消防机器人研究进展及其在森林消防中应用前景

Research Progress in Forest Fire-fighting Robots and Their Application Prospect in the Forest Fire Control

森林火灾给生态环境和经济建设造成巨大威胁,研发森林消防机器人对减少国家损失和消防人员的人身伤亡具有重要意义。文中基于森林消防机器人关键技术,介绍了目前国内外消防机器人行走机构和导航控制技术方面的研究进展,分析了轮式、履带式和多足式3种行走机构的优缺点以及视觉导航在消防机器人导航控制方面的优势;针对森林地形环境下的消防作业要求,提出森林消防机器人在未来的研制中需要解决的问题(多足行走机构、全局路径规划、多传感器检测等),并对其应具备的森林火灾巡检、预警、扑救能力进行了展望。

Forest fire poses a great threat to ecological, environmental and economic development, and research and development of forest fire fighting robots is of great significance for reducing the loss of property loss and personal casualty of firefighters. Based on the key technologies of fire-fighting robot, this paper introduced the research progress in domestic and international fire-fighting robot traveling mechanism and navigation control technology, analyzed the advantages and disadvantages of wheeled, crawler and multi- legged traveling mechanism as well as the merits of visual navigation in fire-fighting robot navigation control technology. With view to meeting the fire-fighting operations in complex forest terrain environment, some problems that should be solved in the further development of fire fighting robots （multi-legged traveling mechanism, global path planning, multiple sensor detection, etc. ） were proposed. The future development of fire-fighting robot possessing the capacities of patrol, early warning and extinguishing was prospected.