Autonomous firefighting using a quadruped robot

摘要

This paper presents the development of a proof-of-concept autonomous firefighting robot based on the Spot quadruped robot. Both the payload and software package for the autonomous detection, localization, and extinguishing of a small fire are discussed. A thermal camera is mounted to the front of Spot and a standard ABC fire extinguisher is mounted to the back. The thermal camera is used to autonomously detect fires and the fire extinguisher is used to put out a detected fire. The system was successfully tested at a local fire station in a controlled setting with actual fires. The results of this project have direct application in the area of autonomous first response in complex industrial environments and fire watch applications.