Indoor flame autonomous inspection and fire extinguishing method

The invention discloses an indoor flame autonomous inspection and fire extinguishing method, and belongs to the technical field of indoor flame detection. According to the invention, the problem that three-dimensional flame position information cannot be obtained by using an existing flame detection method because the existing flame detection method is not combined with depth information is solved. According to the method, automatic navigation and flame detection methods are combined, and depth information is combined during flame detection, so that three-dimensional flame position information can be obtained, and a robot can accurately extinguish fire. Meanwhile, the accuracy and speed of flame target recognition can be greatly improved by applying the deep neural network algorithm, and compared with a traditional method, the method has high accuracy and real-time performance. In addition, closed-loop control over the fire extinguishing process through visual information is achieved, and high intelligence is