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In view of the problems existing in the fire prevention and rescue process, such as low efficiency and accuracy of fire inspection, difficult rescue operation, long operation time of traditional equipment, increasingly complex fire environment and high difficulty in fire area investigation, the research status of key technologies of fire fighting UAV at home and abroad is summarized from three aspects: flight control system, obstacle avoidance technology and fire monitoring and analysis technology. The development trend of firefighting UAVs is predicted as follows: (1) The stable flight control optimization of uAVs in complex fire environment: the size, shape, topography, topology and other basic factors affecting the stability of uAVs are optimized, and the matching of flight control system with the moment of inertia, dynamic redundancy and power system vector control technology of multi-rotor uAVs is improved; (2) Continuous improvement of endurance: through high energy laser and intelligent signal transmission and processing technology, realize the automation of remote energy supply, combined with intelligent visual tracking algorithm, real-time guarantee of UAV signal and laser undertaking; (3) Intelligent obstacle avoidance: multiple methods are combined to solve the obstacle avoidance problem of UAV under different circumstances. In addition, the scene model is established based on digital twin to obtain the best obstacle avoidance route, and the algorithm in the airborne computer is used to obtain the optimal path. (4) Cluster compatibility: The single firefighting UAV cannot adapt to the increasingly complex fire environment. The development of UAV swarm intelligence technology is helpful for the UAV cluster to carry the distributed load to complete the multi-point measurement task that the single drone cannot complete, and provide more accurate measurement data.
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