CN113819881B - Method for detecting distance and map azimuth of fire source for reconnaissance inspection robot - Google Patents
Method for detecting distance and map azimuth of fire source for reconnaissance inspection robot Download PDFInfo
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Abstract
The invention discloses a detection method of a fire source distance and a map azimuth for a reconnaissance inspection robot, which belongs to the technical field of reconnaissance inspection robots, wherein the inspection robot records own position navigation information when starting to execute an inspection task and determines own attitude position; starting a flame detector in the process of inspection, and judging whether a fire source appears or not; when the flame detector detects a flame signal for the first time, recording the position of a fire source center point in a map, and coordinate information and a direction angle of a patrol robot in a navigation system at the moment; the inspection robot continues to run forwards, and after the flame detector detects a flame signal for the second time, the position of a fire source center point in a map and the coordinate information and the direction angle of the inspection robot in the navigation system are recorded; and then judging the distance between the fire source and the inspection robot and the azimuth angle of the fire source. The invention can accurately acquire the position of the fire source, and is convenient for timely finding and controlling the fire source.
Description
Technical Field
The invention relates to the technical field of reconnaissance inspection robots, in particular to a method for detecting a fire source distance and a map azimuth for a reconnaissance inspection robot.
Background
Fire disaster seriously affects the life safety and property safety of people, and fire source perception, fire prediction and fire suppression are still the problems in the current fire fighting field. In order to discover the fire source in advance and process the fire condition in time, the research of the reconnaissance inspection robot is gradually paid attention to by people. The existing reconnaissance inspection robot generally adopts a trolley structure, various detection modules are arranged on a vehicle body through a cradle head, the detection modules on the cradle head rotate to inspect the surrounding environment in the moving process of the trolley, and when a fire condition is detected, an alarm is sent out and position information is sent to a central control room through a positioning module for processing. However, in the large-area inspection operation, the following disadvantages exist in the manner of inspecting the fire source in the position: the position of the fire source cannot be accurately detected, and thus the fire cannot be controlled in time.
Patent document publication number CN 110860057A discloses a fire control reconnaissance robot and reconnaissance method. The laser radar of the fire control reconnaissance robot is arranged at the front end of the crawler chassis; the mounting upright post is fixed at the rear end of the crawler chassis; the binocular vision camera is fixed on the mounting upright post, and the shooting direction of the camera is in front of the crawler chassis; the thermal infrared imaging and visible light holder is fixed at the top end of the mounting upright post; the jet water cannon is fixed on the crawler chassis, and a water supply port of the jet water cannon is positioned at the rear of the crawler chassis; the positioning module and the industrial personal computer are fixed in the crawler chassis, and the output end of the positioning module, the output end of the binocular vision camera, the output end of the laser radar, the output end of the thermal infrared imaging and the output end of the visible light cradle head are all connected with the input end of the industrial personal computer; the industrial personal computer is used for controlling the crawler movement and the emission state of the jet water cannon. The reconnaissance method comprises the following steps: acquiring an infrared thermal imaging image and a camera image; the infrared thermal imaging image is an image of thermal infrared imaging and visible light holder detection, and the camera image is an image shot by a binocular vision camera; judging whether a fire source appears in the current view field range according to the infrared thermal imaging image and the camera image; when a fire source appears in the current visual field range, acquiring the relative position of the fire source; according to the relative position of the fire source, an improved A-type algorithm is adopted to plan a global path; according to the ranging information of the laser radar, a DWA algorithm is adopted to plan a local obstacle avoidance path; and controlling the fire-fighting reconnaissance robot to move to the fire source according to the planned global path and the planned local obstacle avoidance path to extinguish the fire. However, the range finding is performed by adopting the laser radar, and the range finding is greatly influenced by obstacles, so that the range and the direction of a fire source cannot be accurately detected.
The patent document with the bulletin number of CN 105160799B discloses a fire and heat source detection method based on infrared thermal imaging bare data, which comprises the following steps of initializing internal data of a thermal imager and internal data of a server, and establishing a connection relationship between the thermal imager and the server; circularly acquiring a thermal image generated by a thermal imager at the current moment through a server, and storing ring temperature data of each pixel point of the thermal image in a folder; the ring temperature data in the folder are called and decoded correspondingly, so that the ring temperature value of each pixel point is obtained, and the ring temperature values of all the pixel points are arrayed; when the thermal imager generates a thermal image of the indoor close-range scene, static threshold determination is performed on the clustered ring temperature values to determine the ignition point. The invention also relates to a fire and heat source detection device based on the infrared thermal imaging bare data. The invention can maximize the utility of the bare data and can be applied to various industries, namely, the fire hazard early warning and monitoring accuracy in the industrial and civil fields can be improved. However, the invention also cannot accurately determine the distance and the direction of the fire source, and cannot solve the technical problems.
Disclosure of Invention
In view of the above, the invention provides a detection method for detecting the distance and the map azimuth of the fire source for the reconnaissance inspection robot, which can accurately determine the position of the fire source.
In order to solve the technical problems, the invention adopts the following technical scheme: a detection method of a fire source distance and a map azimuth for a reconnaissance inspection robot comprises the following steps:
step 1: when the inspection robot starts to execute an inspection task, the navigation system installed by the inspection robot records navigation information of the position of the inspection robot when the inspection robot starts to start, and the attitude position of the inspection robot is determined;
Step 2: the inspection robot starts inspection autonomously according to a given inspection route, and starts a three-in-one flame detector in the inspection process to judge whether a fire source appears;
step 3: when a three-in-one flame detector loaded on the body of the inspection robot detects a flame signal for the first time, automatically sending out alarm information, and recording the position of a fire source center point in a map, the coordinate information of the inspection robot in a navigation system at the moment, and the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the first time;
Step 4: the inspection robot continues to run forwards, after the three-in-one flame detector detects a flame signal for the second time, alarm information is automatically sent out, the position of a fire source center point in a map is recorded, at the moment, the coordinate information of the inspection robot in the navigation system, the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the second time, and the mileage number of the inspection robot when the fire source is found for the first time and the fire source is found for the second time;
Step 5: the method comprises the steps that the central position of a fire source, the coordinate position of a patrol robot when a first three-in-one flame detector detects the position of the fire source and the coordinate position of the patrol robot when a second three-in-one flame detector detects the position of the fire source form a triangle, the direction angle between the three-in-one flame detector and the patrol robot when the first fire source is found and the direction angle between the three-in-one flame detector and the patrol robot when the second fire source is found are utilized to obtain two base angle angles of the triangle, and the distance travelled by an odometer of a navigation system of the patrol robot when the fire source is found twice, namely the length of the base of the triangle is obtained;
Step 6: according to the two base angle angles and the base length of the triangle in the step 5, the length of two hypotenuses of the triangle is calculated, namely, the distance between the center position of the fire source and the coordinate position of the inspection robot when the first three-in-one flame detector detects the position of the fire source, and the distance between the center position of the fire source and the coordinate position of the inspection robot when the second three-in-one flame detector detects the position of the fire source.
Further, in step 2, the three-in-one flame detector senses smoke, temperature and light sensation of the surrounding environment.
Further, in step 6, according to the relative position information a of the inspection robot when the fire source is found for the first time, the relative position information B of the inspection robot when the fire source is found for the second time, the travel distance L of the inspection robot when the fire source is found for the second time, which is obtained by the odometer in the navigation system, and the position of the relative position information a of the inspection robot and the fire source center C when the fire source is found for the first time, the azimuth angle BAC is obtained, and the position of the relative position information B of the inspection robot and the fire source center C when the fire source is found for the second time, the azimuth angle ABC is obtained, and the relative distances AB and AC between the two robots and the fire source are obtained:
AC＝Lsinβ/sin(α+β)
BC＝Lsinα/sin(α+β)
wherein alpha is the angle of azimuth angle BAC, and beta is the angle of azimuth angle ABC.
Further, when the fire source is found for the second time, the azimuth angle ABC is obtained from the relative position information B of the inspection robot and the position of the fire source center C, at the moment, the azimuth angle of the fire source is judged by combining the position and the posture of the inspection robot according to the navigation information in the navigation system, and then the distance information and the azimuth information are transmitted to the central control room through the digital transmission antenna for scheduling.
Further, according to the information detected by the three-in-one flame detector, when the second flame detector detects the position of the fire source, the distance between the inspection robot and the fire source and the azimuth information of the inspection robot relative to the fire source are obtained, the azimuth information is calibrated in a space map, the image information and the digital information are transmitted to a central control room through the inspection camera, and a fire extinguishing program is started by the central controller.
When a person skilled in the art uses a patrol robot to detect a fire source, improvement on a detection element is generally considered to improve detection accuracy, specifically, accurate detection of the fire source is realized by improving the sensing accuracy of the detection element, such as an infrared sensor and an infrared lens, optimizing a detection interval, and the like, and a fire source detection method and device disclosed in patent document with publication number CN 108389352A belong to the technical field of photoelectric sensors. According to the fire source detection method, firstly, a processing component controls a temperature sensing element to collect regional temperature signals in a larger region, which are collected by a wide-angle infrared lens, then, the processing component controls a long-focus infrared lens to collect a to-be-determined fire source temperature signal based on the regional temperature signals, and then, the processing component generates a fire source judgment signal representing whether a fire source is found or not based on the to-be-determined fire source temperature signal. According to the fire source detection method, the suspected fire source is detected by controlling the wide-angle infrared mirror head, and then the suspected fire source is specifically detected by the long-focus infrared lens, so that the accuracy of fire source detection is improved, and meanwhile, the hardware cost of the fire source detection equipment is reduced by a corresponding image processing method. Also disclosed in patent document CN 110860057A is a fire-fighting reconnaissance robot and reconnaissance method. The laser radar of the fire control reconnaissance robot is arranged at the front end of the crawler chassis; the mounting upright post is fixed at the rear end of the crawler chassis; the binocular vision camera is fixed on the mounting upright post, and the shooting direction of the camera is in front of the crawler chassis; the thermal infrared imaging and visible light holder is fixed at the top end of the mounting upright post; the jet water cannon is fixed on the crawler chassis, and a water supply port of the jet water cannon is positioned at the rear of the crawler chassis; the positioning module and the industrial personal computer are fixed in the crawler chassis, and the output end of the positioning module, the output end of the binocular vision camera, the output end of the laser radar, the output end of the thermal infrared imaging and the output end of the visible light cradle head are all connected with the input end of the industrial personal computer; the industrial personal computer is used for controlling the crawler movement and the emission state of the jet water cannon. Both of these patent documents improve the accuracy of the fire detection by optimizing the arrangement and use of the fire detection elements. Therefore, the technical scheme for realizing the accurate positioning of the fire source is not easy to think for a person skilled in the art by adopting the secondary detection method to acquire the distance information and the azimuth information of the fire source and the inspection robot in the large-area inspection operation.
Compared with the prior art, the invention has the following beneficial effects:
The invention discloses a detection method of a fire source distance and a map azimuth for a reconnaissance and inspection robot, which is used for a navigation system and a flame detection system of the reconnaissance and inspection robot, and provides more intuitively quantized parameter information for fire rescue force in a large-area reconnaissance and inspection operation so as to timely and efficiently control and eliminate the fire source by calculating the driving mileage of the robot, reading the current position and the gesture of the robot when the fire source is found, judging the distance between the robot and the fire source through two measurements, judging the azimuth information of the fire source in the map according to the position gesture when the robot starts and the position gesture when the fire source is found, and calibrating the map on the constructed map.
According to the detection method for the distance and map direction of the fire source for the inspection robot, the three-in-one flame detector senses smoke, temperature and light sense of the surrounding environment to judge the occurrence of the fire source, the coordinate position A of the inspection robot when the fire source center position C and the first three-in-one flame detector detect the fire source position and the coordinate position B of the inspection robot when the second three-in-one flame detector detect the fire source position are adopted, three coordinate information points form a triangle, two base angles of the triangle are obtained through the recording of the direction angles between the three-in-one flame detector and the inspection robot when the fire source is detected twice, and the length of the base edges of the triangle is obtained through the navigation system, so that the distance between the inspection robot and the fire source and the direction of the fire source relative to the inspection robot are accurately calculated, and a central control room can conveniently find and control the fire source in time.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Detailed Description
For a better understanding of the present invention, the following examples are set forth to further illustrate the invention, but are not to be construed as limiting the invention. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details.
Example 1
A detection method of a fire source distance and a map azimuth for a reconnaissance inspection robot comprises the following steps:
step 1: when the inspection robot starts to execute an inspection task, the navigation system installed by the inspection robot records navigation information of the position of the inspection robot when the inspection robot starts to start, and the attitude position of the inspection robot is determined;
Step 2: the inspection robot starts inspection autonomously according to a given inspection route, and starts a three-in-one flame detector in the inspection process, and the three-in-one flame detector senses smoke, temperature and light sense of the surrounding environment and judges whether a fire source appears or not;
step 3: when a three-in-one flame detector loaded on the body of the inspection robot detects a flame signal for the first time, automatically sending out alarm information, and recording the position of a fire source center point in a map, the coordinate information of the inspection robot in a navigation system at the moment, and the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the first time;
Step 4: the inspection robot continues to run forwards, after the three-in-one flame detector detects a flame signal for the second time, alarm information is automatically sent out, the position of a fire source center point in a map is recorded, at the moment, the coordinate information of the inspection robot in the navigation system, the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the second time, and the mileage number of the inspection robot when the fire source is found for the first time and the fire source is found for the second time;
Step 5: the method comprises the steps that the central position of a fire source, the coordinate position of a patrol robot when a first three-in-one flame detector detects the position of the fire source and the coordinate position of the patrol robot when a second three-in-one flame detector detects the position of the fire source form a triangle, the direction angle between the three-in-one flame detector and the patrol robot when the first fire source is found and the direction angle between the three-in-one flame detector and the patrol robot when the second fire source is found are utilized to obtain two base angle angles of the triangle, and the distance travelled by an odometer of a navigation system of the patrol robot when the fire source is found twice, namely the length of the base of the triangle is obtained;
Step 6: according to the two base angle angles and the base length of the triangle in the step 5, the length of two hypotenuses of the triangle is calculated, namely, the distance between the center position of the fire source and the coordinate position of the inspection robot when the first three-in-one flame detector detects the position of the fire source, and the distance between the center position of the fire source and the coordinate position of the inspection robot when the second three-in-one flame detector detects the position of the fire source.
As shown in fig. 1, in step 6, according to the relative position information a of the inspection robot when the fire source is found for the first time, the relative position information B of the inspection robot when the fire source is found for the second time, the travel distance L of the inspection robot when the fire source is found for the second time, which is obtained by the odometer in the navigation system, and the azimuth angle BAC obtained by the position of the relative position information a of the inspection robot and the fire source center C when the fire source is found for the first time, the azimuth angle ABC obtained by the relative position information B of the inspection robot and the position of the fire source center C when the fire source is found for the second time, the relative distances AB and AC between the two robots and the fire source are obtained:
AC＝Lsinβ/sin(α+β)
BC＝Lsinα/sin(α+β)
wherein alpha is the angle of azimuth angle BAC, and beta is the angle of azimuth angle ABC.
AC. The calculation method of BC is as follows:
Assuming AC is x, BC is y, and the height of the AB edge is h, then
H= xsin α= ysin β (formula 1)
Xcos α+ ycos β=l (formula 2)
The combination of formula 1 and formula 2 shows that
y =xsinα/ sinβ
xcosα+ xsinαcosβ/ sinβ= L
I.e. x (cos αsin β+sin αcos β)/sin β=l
x= Lsinβ/sin(α+β)
y＝Lsinα/sin(α+β)
According to the detection method for the distance and map direction of the fire source for the reconnaissance inspection robot, the three-in-one flame detector senses smoke, temperature and light of the surrounding environment to judge the occurrence of the fire source, the coordinate position A of the inspection robot when the fire source center position C and the first three-in-one flame detector detect the fire source position and the coordinate position B of the inspection robot when the second three-in-one flame detector detect the fire source position are adopted, three coordinate information points form a triangle, the two base angles of the triangle are obtained through the recording of the direction angles between the three-in-one flame detector and the inspection robot when the fire source is detected twice, and the length of the base edges of the triangle is obtained through the navigation system, so that the distance between the inspection robot and the fire source and the direction of the fire source relative to the inspection robot are accurately calculated, and a central control room can find and control the fire source timely.
Example two
A detection method of a fire source distance and a map azimuth for a reconnaissance inspection robot comprises the following steps:
step 1: when the inspection robot starts to execute an inspection task, the navigation system installed by the inspection robot records navigation information of the position of the inspection robot when the inspection robot starts to start, and the attitude position of the inspection robot is determined;
Step 2: the inspection robot starts inspection autonomously according to a given inspection route, and starts a three-in-one flame detector in the inspection process, and the three-in-one flame detector senses smoke, temperature and light sense of the surrounding environment and judges whether a fire source appears or not;
step 3: when a three-in-one flame detector loaded on the body of the inspection robot detects a flame signal for the first time, automatically sending out alarm information, and recording the position of a fire source center point in a map, the coordinate information of the inspection robot in a navigation system at the moment, and the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the first time;
Step 4: the inspection robot continues to run forwards, after the three-in-one flame detector detects a flame signal for the second time, alarm information is automatically sent out, the position of a fire source center point in a map is recorded, at the moment, the coordinate information of the inspection robot in the navigation system, the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the second time, and the mileage number of the inspection robot when the fire source is found for the first time and the fire source is found for the second time;
Step 5: the method comprises the steps that the central position of a fire source, the coordinate position of a patrol robot when a first three-in-one flame detector detects the position of the fire source and the coordinate position of the patrol robot when a second three-in-one flame detector detects the position of the fire source form a triangle, the direction angle between the three-in-one flame detector and the patrol robot when the first fire source is found and the direction angle between the three-in-one flame detector and the patrol robot when the second fire source is found are utilized to obtain two base angle angles of the triangle, and the distance travelled by an odometer of a navigation system of the patrol robot when the fire source is found twice, namely the length of the base of the triangle is obtained;
Step 6: according to the two base angle angles and the base length of the triangle in the step 5, the length of two hypotenuses of the triangle is calculated, namely, the distance between the center position of the fire source and the coordinate position of the inspection robot when the first three-in-one flame detector detects the position of the fire source, and the distance between the center position of the fire source and the coordinate position of the inspection robot when the second three-in-one flame detector detects the position of the fire source.
In step 6, according to the relative position information A of the inspection robot when the fire source is found for the first time, the relative position information B of the inspection robot when the fire source is found for the second time, the travel distance L of the inspection robot when the fire source is found for the second time, which is obtained by an odometer in a navigation system, and the positions of the relative position information A of the inspection robot and the fire source center C when the fire source is found for the first time, the azimuth angle BAC is obtained, and the azimuth angle ABC is obtained from the relative position information B of the inspection robot and the position of the fire source center C when the fire source is found for the second time, the relative distances AB and AC between the two robots and the fire source are obtained:
AC＝Lsinβ/sin(α+β)
BC＝Lsinα/sin(α+β)
wherein alpha is the angle of azimuth angle BAC, and beta is the angle of azimuth angle ABC.
The method for detecting the distance and the map azimuth of the fire source for the reconnaissance inspection robot, which is disclosed by the embodiment of the invention, is different from the first embodiment in that:
And when the fire source is found for the second time, the relative position information B of the inspection robot and the position of the fire source center C obtain the azimuth angle ABC, and at the moment, according to the navigation information in the navigation system, the azimuth angle of the fire source, namely the south-west beta degree (the moving direction of the inspection robot is northbound), is judged by combining the position and the posture of the inspection robot, and then the distance information and the azimuth information are transmitted to a central control room through a digital transmission antenna for scheduling processing.
And according to the information detected by the three-in-one flame detector, when the second flame detector detects the position of the fire source, the distance between the inspection robot and the fire source and the azimuth information of the inspection robot relative to the fire source are obtained, the azimuth information is calibrated in a space map, the image information and the digital information are transmitted to a central control room through an inspection camera, and a fire extinguishing program is started by the central controller.
The method for detecting the distance and the map azimuth of the fire source for the reconnaissance and inspection robot is used for a navigation system and a flame detection system of the reconnaissance and inspection robot, the current position and the gesture of the robot when the fire source is found are read through calculating the driving mileage of the robot, the distance between the robot and the fire source is judged through two measurements, the azimuth information of the fire source in the map is judged according to the position gesture when the robot starts and the position gesture when the fire source is found, and the map is calibrated on the constructed map.
Finally, it is noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and that other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (2)
1. A detection method of a fire source distance and a map azimuth for a reconnaissance inspection robot is characterized by comprising the following steps of: the method comprises the following steps:
step 1: when the inspection robot starts to execute an inspection task, the navigation system installed by the inspection robot records navigation information of the position of the inspection robot when the inspection robot starts to start, and the attitude position of the inspection robot is determined;
Step 2: the inspection robot starts inspection autonomously according to a given inspection route, and starts a three-in-one flame detector in the inspection process to judge whether a fire source appears;
step 3: when a three-in-one flame detector loaded on the body of the inspection robot detects a flame signal for the first time, automatically sending out alarm information, and recording the position of a fire source center point in a map, the coordinate information of the inspection robot in a navigation system at the moment, and the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the first time;
Step 4: the inspection robot continues to run forwards, after the three-in-one flame detector detects a flame signal for the second time, alarm information is automatically sent out, the position of a fire source center point in a map is recorded, at the moment, the coordinate information of the inspection robot in the navigation system, the direction angle between the three-in-one flame detector and the inspection robot when the fire source is found for the second time, and the mileage number of the inspection robot when the fire source is found for the first time and the fire source is found for the second time;
Step 5: the method comprises the steps that the central position of a fire source, the coordinate position of a patrol robot when a first three-in-one flame detector detects the position of the fire source and the coordinate position of the patrol robot when a second three-in-one flame detector detects the position of the fire source form a triangle, the direction angle between the three-in-one flame detector and the patrol robot when the first fire source is found and the direction angle between the three-in-one flame detector and the patrol robot when the second fire source is found are utilized to obtain two base angle angles of the triangle, and the distance travelled by an odometer of a navigation system of the patrol robot when the fire source is found twice, namely the length of the base of the triangle is obtained;
Step 6: according to the two base angle angles and the base length of the triangle in the step 5, calculating the lengths of two hypotenuses of the triangle, namely the distance between the center position of the fire source and the coordinate position of the inspection robot when the first three-in-one flame detector detects the position of the fire source, and the distance between the center position of the fire source and the coordinate position of the inspection robot when the second three-in-one flame detector detects the position of the fire source;
In step 6, according to the relative position information A of the inspection robot when the fire source is found for the first time, the relative position information B of the inspection robot when the fire source is found for the second time, the travel distance L of the inspection robot when the fire source is found for the second time, which is obtained by an odometer in a navigation system, and the positions of the relative position information A of the inspection robot and the fire source center C when the fire source is found for the first time, the azimuth angle BAC is obtained, and the azimuth angle ABC is obtained from the relative position information B of the inspection robot and the position of the fire source center C when the fire source is found for the second time, the relative distances AB and AC between the two robots and the fire source are obtained:
AC＝Lsinβ/sin(α+β)
BC＝Lsinα/sin(α+β)
wherein alpha is the angle of azimuth angle BAC, and beta is the angle of azimuth angle ABC;
The method comprises the steps that when a fire source is found for the second time, the position of a fire source center C and the relative position information B of the inspection robot obtain azimuth angle ABC, at the moment, according to navigation information in a navigation system, the azimuth angle of the fire source is judged by combining the position and the posture of the inspection robot, and then the distance information and the azimuth information are transmitted to a central control room through a digital transmission antenna for scheduling;
and according to the information detected by the three-in-one flame detector, when the second flame detector detects the position of the fire source, the distance between the inspection robot and the fire source and the azimuth information of the inspection robot relative to the fire source are obtained, the azimuth information is calibrated in a space map, the image information and the digital information are transmitted to a central control room through an inspection camera, and a fire extinguishing program is started by the central controller.
2. The method for detecting the distance and map orientation of the fire source for the reconnaissance inspection robot according to claim 1, wherein: in the step 2, the three-in-one flame detector senses smoke, temperature and light sensation of the surrounding environment.
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