The invention discloses a fire fighting
robot fire monitor control method based on fire source positioning and recognition. The method comprises the steps that a calibrated binocular
infrared camera is utilized for recognizing a fire source and positioning the center point of the fire source, and according to position deflection obtained in two images collected by the binocular
infrared camera atthe fire source center point, the distance between the fire source center point and a fire fighting
robot is calculated and determined as the fire source center point depth; the fire source center point depth serves as the position parameter of the fire source center point in the three-dimensional space;
jet flow track models are established, the
yaw angle between a fire monitor and the fire source center point and the
vertical distance between the fire source center point and the binocular
infrared camera are calculated and serve as fire source center point three-dimensional position parameters; and the pitching angle is calculated, the fire monitor is controlled, and accordingly the fire monitor
jet flow track fall point serves as the fire source center point. By means of the fire fighting
robot fire monitor control method, the fire monitor of the fire fighting robot can be efficiently, rapidly and conveniently controlled to aim at the fire source, the fire monitor angle adjusting time is saved, the fire fighting work difficulty can be lowered, and efficiency is improved.