Abstract: Based on the firefighting operation requirements of the on- site fire environment, a wheel- foot hybrid fire fighting robot is designed, which can switch freely between wheeled and gait motion modes, and locate the fire source based on infrared vision recognition. Firstly, the overall model of the robot is established. Secondly, the basic working principle of the system is analyzed. On this basis, the parameters calculation, modeling and simulation analysis, vibration displacement analysis and visual servo control system of the walking device are carried out. The results show that the mechanism design of the walking device meets the requirements, the vibration displacement curve is basically consistent with the road roughness curve, and the overall detection result of the flame recognition algorithm of the visual servo control system is good. The fire robot can climb the old corridor, and can realize the basic recognition of the flame image. And this paper put forward a reasonable solution for the movement mode conversion of the wheel-leg mechanism. 

Key words:  , fire fighting robot, mode switching, finite element analysis, vibration analysis, visual recognition