into the water tank from the ground system, and water is pumped from the water tank by the water pump to carry out pressurized injection, so that the range of the spray gun is increased to continue the fire-fighting operation; when the unmanned aerial vehicle is used for detecting and extinguishing small-sized fire or remaining fire after extinguishing the fire in the forest and the dangerous chemical region, the unmanned aerial vehicle can directly utilize water in the water tank and is pressurized and sprayed by the water pump. The multiple operation modes can be realized by realizing remote control on the ground through the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve, and the operation is convenient.

Secondly, a first reel is arranged on the fire-fighting robot, the first reel carries an unmanned aerial vehicle water pipe, and the reel automatically winds the pipe when the height of the unmanned aerial vehicle descends; the fire-fighting robot is provided with an unmanned aerial vehicle positioning and tracking device, can automatically follow the unmanned aerial vehicle to move and is always positioned below the unmanned aerial vehicle; the fire fighting robot is provided with fire fighting water of a fire fighting water tank, after the fire fighting robot is started, the fire fighting robot searches for a fire source through a camera carried by a holder, and grasps the field condition in real time through a thermal infrared imager, and after the fire source is found, the fire fighting water bubble can be operated by a remote control device to aim at the fire source to spray fire fighting water to extinguish fire; in the process of traveling, the robot can realize the automatic obstacle avoidance function through the obstacle avoidance laser radar; the whole system can be operated by manual remote control, and the unmanned aerial vehicle, the fire-fighting robot and the water supply vehicle can work in a combined manner, so that the fire-fighting operation requirement of the high-rise building can be met with high quality.

Third, supply water truck is equipped with the second reel, can carry out the operation of receiving and releasing of supply water truck water pipe according to the motion of fire control fire extinguishing robot, makes things convenient for the robot to follow unmanned aerial vehicle and carries out the motion in different positions. When the position of the unmanned aerial vehicle is adjusted, only the water hose in the vertical direction and the weight of liquid need to be overcome, and the load requirement on the unmanned aerial vehicle is reduced.

Drawings

FIG. 1 is a schematic structural diagram of a fire-fighting robot and unmanned aerial vehicle combined fire-fighting system according to the present invention;

FIG. 2 is a schematic view of a connection structure of a water pipe of the unmanned aerial vehicle and the unmanned aerial vehicle;

FIG. 3 is a schematic view of a connection structure of the fire fighting robot and the unmanned aerial vehicle;

FIG. 4 is a schematic view showing a connection structure of the water supply vehicle and the second reel;

FIG. 5 is a schematic structural view of a fire fighting robot;

fig. 6 is a schematic view of a shock-absorbing structure of the fire fighting robot.

In the figure:

cloud platform 1, cloud platform support 101, camera 102, thermal infrared imager 103, damper 2, bolt 202, sleeve 203, big shock pad 204, little shock pad 205, big packing ring 206, nut 208, protecting cover 209, first water tank 3, high-pressure pump 31, fire control bubble 32, chassis 4, obstacle avoidance laser radar 401, advancing mechanism 402, first reel 5, unmanned aerial vehicle positioning and tracking device 6, back shaft 7, axle bed 701, unmanned aerial vehicle 8, water supply mechanism 80, first pipeline 8021, second pipeline 8022, third pipeline 8023, fourth pipeline 8024, first solenoid valve 8031, second solenoid valve 8032, third solenoid valve 8033, water pump 804, second water tank 805, spray gun 806, unmanned aerial vehicle water pipe 81, second reel 82, water supply vehicle 9, water supply joint 90, water supply vehicle water pipe 91, second reel 92.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 6, the present invention provides a combined fire-fighting robot system with controllable switching between a portable type and an external type, which includes an unmanned aerial vehicle 8 loaded with a water supply mechanism, a fire-fighting robot loaded with a first reel 5, and a water supply vehicle 9 loaded with a second reel 92. A water supply vehicle water pipe 91 is mounted on the second reel 92, and an unmanned aerial vehicle water pipe 81 is mounted on the first reel 5; the head end of a water supply vehicle water pipe 91 is connected with a water supply connector 90 of the water supply vehicle 9, and the tail end of the water supply vehicle water pipe 91 is connected with the head end of the unmanned aerial vehicle water pipe 81 on the first reel 5; the tail end of the unmanned aerial vehicle water pipe 81 is connected to the head end of the first pipeline 8021; and coil springs are arranged in the first reel 5 and the second reel 92, so that the unmanned aerial vehicle water pipe 81 and the water supply vehicle water pipe 91 are always wound and tightened in the winding and releasing processes. Be provided with unmanned aerial vehicle positioning and tracking device 6 on the fire-fighting robot for 8 positions of unmanned aerial vehicle are trailed in real time, keep fire-fighting robot to be in 8 below of unmanned aerial vehicle.

The water supply mechanism is provided with: a spray gun 806 and a second water tank 805 provided with a plurality of water inlets and water outlets. The second water tank 805 is connected to a first pipeline 8021, a second pipeline 8022, a third pipeline 8023, and a fourth pipeline 8024, wherein the first pipeline 8021, the second pipeline 8022, the third pipeline 8023, and the fourth pipeline 8024 have an upstream direction of water flow at the head end and a downstream direction of water flow at the tail end.

The tail end of the unmanned aerial vehicle water pipe 81 is connected to the head end of the first pipeline 8021; the end of the first pipe 8021 is connected to the inlet of the second water tank 805; the head end of the second pipeline 8022 is connected to the water outlet of the second water tank 805, and the tail end is connected with a spray gun 806; the head end of the third pipeline 8023 is connected to the water outlet of the second water tank 805, and the tail end is connected with the second pipeline 8022; the fourth line 8024 is connected to the first line 8021 at the head end and to the second line 8022 at the tail end. A plurality of electromagnetic valves on the first pipeline 8021, the second pipeline 8022 and the third pipeline 8023. The method specifically comprises the following steps:

the first line 8021 is provided with a first electromagnetic valve 8031, and the first electromagnetic valve 8031 is provided in a downstream direction from a connection position of the first line 8021 and the fourth line 8024. A second electromagnetic valve 8032 is disposed on the second pipeline 8022, the second electromagnetic valve 8032 is disposed between a position a and a position B, the position a is a connection position of the fourth pipeline 8024 and the second pipeline 8022, and the position B is a connection position of the third pipeline 8023 and the second pipeline 8022. The third pipeline 8023 is provided with a third electromagnetic valve 8033 and a water pump 804.

The second water tank 805 can be designed into different shapes according to the structural requirements of the unmanned aerial vehicle; the water pump 804 is directly powered by the unmanned aerial vehicle, and a remote switch can be realized on the ground; the first electromagnetic valve 8031, the second electromagnetic valve 8032 and the third electromagnetic valve 8033 can be remotely switched on the ground; spray gun 806 may be remotely controlled to achieve direct current or mist spray adjustment.

The fire fighting robot includes a chassis 4 and a crawler type traveling mechanism 402 mounted on the chassis 4. A first water tank 3, a high-pressure pump 31 and a fire-fighting water bubble 32 are arranged above the chassis 4; the high-pressure pump 31 is respectively connected with the first water tank 3 and the fire-fighting bubbles 32 through pipelines, and water in the first water tank 3 is pressurized by the high-pressure pump 31 and then is emitted by the fire-fighting bubbles 32.

It comprises a chassis 4 and a travelling mechanism 402, wherein the travelling mechanism 402 is preferably a crawler-type travelling mechanism and has strong capability of adapting to severe environment.

A supporting shaft 7 is fixedly connected above the first water tank 3 and the first water tank 3; the supporting shaft 7 is used for carrying the cloud platform 1, and the top of the cloud platform 1 is provided with the camera 102 and the thermal infrared imager 103.

An obstacle avoidance laser radar 401 is also mounted on the chassis 4. An unmanned aerial vehicle positioning and tracking device 6 is arranged above the first water tank 3. After the fire-fighting robot is started, autonomous navigation is carried out through a navigation laser radar, a fire source is found through a camera carried by a holder, the site condition is mastered in real time through a thermal infrared imager, and after the fire source is found, a remote control device can be used for operating a fire-fighting bubble to aim at the fire source and spraying fire-fighting water to extinguish fire; in the walking process, the robot can realize automatic obstacle avoidance through the obstacle avoidance laser radar.

A supporting shaft 7 is fixedly connected to the upper shell of the first water tank 3, and a shaft seat 701 used for connecting other devices is arranged on the supporting shaft 7. The device also comprises a cloud platform 1 and a cloud platform support 101 which is arranged at the bottom of the cloud platform 1 and is used for connecting the cloud platform 1 with other devices. The camera 102 and the thermal infrared imager 103 are mounted at the top of the holder 1, and the camera 102 and the thermal infrared imager 103 have large weight, so that a reasonable damping mechanism needs to be designed between the holder 1 and the support shaft 7, and the service life of the whole equipment is prolonged. The specific settings are as follows:

a large shock pad 204 is arranged between the shaft seat 701 and the holder support 101, the large shock pad 204 is preferably a circular rubber pad, and the width and the thickness of the circular ring can be flexibly set as required.

The circumferences of the shaft seat 701 and the holder support 101 are provided with a plurality of connecting units, preferably 4 connecting units are arranged at intervals of 90 degrees, and good stability is kept. The shaft seat 701, the holder support 101 and the large shock pad 204 are tightly connected by 4 connecting units, and each connecting unit comprises a small shock pad 205, a sleeve 203, a bolt 202 and a nut 208.

The small shock pad 205 is installed below the shaft seat 701, the small shock pad 205 is a circular rubber pad, a large washer 206 is arranged between the small shock pad 205 and the nut 208, and the large washer 206 is also preferably a circular rubber pad. Through holes are formed in the holder support 101, the large damping pad 204, the shaft seat 701 and the small damping pad 205, the bolt 202 is installed in the through holes, and the bottom of the bolt 202 is locked by the nut 208.

Example 1:

in this embodiment, unmanned aerial vehicle is responsible for using the spray gun to spray water, the robot is responsible for dragging the hosepipe and follows inorganic removal on ground, be provided with unmanned aerial vehicle positioning and tracking device 6 and relevant treater and motion control module on the fire-fighting robot, the supporting emitter of installation on the unmanned aerial vehicle, when emitter and unmanned aerial vehicle positioning and tracking device 6 communication, the flight time through the electromagnetic wave measures unmanned aerial vehicle to the distance of fire-fighting robot, calculate the relative fire-fighting robot's of unmanned aerial vehicle direction through measuring phase difference on the miniature antenna array, give the treater of robot with these information and adjust motion control module, thereby realize following unmanned aerial vehicle's intelligence, be in the unmanned aerial vehicle below all the time.

The fire-fighting robot is provided with a first reel 5, the first reel carries an unmanned aerial vehicle water pipe 81, and the first reel automatically reels when the unmanned aerial vehicle descends; the water supply vehicle is provided with the second reel, the water supply vehicle water pipe 91 can be wound and unwound according to the motion of the fire-fighting robot, and the robot can conveniently follow the unmanned aerial vehicle to move in different directions. When unmanned aerial vehicle position adjustment like this, only need overcome vertical direction water pipe and liquid weight, reduced the requirement to unmanned aerial vehicle load.

Example 2:

in this embodiment, the box of second water tank 805 is provided with connection fittings, carries second water tank 805 in unmanned aerial vehicle 8's frame. The water supply mechanism of the invention has a plurality of operation modes:

the first operation mode is as follows: when general high-rise fire-fighting operation is performed, the second electromagnetic valve 8032 is opened, the first electromagnetic valve 8031 and the third electromagnetic valve 8033 are closed, and the water pump 804 does not work. The ground fire engine supplies water to the spray gun 806 through the quick-connect interface at the head end of the first pipeline 8021 connected by the fire hose to perform continuous fire-fighting operation.

And a second operation mode: receive the restriction of fire engine water pump water supply height, along with unmanned aerial vehicle operation height's increase, spray gun 806 range shortens gradually. When the range of the spray gun 806 cannot be used for normal fire-fighting operation, the second electromagnetic valve 32 is closed, the first electromagnetic valve 8031 and the third electromagnetic valve 8033 are opened, the water pump 804 is started, the ground fire truck is responsible for supplying water into the second water tank 805, the water pump 804 pumps water from the water tank for pressurized injection, and the range of the spray gun 806 is increased to continue the fire-fighting operation.

And a third operation mode: the water in the water tank is directly used for extinguishing fire. The second electromagnetic valve 8032 and the first electromagnetic valve 8031 are closed, the third electromagnetic valve 8033 is opened, and the water pump 804 is used for pressurizing and spraying, so that the operation mode can be suitable for detecting and extinguishing small-sized fire or afterfire after extinguishing the fire in forest and danger areas.

Example 3:

in the embodiment, the fire fighting robot is provided with fire fighting water of a fire fighting water tank, after the fire fighting robot is started, the fire fighting robot searches for a fire source through a camera carried by a holder, grasps the field condition in real time through a thermal infrared imager, and after the fire source is found, the fire fighting water bubble can be operated by a remote control device to aim at the fire source to spray fire fighting water to extinguish fire; in the process of traveling, the robot can realize the automatic obstacle avoidance function through the obstacle avoidance laser radar; can be operated by manual remote control and can be operated in combination with an unmanned aerial vehicle to complete the task of high-rise fire extinguishing operation.

Example 4:

in this embodiment, damping mechanism 2 of fire-fighting robot cloud platform has following setting: through holes are formed in the large damping pad 204, the shaft seat 701 and the small damping pad 205 and are communicated with each other to form a first through hole; the first through hole accommodates therein a sleeve 203; a second through hole is formed in the holder support 101 at a position corresponding to the first through hole; the aperture size of the second through hole is smaller than that of the sleeve 203; the bolt 202 passes through the second through hole and extends out of the outer side of the small shock pad 205, and a nut 208 is mounted on the part of the bolt 202 extending out of the outer side of the small shock pad 205. The upper end of the sleeve 203 is arranged on the lower surface of the holder support 101, the lower end of the sleeve 203 is arranged in the through hole of the small shock pad 205, and a deformation distance L is reserved between the lower end of the sleeve 203 and the bottom of the through hole of the small shock pad 205, wherein the deformation distance L is preferably set between 2mm and 8 mm. The nut 208 is tightened to bring the large washer 206 into contact with the lower end of the sleeve 203, thereby maximizing the compression between the large and small cushions. During the installation, through adjusting nut 208's locking degree, make big shock pad and little shock pad all have a little compressive capacity to keep certain compressible space, the system jolts from top to bottom or produces under the condition of side bending moment, big shock pad and little shock pad pass through elastic deformation, play two-way absorbing effect, offset the vibrations that the equidirectional production produced.

The damping mechanism 2 of the embodiment is provided with a protective cover 209, the protective cover 209 is provided with an upper end face and a side end face, and the upper end face is installed between the bolt 202 and the holder support 101 and covers the holder support 101; the side end surface covers the large shock pad 204, the shaft seat 701, the small shock pad 205 and the nut 208. The whole damping mechanism is covered by the protective cover 209, so that the effects of fire prevention, water prevention and dust prevention are achieved.

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

Claims

1. Self-carrying and external connection type controllable switching combined fire-fighting robot system, which is characterized by comprising:

an unmanned aerial vehicle (8) loaded with a water supply mechanism;

a fire-fighting robot loaded with a first reel (5);

a water supply vehicle (9) on which a second reel (92) is loaded;

the water supply mechanism includes:

a spray gun (806);

a second water tank (805) provided with a plurality of water inlets and water outlets;

a first pipe line (8021) having a tip connected to the water inlet of the second water tank (805);

a second pipeline (8022) with the head end connected with the water outlet of the second water tank (805) and the tail end connected with the spray gun (806);

a third pipeline (8023) with the head end connected to the water outlet of the second water tank (805) and the tail end connected with the second pipeline (8022);

a fourth pipeline (8024) having a head end connected to the first pipeline (8021) and a tail end connected to the second pipeline (8022);

the electromagnetic valves are arranged on the first pipeline (8021), the second pipeline (8022) and the third pipeline (8023);

a water supply vehicle water pipe (91) is mounted on the second reel (92), and an unmanned aerial vehicle water pipe (81) is mounted on the first reel (5);

the head end of a water supply vehicle water pipe (91) is connected with a water supply joint (90) of a water supply vehicle (9), and the tail end of the water supply vehicle water pipe is connected with the head end of an unmanned aerial vehicle water pipe (81) on the first reel (5); the tail end of the unmanned aerial vehicle water pipe (81) is connected to the head end of the first pipeline (8021);

in the first pipeline (8021), the second pipeline (8022), the third pipeline (8023) and the fourth pipeline (8024), the head end is in the upstream direction of water flow, and the tail end is in the downstream direction of the water flow;

all be provided with the wind spring in first reel (5), second reel (92), keep unmanned aerial vehicle water pipe (81), supply vehicle water pipe (91) to wind all the time and tighten up among the receive and release process.

2. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 1, characterized in that: a first electromagnetic valve (8031) is arranged on the first pipeline (8021), and the first electromagnetic valve (8031) is arranged in the downstream direction of the connecting position of the first pipeline (8021) and the fourth pipeline (8024).

3. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 1, characterized in that: a second electromagnetic valve (8032) is arranged on the second pipeline (8022), the second electromagnetic valve (8032) is arranged between a position A and a position B, the position A is a connecting position of the fourth pipeline (8024) and the second pipeline (8022), and the position B is a connecting position of the third pipeline (8023) and the second pipeline (8022).

4. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 1, characterized in that: a third electromagnetic valve (8033) is arranged on the third pipeline (8023).

5. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 1, characterized in that: a water pump (804) is arranged on the third pipeline (8023).

6. The portable and external controllable switching combined fire-fighting robot system according to claim 1, wherein an unmanned aerial vehicle positioning and tracking device (6) is arranged on the fire-fighting robot for tracking the position of the unmanned aerial vehicle (8) in real time and keeping the fire-fighting robot under the unmanned aerial vehicle (8).

7. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 1, characterized in that the fire-fighting robot is provided with:

a chassis (4) and a travel mechanism (402) mounted on the chassis (4);

a first water tank (3), a high-pressure pump (31) and a fire-fighting water bubble (32) which are arranged above the chassis (4);

the high-pressure pump (31) is respectively connected with the first water tank (3) and the fire-fighting bubbles (32) through pipelines, and water in the first water tank (3) is pressurized by the high-pressure pump (31) and then is emitted by the fire-fighting bubbles (32).

8. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 7, characterized in that: a support shaft (7) fixedly connected with the first water tank (3) is arranged above the first water tank (3); the support shaft (7) is provided with a cradle head (1); a camera (102) and a thermal infrared imager (103) are respectively arranged on two sides of the top of the holder (1); a damping mechanism (2) is arranged between the supporting shaft (7) and the holder (1).

9. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 7, characterized in that: and an obstacle avoidance laser radar (401) is also arranged on the chassis (4).

10. A self-contained and externally-connected controllably-switchable joint fire-fighting robot system according to claim 7, characterized in that: the chassis (4) is also provided with a travelling mechanism (402), and the travelling mechanism (402) is a crawler-type travelling mechanism.