Kenaf tracked robot Quince tracked robot Fig. 7 Multi-robot cooperative rescue system is developed by Tohoku University in Japan, as shown in Figure 7. The multi-robot cooperative rescue system is composed of Kenaf crawler robot, Quince crawler robot and Pelican aerial UAV. Kenaf crawler robot is equipped with airborne rotating laser scanner, which can provide rich three-dimensional cloud images of the surrounding area. The Quince crawler robot is equipped with infrared sensors that automatically open and close the drone apron locking device. In order to mitigate the impact of UAVs taking off and landing and realize movement in a variety of complex environments, on the surface of the Quince robot landing pad, A layer of foam is installed and a combination of MS-EKF information fusion method, neural network controlled robot obstacle avoidance algorithm, infrared sensor ranging principle and electronic compass Angle measurement principle is used in both Kenaf and Quince robot control systems. After testing, the multi-robot cooperative rescue system can successfully complete environmental monitoring of dangerous buildings after disasters and provide real-time feedback to rescue workers.