Abstract: As a kind of rescue and disaster relief mobile robot, the traditional firefighting mobile robot can replace the firefighters to go deep into dangerous areas and complete the tasks such as detection and investigation, fire fighting and rescue. However, the traditional firefighting mobile robot has limitations in terms of environmental perception and response speed. By considering the advantages of high altitude reconnaissance and detection of the quadrotor unmanned aerial vehicle(UAV), the air-ground collaborative intelligent firefighting system is designed. The quadrotor UAV detects the fire in real time at high-altitude according to the cruise track and shares the location information to the firefighting mobile robot in time through the wireless local area network(ROS networking). After receiving the response, the firefighting mobile robot goes quickly to the fire site to perform the fire extinguishing operations. The experimental results show that, compared with the traditional firefighting mobile robot, the new air-ground collaborative intelligent firefighting system proposed in this paper has the advantages of quickly detecting fire source, timely reaching and accurate firefighting. It can improve the fire rescue ability and efficiency of firefighting after fire accidents.

Key words: air-ground collaborative firefighting system, quadrotor UAV, firefighting mobile robot, ROS networking