阐述了当前国内外在危险灾变环境下的救援机器人发展现状,总结了救援机器人的关键技术问题,分别对消防救援机器人、地震救援机器人、矿山救援机器人、核事故救援机器人和水下救援机器人的研究现状和应用情况进行了分析,并对每种机器人技术进行了总结,归纳得出:危险环境下救援机器人的共性关键技术包括4种能力,即良好的移动性能、感知能力、通信能力与续航能力。同时,针对不同救援机器人的应用环境,指明了各自所面临的核心问题,并指出随着技术的发展,不论是哪种机器人,救援功能的集成化、救援行为的自主化、救援任务的协同化与救援装备的轻量化都将是其发展方向。

The paper stated the development status of the rescue robot under the dangerous catastrophe environment at home and abroad, summarized the key problems of the rescue robot and provided the development tendency. The analysis was conducted individually on the research status and application condition of the fire rescue robot, earthquake rescue robot, mine rescue robot, nuclear accident rescue robot and underwater rescue robot. A technical summarization was conducted on each robot. The conclusion showed that the common key technology of the rescue robot under the dangerous environment would include four capacities, such as the excellent mobile performances, perception capacity, communication capacity and duration capacity. Meanwhile, according to the application environment of different rescue robot, the paper indicated the key problem faced to each robot and pointed out that with the technical development, the rescue function integration, rescue behavior independence, rescue mission coordination and rescue equipment lightweight of any kind of the robot would be the development tendency.